Photogrammetric products Part 4: Requirements of digital aerial cameras and digital aerial photographs

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1 Draft to DIN Version Photogrammetric products Part 4: Requirements of digital aerial cameras and digital aerial photographs Photogrammetrische Produkte Teil 4: Anforderungen an digitale Luftbildkameras und an digitale Luftbilder Preface Contents 1 Range of application Normative references Digital airborne mapping camera Requirements of the camera system Requirements of the components of the camera system Camera calibration Systems for the position and inclination regulation Photo flight Image overlap Geometrical resolution Radiometric dynamics Scanning samples Photo airplane Photo flight conditions Strip and image position, camera orientation Positioning Digital aerial photograph Digital original image Digital mapping image Storage and documentation...11 Appendix A (normative) specification for picture flight project with digital camera)...12 Appendix B (informative) example of the specification of a picture flight project E DIN page 1 of 16 Translated version P. Duncan / M. Cramer

2 Preface This standard was compiled by the standardization committee building industry (NABau), specialist area 03 surveyings, geo information, working comitee photogrammetry and remote sensing. Photogrammetry is a procedure to obtain and process geometrical and thematic information from pictures. For the acquisition of geo-referred image data multiple sensors (e.g. cameras, radar, laser) are used. According to the objective of the standard series DIN to specify quality requirements for photogrammetric products the available standard focuses on digital photogrammetric cameras for the aero photogrammetry and the aerial photographs produced thereby. Digital image acquisition systems and their products, the digital images, in principle differ from conventional analog systems and products. The difference is primarily under discrete picture signals contrary to continuous picture signals of the classical analog film-based aerial camera as well as the differences in the photosensitive element, i.e. the silicon detector and the film. A digital aerial mapping camera represents a sensor. It is integrated in a sensor system, which covers among other things the platform, the positioning and flight navigation system, as well as the data storage. Detectors sense the picture projected by the optical system. The acquisition is made by individual detector elements or detector arrays, which are arranged in the focal plane (spatial discretization). The electrical signals picked out from the detector elements are digitized afterwards (radiometric discretization) and made available for subsequent processing as two-dimensional sorted data field. The individual elements of this data record are called pixel (picture element - digital picture elements). The digital image acquired this way in principle has different characteristics than a conventional photographic image. The digital image for example can be loss-free transferred free of loss and is base for classical stereophotogrammetric applications and for quantitative remote sensing and visualization tasks. The standard series DIN of photogrammetric products consists of Part of 1: Requirements of picture flight and analog aerial imagery Part of 2: Requirements of the scanned aerial imagery Part of 3: Requirements of the orthophoto Part of 4: Requirements of digital aerial cameras and digital aerial imagery. DIN treats three central topics of interest: Digital aerial mapping camera (see 4.1); Photo flight (see 4.2) Digital aerial image (see 4.3). In the form (see Appendix A) the specific parameters of individual image flight project using digital cameras are indicated. DIN is in such a way arranged that according to the application a certain scope for the definition of quality requirements and project parameters is given. 10 E DIN page 2 of 16 Translated version P. Duncan / M. Cramer

3 1 Range of application This standard is valid for digital aerial images, which are taken by use of digital mapping cameras and fulfill the instrumentation requirements. The images can be taken by digital frame or digital line cameras. Digital aerial images are the geometrical and also thematic basis for the generation of digital photogrammetric products, e.g. digital orthophotos or for the evaluation of stereo models. 2 Normative references The following quoted documents are necessary for the application of this document. With dated references only the expenditure taken is valid. With undated references the last expenditure of the document taken is valid (including all changes). DIN 6174, Colormetric determination of color distances of body colors using the CIELAB formula DIN : , Photogrammetry and remote sensing - part of 1: Fundamental ideas and special terms of the photogrammetric image recording DIN : , Photogrammetry and remote sensing - part of 2: Special terms of the photogrammetric evaluation DIN : , Photogrammetry and remote sensing - part of 3: Terms of the remote sensing DIN : , Photogrammetric products - part of 1: Requirements of photo flight and analogue aerial image DIN : , Photogrammetric products - part of 2: Requirements of the scanned aerial image DIN : , Photogrammetric products - part of 3: Requirements of the orthophoto DIN 51009: , Optical atomic spectrographic analysis - general bases and terms DIN EN ISO 9000: , Quality management systems - bases and terms (ISO 9000:2005) ISO 7137: Aircraft - Environmental conditions and test procedures for airborne equipment ISO Optics and optical instruments - environmental checks - part of 3: Mechanical loads 3 Terms For the application of this document the terms of the standards in section 2 and the following terms are valid: 3.1 Sensor of the remote sensing Instrument, which receives electromagnetic radiation and converts into signals in such a way that a picture can be generated. [DIN : ] 10 E DIN page 3 of 16 Translated version P. Duncan / M. Cramer

4 3.2 Detector of the remote sensing Radiation detector, which emits a measurable signal dependant on the hitting electromagnetic radiation and therefore is used as construction unit of a sensor [DIN : ] NOTE: Detector elements can be arranged separately or in detector arrays (line or frame). 3.3 Discretization Generation of discrete data from continuous information 3.4 Geometrical resolution The geometrical resolution generally describes the ability of a sensor system to record signals separately from neighboring object structures [DIN : ] NOTE In DIN the smallest size of an object structure detectable by the sensor system is meant. 3.5 Color truth (True colour) Color truth is given, if by an average observer no difference in color between original and image is noticed NOTE Color truth can quantified by the Euclidean distance (color distance) in Lab color space (see DIN 6174). 3.6 Resolution on the ground (GSD Ground Sampling Distance) Corresponds to the pixel distances im image plane projected on the ground 3.7 Cycle time Time interval between two succeeding image recording points of time 3.8 Sampling errors Incorrect reconstruction of a continuous object structure from discrete image information 3.9 Dark current noise Noise of current at the exit of a detector, if no optical radiation is sensed 3.10 Blooming Overflow of loads on neighboring pixels [DIN 51009: ] 3.11 Validation Confirmation by providing of an objective proof that the requirements for a specific intended use or a specific intended application were fulfilled [DIN EN ISO 9000: ] 3.12 line frequency Number of passed active lines, related to one second 3.13 IFOV (Instantaneous field of view) Corresponds to the opening angle of one detector element 10 E DIN page 4 of 16 Translated version P. Duncan / M. Cramer

5 4 General requirements 4.1 Digital airborne mapping camera Requirements of the camera system The camera system has to generate stereophotogrammetric measurable and according to the application spectral classifyable and true color images. The camera system or its subsystems must be geometrical and radiometrically calibrated. The quality of the camera system referred to the image product is to be proven by a manufacturer's certificate. The manufacturer's certificate must cover at least following quality proofs: observed position accuracy; observed elevation accuracy; radiometric quality; geometric resolution; calibration certificates (geometrically/radiometrically). If the multi-spectral channels with smaller spatial resolution than a panchromatic channel are implemented, the color image has to be generated by pixel-exact adjustment of the sensors or by particularly adapted color overlapping and image processing procedures (pan-sharpening). Here the color truth of the objects is to be put on as quality yardstick. The relationship of the edge lengths of the ground pixels (see : ) may not exceed 5:1 for multi-spectral:panchromatic Requirements of the components of the camera system Stabilization Photographs with frame cameras and in particular with line cameras should be taken using stabilized platforms Exposure and image motion compensation For frame based cameras the exposure must take place by means of central shutter and with constant access time. If a camera consists of several optical modules each with its own shutter, then the synchronization of the shutters must be so exact that no artefacts (see : ) for stationary objects are detectable. The exposure times have to be logged on 0,1ms and have to be considered during generation of the mapping imagery. The maximum image blur (image motion, see : ) must be smaller, than the desired resolution on the ground. If this is not guaranteed in flight direction by the combination of airspeed and resolution on the ground, the camera system must be operated with mechanisms for image motion compensation, e.g. FMC (forward motion compensation) or TDI (time delayed integration). Image blur resulting from angular changes must be compensated by use of a stabilized platform. The exposure time must be controllable both automatic and manually. NOTE: With line cameras is differentiated between cycle time and integration time. The integration time may not be larger than the cycle time. The integration time corresponds to the exposure time with frame cameras. 10 E DIN page 5 of 16 Translated version P. Duncan / M. Cramer

6 Optical system The optical system has to image the analog image on the detector in such a way that during no sampling errors occur during discretization and at the same time the maximum resolution potential is obtained. The optical system has to be aligned on the distance of the detector elements. The optical resolving power must be determined after the calibration certificate in radial and tangential component and should have the value 1000/(2 Pixel distance), in μm Detector and signal processing The detector arrays are fixed in the focal plane of the lens system. The measured signal is affected by static and dynamic disturbances. The static portions (e.g. distortions of the sensitivity of the detector elements (PRNU photo response non uniformity), dark current noise (DSNU dark signal non uniformity) and detector defects) have to be detected in the context of the radiometric calibration and to be corrected during the radiometric processing of the data. Remaining errors must lie in the range of the noise of the signal. The dynamic portion of the dark current noise of the camera modules may not be larger than 5 the radiometric dynamics of the detector. With a 12 bit sensor with a Dynamic range of 4096 grey values thereby results a maximally permissible noise of 20 grey values. The signal-noise ratio (SNR signal to noise ratio) must amount to 8-bits at least. If CCD (charged couple device) - detectors are used, blooming of effects must be suppressed on the CCD already Control and storage During the flight the camera system must be checkable and controllable in its substantial parameters. A feedback showing the correct system functions has to be done. The visualization of selected images must be possible in real time. The minimum memory capacity for image and meta data depends on the project requirements and should cover the data volume of a typical mapping flight day at least (approx. 1 TB). The meta data have to contain all necessary information regarding the camera and the image data (see ) Environmental conditions The camera system with memory unit has to be designed for use in the following environmental conditions: Operating temperature: In the airplane interior: 0 C to +40 C. For all outside of the airplane appropriate components: -37 C to +60 C; Storage temperature (on ground): -40 C to 70 C; Humidity (relative): maximally 95%, non-condensing. 10 E DIN page 6 of 16 Translated version P. Duncan / M. Cramer

7 In order to guarantee a reliable operation of the camera system, the system should fulfill the following requirements: Flight altitude: to 6500 m, corresponds to 440,4 hpa after I.C.A.O. standard atmosphere 1 ; strain by mechanical shock during operation: 15 g during 11 ms (all three axes) according to ISO , test class 01; strain by vibration continuous sine stimulation 1.5 g sine with 10 cycles per second up to 500 cycles per second, path stimulation and course of the curve accordingly ISO 7137; Random stimulation 1.4 g rms with 20 cycles per second up to 2000 cycles per second according to ISO , test class 01. The examination according to ISO 7137 should be made with sine stimulation and in the frequency range from 10 cycles per second to 500 cycles per second (resonance spectrum of aircraft with propeller, turbo-prop. or jet engines) Camera calibration The calibration of a digital camera has to be done geometrically and radiometricly. The entire opto-electronic system including the optical filters and the focal plane must be calibrated. Additionally existing system components for attitude and positioning determination must be measured with respect to characteristic points of the camera. The calibration of the camera must be proven by the manufacturer by a calibration certificate. The validity of the geometrical calibration at the time of the image flight is to be proven either by a validation, which may not be past longer than one year, or by a renewed calibration, which may not be past longer than two years. The validation examination must be accomplished in such a way that over a signalized test field the reached accuracy at the examination time is compared to the obtained position and elevation accuracy of the camera system immediately after the manufacturer calibration (reference measurement). The position and elevation accuracy of the camera may not worsen more than 25% with respect to the reference measurement Geometrical calibration The geometrical calibration must be proven for each spectral channel and/or each camera module by a calibration certificate. For line cameras the spatial relationship between the inertial measuring system (IMU inertial measuring unit) and the focal plane as well as the synchronization between IMU and camera electronics have to be proven by calibration. In multi-detector systems the single detectors can be installed in one focal plane only or as multiple camera modules. If the detectors are attached in one focal plane, their relative position have to be proven in a calibration certificate. If the final mapping images are 1 I.C.A.O. - Internationally civil aviation organization 10 E DIN page 7 of 16 Translated version P. Duncan / M. Cramer

8 resulting from several single images (see 4.3), the relative orientation of the multiple camera modules to each other have to be proven for each exposure Radiometric calibration The camera system has to be radiometrically calibrated by the manufacturer for each spectral channel and/or each camera module. The calibration must be proven by a calibration certificate. The calibration covers the results of the measurement of the sensors concerning linearity within the camera-specific integration range, the static portion of the dark current, pixel-dependant sensitivity as well as losses of detector elements. If the camera system is used for remote sensing measuring tasks, a measurement protocol has to be made available by the manufacturer, which allows for the conversion from digital grey values into physical radiance units. In addition, the spectral sensitivity of the camera has to be proven. In order to reach true color recordings, a camera-specific color transformation must be delivered by the manufacturer. This can be verified e.g. over color charts. For aerial images the color truth is additionally affected by the atmosphere conditions at the time of exposure Systems for the position and attitude determination For photo flights using digital cameras equipments and procedures must be used for navigation and the exact positioning, to fulfill the indicated quality requirements (see appendix A). For the precise positioning with GNSS (global navigation satellite system) differential measurements using at least 6-channel receivers have to be used. The satellite-related measurement frequency has to reach at least 1 cycles per second. The definition of the GNSS points of reference has to be agreed between client and contractor. The GNSS receiving antenna has to be attached close to the vertical imaging axis if possible. The standard deviation of the antenna eccentricity (see : ) must be lower than the desired standard deviation of the imaging exposures (see appendix A). The time stamps of the shutter recordings are to be registered in the GNSS real time system. For line cameras additionally a system must be used for direct attitude determination by means of an inertial measuring system (IMU) has to be used besides precise positioning (GNSS). Both should be implemented as integrated system, fixed centrically and if possible close to the perspective centre (see DIN : for ). The connection to the camera has to be stable. The IMU data rate should be in the range of the horizontal line frequency of the camera. The IMU attitude accuracy must better than the IFOV (instantaneous field of view). The synchronization error between IMU, GNSS and camera may not exceed 0.1 ms. 10 E DIN page 8 of 16 Translated version P. Duncan / M. Cramer

9 4.2 Photo flight For a photo flight project with digital camera the following is to be specified considering the intended purpose Image overlap The overlap conditions of the digital images must allow for monoscopic or stereoscopic or multiple coverage of the flight area of interest according to the overlap requirements after appendix A. The side lap (see DIN : ) between neighboring strips may not fall below 15%. For the frame camera so following is additionally valid: During stereophotogrammetric image acquisition the overlap of successive images within the same strip may not fall below 55%, with respect to the reference horizon Geometrical resolution The geometrical resolution of the camera system marks its ability to detect signals of neighboring object structures as separate. This is measured by the resolution on the ground, in m (ground sampling distance, GSD). For the resolution on the ground of the mapping image s 0 the value specified in the appendix A is valid. The image scale number m b is to be computed with the detector element distance s b as follows: m b = s 0 / s b Thus the flight altitude above ground of h g is computed from the camera constant of c: h g = c m b = c s 0 / s b = c / s b s 0 = k s 0 k is the camera-specific conversion factor between resolution on the ground and flight altitude. Resolution on the ground and/or image scale may deviate maximally 5% from nominal value, related with respect to the reference horizon Radiometric dynamics The radiometric dynamics of the mapping image amount to at least 1024 grey tones (10 bits) for each channel, if not differently fixed in appendix A Sampling pattern The ground pixels generated by the camera have to be square, if not differently fixed in appendix A. For line cameras the cycle time is to be managed in such a way that the pixel distance is in flight direction equals the pixel distance in CCD line direction Photo airplane The photo flight has to be done with an appropriate image flight plane. In principle twinengined photo airplanes are suited. If single-engine airplanes are used, it has to be guaranteed by an appropriate technical device that the exhaust air stream of the engine and/or the turbine are led in such a way that geometry of the digital aerial images is not affected. 10 E DIN page 9 of 16 Translated version P. Duncan / M. Cramer

10 4.2.6 Photo flight conditions The photo flight has to be done under suitable outside conditions (weather, view and light conditions) and with suitable equipment, so that the fixed purpose can be reached. Standard conditions are: Sunshine or high-standing clouds with clear sighting (dependent on definition); Elevation angle of the sun usually largely more than 30 over horizon; no clouds or cloud shade in the images; flight area of interest free of fog and free of flood and snow, if demanded by the client. Deviations from the standard conditions are to be indicated in the appendix A Strip and image position, camera orientation Deviations of strip axis and beginning and termination point of the strip from the fixed coordinate values may not exceed the values specified in the appendix A. The deviation of the strip axis from the straight-line connection of the beginning and termination point may not exceed half of the maximum deviation of the side lap. If image recording points are specified the deviations may not exceed the values specified in the appendix A. The digital images are taken as vertical photographs Positioning For the satellite-based positioning the recording of the satellite data has to be started as long before the first image recording of the respective flight strip that position of this recording also can be determined according to the definitions in the appendix A. During the photo flight at least four satellites have to be continuously tracked, with elevations more than 15 over the horizon. When using IMU calibration sequences have to be flown according manufacturer recommendations. 4.3 Digital aerial photograph Digital original image The digital original image is obtained from the digitized and stored data picked out from the detector. If the data are changed already before storage (on-line correction), the correction parameters have to be stored additionally Digital mapping image The interior orientation of the digital mapping image derived from the digital original image is known; its focal plan is related to a uniform surface. For the line camera the exterior orientation has to be made available with the required accuracy from the preprocessing additionally. The mapping image may only be derived from the original image by one single resampling procedure (see : ). This also covers the corrections, which were determined in the context of the radiometric and geometrical calibration. The noise may not be increased by additional image processing. The pixel distance in the mapping image may not be smaller than the pixel distance in the original image. The mapping image has to correspond to the parameters specified in appendix A. 10 E DIN page 10 of 16 Translated version P. Duncan / M. Cramer

11 4.3.3 Storage and documentation For the unique documentation and re-establishment of the image data it has to be specified whether the original image data and/or the mapping image data are made available. The data type which can be made available, the data format as well as the storage medium is to be specified in the form after appendix A Compression If the image data are metrological evaluated, applied compression algorithms may not cause loss in quality of the photogrammetric products. If the final use of the data before the flight is not known, no lossy compression should be used. If a lossy compression procedure is used, all radiometric corrections must be attached at the image data before compression. Kind of compression and compression degrees are specified by the client in the form after appendix A and fixed by samples dependent on the application purpose Meta data All parameters necessary for the further use of the images are to be stored in the meta data. If in the form after appendix A not differently fixed, the following meta data have to be delivered: For each camera system o Camera identification; o Version numbers of the firmware and hardware; o Camera focal length / camera constant; o Pixel distance in the image / focal plane; o Date of the last geometrical calibration/validation; o Date of the last radiometric calibration/validation. For each original image o Time and date of the image recording; o Sync signals (e.g. shutter reference signal) for external devices (e.g. IMU & GNSS). For each mapping image o Time and date of the image recording; o Data of interior orientation. The meta data are to be stored in clearly identifiable auxiliary files Photo flight documentation The documentation of image flight must at least contain the following data of the photo flight: Data of the client and contractor; general image flight data (e.g. project name) Characteristics of the image flight registered spatial coordinates of the image recording places from flight navigation if required Reference coordinate system (see form after appendix A) Antenna eccentricity (if required) IMU data, GNSS and GNSS reference station data (if required) 10 E DIN page 11 of 16 Translated version P. Duncan / M. Cramer

12 Appendix A (normative) Duplication of this form is permitted for users. Example of the specification of a photo flight with digital camera Form according to DIN Project:... A.1 Fundamental parameters Surface covering monoscopic stereoscopic multiple Resolution on the ground (GSD)... m Smallest objects to be identified... Radiometric dynamics... grey tones Standard deviation in the terrain system x, y... m z... m Square ground pixels A.2 Camera system Digital frame camera - Positioning - IMU Digital line camera Validation examination A.3 Positioning Standard deviation desired camera perspective centres... m Reference measurement by client contractor Coordinate system... Elevation system... Evaluation by client contractor A.4 Picture flight Picture flight conditions clouds accepted maximum coverage... Deviations from the standard conditions... Borders of area of interest see attachment 1 forward overlap... % Side lap... % Pre-defined image recording points by clients (see attachment 2) Maximum deviation of the image recording points (X, Y)... m Maximum deviation of the strip situation (X, Y) and strip axis... m A.5 Storage and expenditure Original image Mapping image Data format E DIN page 12 of 16 Translated version P. Duncan / M. Cramer

13 Data storage medium... Additional radiometric corrections... Orientation data... Meta data (if deviating from )... Meta data stored in the image header Meta data stored in auxiliary file File name... Data compression Type of compression Maximum degree of compression... 1.:... Expenditure of sample images with compression Overviews A.6 Documentation Flight protocol overview of image distribution Registration of positions Registration of the time tags... A.7 Special specifications Plant 1: borders of area of interest Plant 2: Image recording points 10 E DIN page 13 of 16 Translated version P. Duncan / M. Cramer

14 Appendix B (informative only) Duplication of this form is permitted for users. Example of the specification of a photo flight with digital camera Form according to DIN Project:...ELCHINGEN Baden-Württemberg / Germany... B.1 Fundamental parameters Surface covering monoscopic stereoscopic multiple Resolution on the ground (GSD) 0.06 m Smallest objects to be identified...boundary stone.. Radiometric dynamics 4096 grey tones Standard deviation in the terrain system x, y 0.02 m z 0.05 m Square ground pixels B.2 Camera system Digital frame camera - Positioning - IMU Digital line camera Validation examination B.3 Positioning Standard deviation desired camera perspective centers m Reference measurement by client contractor Coordinate system...utm Zone Elevation system...ortho metric... Evaluation by client contractor B.4 Picture flight Picture flight conditions clouds accepted maximum coverage... Deviations from the standard conditions.clouds accepted 0/8 or 8/8 alternatively... Borders of area of interest see attachment 1 forward overlap % Side lap % Pre-defined image recording points by clients (see attachment 2) Maximum deviation of the image recording points (X, Y) m Maximum deviation of the strip situation (X, Y) and strip axis... m B.5 Storage and expenditure Original image Mapping image Data format Data storage medium...12bit TIFF.....USB 2,0 Disc Drive E DIN page 14 of 16 Translated version P. Duncan / M. Cramer

15 Additional radiometric corrections... Orientation data..phorex... Meta data (if deviating from )..following ISO Meta data stored in the image header Meta data stored in auxiliary file File name...<project>.xls... Data compression Type of compression...tiff - JPEG... Maximum degree of compression 1.:.5... Expenditure of sample images with compression Overviews B.6 Documentation Flight protocol overview of image distribution Registration of positions Registration of the time tags... B.7 Special specifications Attachment 1: Area borders LL (UTM zone 32): ,76 10:14: ,051 48:45: UR (UTM zone 32): ,44 10:16: ,55 48:47: Attachment 2: Points of release 10 E DIN page 15 of 16 Translated version P. Duncan / M. Cramer

16 Index 2 pages used for index skipped in translated version 10 E DIN page 16 of 16 Translated version P. Duncan / M. Cramer

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