Developing Innovative Geospatial Tools for Land Rights Mapping

RNI: DELENG/2005/15153 No: DL(E)-01/5079/17-19 Publication: 15th of every month Licensed to post without pre-payment U(E) 28/2017-19 Posting: 19th/20th of every month at NDPSO Rs.150 ISSN 0973-2136

Volume XIV, Issue 11, November 2018 THE MONTHLY MAGAZINE ON POSITIONING, NAVIGATION AND BEYOND

Developing innovative geospatial tools for land rights mapping

GNSS authenticity verification in covered spoofing attack

COLOPHON AND CONTENTS

Authentic 2

1.5 PRN4 PRN11 1 PRN14

0.5 PRN18 PRN19 0 PRN22 PRN31 -0.5 PRN32

-1

Relative phase (radian) -1.5

-2

-2.5 0 10 20 30 40 50 60 Time (s)

In this issue Coordinates Volume 14, Issue 11, November 2018

Articles

GNSS authenticity verification in covered spoofing attack using antenna arrayA li Broumandan and James

T Curran 6 Segmentation of 3D photogrammetric point cloud E Ozdemir and F Remondino 13 Deformation

analisys of modern crustal strain Nikolay Dimitrov 20 Its4land - Developing innovative geospatial tools

for fit-for-purpose land rights mappingM ila Koeva, Sophie Crommelinck, Claudia Stöcker, Joep Crompvoets, Serene Ho,

Ine Buntinx, Angela Schwering, Malumbo Chipofya, Sahib Jan, Tarek Zein, Christian Timm, Kaspar Kundert, Placide Nkerabigwi, Berhanu

Alemie and Robert Wayumba 31

Columns

My Coordinates Editorial 4 Old Coordinates 22 News Imaging 39 LBS & Autonomous driving 40 GNSS 42 GIS 44 UAV

46 Industry 47 Galileo Update 48 Mark your calendar January 2019 to October 2019 50

This issue has been made possible by the support and good wishes of the following individuals and companies Ali Broumandan, Angela Schwering, Berhanu Alemie, Claudia Stöcker, Christian Timm, E Ozdemir, F Remondino, James T Curran, Ine Buntinx, Joep Crompvoets, Kaspar Kundert, Malumbo Chipofya, Mila Koeva, Nikolay Dimitrov, Placide Nkerabigwi, Sahib Jan, Serene Ho, Sophie Crommelinck, Robert Wayumba and Tarek Zein and; EOS Positioning, Javad, Labsat, MicroSurvey, Pentax, SBG System, and many others Mailing Address Coordinates is an initiative of CMPL that aims to broaden the Printed and published by Sanjay Malaviya on behalf of A 002, Mansara Apartments scope of positioning, navigation and related technologies. Coordinates Media Pvt Ltd C 9, Vasundhara Enclave CMPL does not neccesarily subscribe to the views expressed Published at A 002 Mansara Apartments, Vasundhara Delhi 110 096, India. by the authors in this magazine and may not be held liable for Enclave, Delhi 110096, India. Phones +91 11 42153861, 98102 33422, 98107 24567 any losses caused directly or indirectly due to the information Printed at Thomson Press (India) Ltd, Mathura Road, provided herein. © CMPL, 2018. Reprinting with permission is Faridabad, India Email encouraged; contact the editor for details. [information] [email protected] Editor Bal Krishna [editorial] [email protected] Annual subscription (12 issues) Owner Coordinates Media Pvt Ltd (CMPL) [advertising] [email protected] [India] Rs.1,800 [Overseas] US$100 [subscriptions] [email protected] Web www.mycoordinates.org This issue of Coordinates is of 52 pages, including cover.

4 | Coordinates November 2018 MYCOORDINATES

Let's map together!

Mapping millions of land rights

That remains unrecorded in East Africa

Poses major challenge.

Its4land, a European Commission Horizon 2020 project

Aims to develop tools

With a multi-disciplinary approach in diverse cultural set-ups

Utilizing latest technologies

Like smart sketch maps, UAVs, automated feature extraction

Those are innovative, scalable and transferable.

However, the key spirit is collaboration.

Collaboration for a cause,

For a purpose (read page 31).

Let’s Map together!

Bal Krishna, Editor [email protected]

ADVISORS Naser El-Sheimy PEng, CRC Professor, Department of Geomatics Engineering, The University of Calgary Canada, George Cho Professor in GIS and the Law, University of Canberra, Australia, Professor Abbas Rajabifard Director, Centre for SDI and Land Administration, University of Melbourne, Australia, Luiz Paulo Souto Fortes PhD Associate Professor, University of State of Rio Janeiro (UERJ), Brazil, John Hannah Professor, School of Surveying, University of Otago, New Zealand

Coordinates November 2018 | 5 GNSS GNSS authenticity verification in covered spoofing attack using antenna array A covered spoofing scenario is considered in this research where the reception of the authentic signals are blocked and the receiver antenna only receives counterfeit signals

Ali Broumandan ue to rapidly increasing applications of which may be caused by the presence of Senior Research Associate, DGNSS dependent systems, motivation both genuine and counterfeit signals [14- PLAN group, University has increased to spoof these signals for 15]. The interaction between authentic of Calgary, Canada illegal or concealed transportation and to and counterfeit signals causes distortion mislead receiver timing used by critical on the shape of the correlation function. infrastructure. Detection and mitigation Signal Quality Monitoring (SQM) tests of spoofing attacks on GNSS receivers focus on this feature in order to detect has become an important research topic any asymmetry and/or abnormally sharp James T Curran [1-5]. Spoofing countermeasure methods or elevated correlation peaks due to the Radionavigation Engineer, analyse specific features of the counterfeit presence of undesired signals [15]. European Space Agency, signals which may enable a receiver to ESTEC , The Netherlands distinguish them from authentic signals. It is important to note that these methods make the ctitical assumption that both The spoofing detection techniques authentic and spoofing signals are present implemented at the pre-despreading and and the receiver is initially tracking post-despreading signal processing layers authentic signals. Hence, in absence of of a GNSS receiver are effective and can authentic signals, when only counterfeit detect spoofing attacks in presence of signals are received, these two assumptions authentic signals [6-11]. Pre-despreading are invalidated, and so these methods metrics have been employed to detect the may no longer work. This may occur, presence of excessive amount of power for example, when the GNSS antenna is in GNSS bands [12-13] and [16]. The covered and only exposed to counterfeit received signal strength (RSS) spoofing signals, or overpower non-overlapped detection approaches generally rely on spoofing attack and the receiver is exposed the assumption that spoofing signals are to counterfeit signals during cold start. more powerful than the authentic ones and a successful spoofing attack transmits An antenna array processing is another several counterfeit GNSS-like signals. approach to detect and mitigate spoofing These methods evaluate the overall attacks [14],[17-20]. Under the assumption power of the received signal set without that all counterfeit signals are broadcast separately analyzing different signals. This from a single spoofing source, this category of spoofing detection analyse any approach takes advantage of the similarity abnormal variation in the received signal between the angle-of-arrival (AoA) of power prior to the despreading process in counterfeit signals. Algorithms applied the receiver. The power-based spoofing to the signals received using an antenna detection methods requires calibration array can classify signals according to to be performed under the non-spoofed their respective AoA and to steer a null in condition. Post-despreading methods the directions from which the counterfeit are employed to detect an abnormal signals arrive. At the pre-despreading behaviour of cross-correlation function level antenna arrays can be also used to

6 | Coordinates November 2018 extract the spatial signature of counterfeit post-despreading techniques [3]. In the Structural Power Content signals without acquiring and tracking following some of them are introduced. Analysis (SPCA) the counterfeit and authentic signals [21- 22]. The receiver structure in the antenna Pre-despreading spoofing detection SPCA takes advantage of the cyclo- array case consists of several antennas stationarity of GNSS signals in order to each connected to a separate radio Different spoofing detection methods based detect excessive amount of structured frequency down-conversion channels and on monitoring the received signal strength signal power in the received sample set digitizers in a phase coherent mode usually are discussed here. These techniques [3]. In this approach, the received IF utilizing a single reference oscillator and rely on the assumption that counterfeit samples are first filtered within the GNSS synchronized voltage controlled oscillators. signals are more powerful than the signal bandwidth and then multiplied by The antenna elements separation in authentic ones. Pre-despreading methods their one-chip delayed version in order to such cases is about half of the carrier analyse the overall power content of the remove the effect of Doppler frequency. wavelength and the antenna array is received signal set without separately The resulting signal has a line spectrum generally considered a single receiver analyzing different signals. This type of since it is generated by multiplication of unit for a specific application [23-24]. counterfeit signal detection examines cyclo-stationary signals. In the next stage, any abnormal variation in the baseband the signal and noise components are filtered The counterfeit signals sourced from signal power prior to further processing by suitably designed comb filters [3]. A a single antenna have the same spatial signals. At this stage, the GNSS signals detection test statistic is calculated based on signature, which means that all the signals are buried under the noise floor and a the filter outputs and is then compared to a experience the same channel parameter spoofing detection test is performed based threshold in order to differentiate between variation in the spatial domain. This can on the analysis of the power content the presence and absence of counterfeit be used as a metric to detect a spoofing of the received baseband signals. signals. Since each PRN signal is received attack. The spoofing detection unit places from a different satellite with different all signals with the same spatial signature Baseband variance analysis relative dynamics with respect to a user, in the spoofing group. The advantage of their corresponding Doppler frequencies the antenna array processing over the This method continuously monitors the are different from each other. Therefore, in single antenna spoofing detection methods variance of baseband signals in order order to concentrate all signal components is that it can detect spoofing attack in to detect additional power injected by on the same spectral lines and facilitate absence of authentic signals (in the covered interference signals. Most commercial spectral filtering, the Doppler shifts of the antenna case) as long as spoofing signals GNSS receivers are equipped with an signals should be removed. To this end, the are transmitted from a single antenna. automatic-gain-control (AGC) module sampled baseband signal components are that adaptively changes the receiver input first multiplied by the complex conjugate Herein a covered spoofing scenario is gain based on the variance of the received of their one chip delayed version. This defined to establish a foundation to analyze signal in order to efficiently use the operation removes the phase rotation due to sensitivity of different spoofing detection quantization levels of the input analog-to- the Doppler frequency of received signals. methods. The receiver equipped with an digital-convertor (ADC) module, and to It also removes the navigation data bits and antenna array is covered to block reception protect the baseband amplification stages secondary codes and GNSS subcarriers that of authentic signals where a small antenna from excessive power. A feedback circuit are modulated on each spreading code. connected to a spoofing generator transmits controls the AGC gain and monitoring of an ensemble of counterfeit signals which this gain value is used to detect variations Post-despreading spoofing detection are received by the antenna array. Then in signal variance due to the presence of detection performance of the antenna array interference. In the case of fixed AGC Herein some of the widely applied spoofing processing based on the near-filed signal gain and adequate ADC digitizer bits, detection methods are described. propagation is analyzed. The performance the IF sample variance can be used to of single antenna spoofing detection monitor the excessive power in the band. Effective C/N0 analysis metrics including IF sample variance and This method does not take advantage of

SQM methods will be also investigated. any signal structure and simply assumes Effective C/N0 analysis is a common that the counterfeit signals’ power content signal strength monitoring metric that is elevates the ambient noise floor. A spoofing available in most commercial receivers. Spoofing detection metrics (or generally interference) attack will The effectiveness of this metric towards be detected if the estimated variance the classification of an interference signal Several spoofing detection metrics in is higher than a predefined detection is investigated herein. Generally, three different operation layers of a GNSS threshold. Defining a proper detection terms can affect the effective C/N0. The first receiver have been proposed. These threshold requires an initial power level one corresponds to the noise component metrics can generally be divided into two calibration in the presence of clean signals due to thermal noise or other interference categories, namely pre-despreading and in a typical operational environment. sources, the second refers to the cross

Coordinates November 2018 | 7 correlation between counterfeit signals and GNSS signals authentication corresponding to the largest eigenvalue. authentic replica and the third refers to the using antenna array processing One of the advantages of this method is cross correlation caused by other authentic that it does not require array calibration signals. The cross correlation term caused A receiver equipped with an antenna array and its computational complexity is low. by high power spoofing signals can become can employ spatial filtering techniques in Figure 1 shows the block diagram of the dominant term which is directly order to shape its reception beam pattern. the pre-despreading spoofing detection proportional to the power level of spoofing This type of receivers can steer a null and mitigation approach. Digitized signals. This term considerably reduces toward the spoofing source and suppress baseband samples from a multiple-channel

the effective C/N0 of authentic PRNs and its destructive effect [23]. Antenna array synchronized front-end are passed to the

leads to saturation of spoofing C/N0 values. processing to detect spoofing attacks can null-steering unit where the weights to be implemented at the pre-despreading (IF suppress a spoofing signals are calculated. The upper limit of a GNSS signal power sample level) or post-despreading stage The output of the null-steering unit is level is known a priori. Hence, for a of a GNSS receiver. In the following each baseband spoofing free complex samples given receiver, an upper limit for the C/ implementation approach are discussed. that are passed to a conventional receiver

N0 value can be defined. The spoofing acquisition and tracking module.

detection metric based on C/N0 monitoring Pre-despreading works based on this fact. An abnormally spoofing mitigation Spoofing-free high C/N0 value can be an indication of a spoofing attack. In addition, jamming Assume a spoofing attack signals also affect the effective C/N scenario where a single source Digital baseband Acquisition 0 Ch N Ch 2 values by increasing the noise floor. A spoofer propagates several Ch 1 RF Down- M P Null- Tracking Converter/ S V constructive multipath signal can cause counterfeit PRNs. A low steering Beamforming Digitizer R T a C/N0 value to exceed the spoofing computational complexity Pre- correlation Single detection threshold and result in a false multi-antenna spoofing RF Front-end spoofing channel alarm. Hence, this metric should be used in detection and mitigation mitigation receiver conjunction with other spoofing detection method that is able to spatially metrics to reduce false alarm probability. filter out the spoofing signals has been proposed in [22]. Figure 1: Pre-despreading spoofing SQM This method cross-correlates the baseband mitigation (MSR: Measurements, samples from different antennas in order to PVT: Position, Velocity and Time) The interaction between authentic and form a spatial correlation matrix and extract spoofing signals causes distortion on the spatial signature of the spoofing source. the shape of the correlation function. The steering vector corresponding to the Post-despreading spoofing mitigation Signal Quality Monitoring (SQM) tests spoofing signals can be extracted since all focus on this feature in order to detect of the spoofing signal energy is coming In post-despreading antenna-array based any asymmetry and/or abnormally sharp from the same spatial sector. This type of spoofing detection and mitigation methods or elevated correlation peaks due to spoofing detection approach considers the the despreading and accumulation process the presence of undesired signals [25]. spoofing source as a wideband interference are applied to each digitized baseband This metric is originally designed to signal and successfully detects and antenna samples. Figure 2 shows the monitor the correlation peak quality mitigates the spoofing source. Considering post-despreading spoofing detection and affected by multipath signals and has the fact that several spoofing PRNs mitigation block diagram. The output been widely used in the monitoring of impinge on the antenna array from the baseband samples from different front- signal quality in applications that require same direction, it can be observed that their end channels are first fed to the acquisition high integrity, such as aviation and rail. power outputs are added constructively engine to detect available signals. The from a specific spatial sector. In other acquisition routine in this case is modified One of the advantages of SQM tests is that words, the spatial power density of the to detect all of the peaks above the they are not highly dependent on training spoofing signals is considerably higher than detection threshold and passes all of the or a calibration process based on a clean that of the authentic signals. The spatial initial code phases and Doppler frequencies data. As mentioned previously, SQM correlation matrix of the received signal to the tracking unit. The despread samples metrics are designed to monitor correlation can be constructed to estimate spoofing of different detected signals are then fed peak distortions due to multipath or steering vector. To estimate the spoofing to the steering vector estimation unit. overlapped spoofing attack. As such, they sub-space or equivalently the spoofing The spoofing detection unit correlates may exhibit high false-alarm rates under steering vector one can employ Eigen value the estimated steering vectors of all multipath conditions. Moreover, in the case decomposition of the spatial covariance detected signals. High correlation among of covered or non-overlapped spoofing matrix where the spoofing steering estimated steering vectors indicates that attacks these metrics are not effective. vector is related to the Eigen vector the signals are transmitted from a single

8 | Coordinates November 2018 source. The estimated steering vector scenario is shown in Figure 3. There are power level were tuned beforehand in a then is passed to the classification and two input ports for spoofing propagation calibration process to be received at the weight calculation unit. The output of the and two receiver antennas for antenna receiver antennas with the same power weight calculation unit is then forwarded array processing. Data was collected in level as that of the authentic signals. to the beamforming and null-steering two cases namely open sky and under module. The output of the beamforming/ covered spoofing attack. In the open sky Signal quality in the covered null-steering module is a single channel scenario, the two-element antenna array spoofing scenario spoof free signal used to calculate GNSS was exposed to a clear open sky during the measurements for different PRNs. data collection. In the spoofing scenario, The first step to develop proper counterfeit the receiver antenna array was placed signal detection metrics in the covered Here, it is assumed that the antenna array inside the metallic case shown in Figure spoofing attack is to characterize the is not calibrated. More specifically the 3. Spoofing data was collected inside a lab signal parameters. Since the counterfeit relative phase and gain of the antenna where the spoofing antenna propagated signals are propagated inside the case elements are unknown and the orientation counterfeit signals inside the case and the received signals by the receiver of the array is not known. After tracking captured by the receiver’s antenna array. A antennas may be subject to attenuation all spoofing and authentic signals, the hardware simulator was used to generate and multipath propagation which may spoofing detection module correlates the counterfeit signals. The counterfeit signals affect the received signal quality and hence array responses (steering vector) receiver performance. This investigation of different signals. The spoofing may lead to some counterfeit signal Digital baseband Acquisition and Tracking signals sourced from a single detection metrics. To this end a data set PRN j PRN j RF Down- PRN i PRN i antenna have the same spatial De- Beamforming was collected to analyse the performance Converter/ spreading Null-steering signature, which means that all Digitizer of signals propagation inside the case. W i W j the PRNs experience the same The data collection procedure is shown in Steering Classification RF Front-end channel parameter variation in vector Weight Figure 4. The hardware simulator signal estimation Calculation the spatial domain. This can output was connected to a two way splitter be used as a metric to detect a spoofing attack and classify Figure 2: Post-despreading spoofing detection spoofing and authentic signals. and mitigation (MSR: Measurements, Covered Spoofing Attack PVT: Position, Velocity and Time )

This section describes the data collection procedure used to analyse different spoofing detection metrics Figure 4: Data collection scenario for covered under covered spoofing attack. spoofing signal parameters characterization Spoofing ports a) C/N 0 55 Data collection and processing Ch1 Ch2 50 Ch3

In the covered spoofing attack investigated dB-Hz in this paper the receiver antennas were 45 0 20 40 60 80 100 enclosed to avoid reception of authentic Spoofing b) Doppler Antennas -1220 signals while the spoofer propagates Ch1 -1240 Ch2 counterfeit signals. An antenna array Ch3 with two Maxtena helical antenna Hz -1260 elements with 8 cm spacing was used for -1280 spatial processing. Data was collected 0 20 40 60 80 100 c) Correlator outputs with a phase-coherent multi-channel 2 Receiver I Ch1 Fraunhofer/TeleOrbit RF front-end with I Ch2 Antennas 0 I Ch3 10 M samples/s, 8 bit quantization and Q Ch1 Q Ch2 disabled automatic gain control (AGC). I/Q outputs Q Ch3 -2 A metallic case was developed to cover 10 10.2 10.4 10.6 10.8 11 the receiver antenna array. The antenna Time (s) array was placed inside the case where Figure 5: Different signal quality for direct authentic signals reception were blocked connection and signal re-propagation scenarios and the array was exposed to only (Ch1 and Ch2 signal propagated inside the counterfeit signals. The covered spoofing Figure 3: Covered spoofing scenario case and Ch3 direct cable connection)

Coordinates November 2018 | 9 where one of the outputs was connected in Figure 6. Figure 6a and Figure 6b directly to one of the front-end channels. shows the horizontal and vertical position The other splitter’s output was connected errors respectively. As shown a fixed to the spoofing port to propagate signals RTK solution with mm level positioning inside the case which then received by error can be achieved in this scenario. the receiver antennas. These signals were sampled with the RF front-end as shown Single antenna based spoofing in Figure 4 in a phase coherent fashion. detection metrics performance The IF samples captured by these three under the covered spoofing attack channels were processed by a software receiver. Figure 5 shows different signal In this section the outputs of some

quality measures namely C/N0, Doppler spoofing detection metrics implemented values and I/Q outputs for the three in the pre and post-despreading stages of channels for a given PRN. As shown the C/ a receiver in a covered spoofing attack

N0 values from different channels matches are examined. To this end different metric very well. This observation indicates outputs for direct cable connection as Figure 6: RTK horizontal and vertical that there is minimal signal power loss the authentic signals are compared to solutions in a covered spoofing attack due to signal propagation inside the case those of the spoofing signals propagated a) SPCA analysis compared to the direct cable connection. inside the spoofing case. Figure 7 shows 2.8 SPCA and IF samples standard deviation Authentic Covered spoofing Also as shown the multipath effect on the (std) outputs. Each metric output is 2.6 received signal strength propagated inside based on 1 s process of IF samples. 2.4

the case is negligible. The counterfeit SPCA test transmit antenna was closer to the receiver The SPCA outputs measures the amount 2.2 Ch1 antenna as shown in Figure 4. This of GNSS signal power in the band and 0 10 20 30 40 50 60 fact did not affect the C/N values neither since this amount is measurable in a clean Time (s) 0 b) IF sample std analysis due to the path loss nor due to multipath data set the output of SPCA can be used 1.005 Authentic phase rotation. Figure 5b shows carrier to detect the extra signal energy in the Covered spoofign Doppler values for the three channels. GNSS bandwidth when both authentic and As shown all of the channels yield the spoofing signals are present. However, 1 same performance. Figure 5c shows the in the covered spoofing case where the Normalized IF std I and Q values of the correlator outputs. authentic signals are not present the output 0.995 All the channels were operating with a of the SPCA metric should be the same as 0 10 20 30 40 50 60 Time (s) PLL, hence all of the signal energy is the clean data set. As shown in Figure 7a concentrated in I branches. As shown the the SPCA metric outputs have the same Figure 7: Pre-despreading spoofing detection I and Q branches of different channels values in the case of authentic and covered metrics a) SPCA and b) IF sample std have the same signal level which verifies spoofing attack. Figure 7b shows the the proper signal level calibration. The normalized IF samples standard deviations a) SQM observations shown in Figure 5 was for for 60 s of IF samples. As shown the 0.05 a given PRN and similar results were authentic and covered spoofing cases are 0 observed for other PRNs. The signal not distinguishable based on this metric quality characterization for the covered as well. Figure 8 shows post-despreading -0.05 SQM outputs Authentic, std=0.01 spoofing scenario provided in Figure 5 was spoofing detection metrics namely signal Covered spoofing, , std=0.01

focused on individual PRN parameters. quality monitoring (SQM) and phase -0.1 0 10 20 30 40 50 60 To further analyse the quality of code and lock indicator (PLI) for the authentic and Time (s)

carrier phase measurements in the covered covered spoofing cases for a given PRN. b) PLI 1 spoofing attack the measurement outputs of the software receiver were converted A delta metric SQM outputs with 0.95 to the RINEX format. The measurements monitoring correlator spacing of 0.4 chip 0.9 PLI from Ch1 (spoofing) and Ch3 (authentic) was employed in this case. As shown the Authentic Covered spoofing were passed to the RTKLIB software SQM outputs in both cases are identical 0.85 for carrier phase positioning. This is a with similar statistics shown in Figure 0.8 zero-baseline test where Ch1 and Ch3 8a. PLI values are shown in Figure 8b for 0 10 20 30 40 50 60 Time (s) measurements were used as rover and the authentic and covered spoofing cases. base measurements, respectively. The As shown PLI values are comparable in Figure 8: post-despreading spoofing carrier phase positioning results are shown both of the authentic and spoofing cases. detection metrics a) SQM, b) PLI

10 | Coordinates November 2018 Multi antenna based spoofing In this section the performance of arrived from the same direction the phase detection metrics performance antenna array processing for counterfeit difference between Ch1 and Ch2 for all under the covered spoofing attack signal detection is analysed. PRNs should be the same whereas in the authentic case since the direction of arrival As shown in the previous section the It is assumed that the antenna array is of different PRNs varies the receiver single antenna based spoofing detection not calibrated. More specifically the should observe different values for Ch1- metrics were not sensitive to the covered relative phase and gain of the antenna Ch2 relative phase. Figure 10 shows the spoofing attack. This make sense elements and the orientation of the array relative phase of Ch1-Ch2 for various since these types of counterfeit signal are unknown. To this end the IF samples PRNs in the authentic case. As shown detection metrics rely on the power output of the RF front-end was processed different PRNs have different relative analyses or distortion on the correlation in two steps namely pre-despreading and phase values. In some cases (e.g. PRN 14 functions and none of these occur post-despreading. In the pre-despreading and PRN 19) the relative phase of Ch1- in the overlapped spoofing scenario. stage the 2×2 spatial correlation matrix Ch2 have similar trend. This is due to the averaging over 1 s of data constructed. fact that they are located approximately a) Spoofing 140 In the authentic signal scenario since all in the same location or due to the inherent

120 signals are transmitted from different cone ambiguity of the linear array the

100 directions the signal energy does not method cannot distinguish signals coming add up constructively and hence the from different angles located on the cone 80 eigenvalues of the spatial correlation of ambiguity. This issue can be reduced 60 0 10 20 30 40 50 60 matrix should have the same values. by utilizing a planar array. Figure 11 b) Authentic 1.19 Whereas in the spoofing case since the shows the relative Ch1-Ch2 phase values spoofing signals are transmitted from a for the covered spoofing case. As shown 1.18 single source the signal energy adds up all values are overlapped which indicates

1.17 constructively and as such the eigenvalue all of the signals are transmitted form corresponding to the spoofing and noise the same location where the covered 1.16 0 10 20 30 40 50 60 subspace should have much higher values spoofing attack can be detected. Time (s) than that of the noise only subspace. Figure 9: Highest-to-lowest ratio of In this paper the ratio of the highest to eigenvalues (ρ) in spoofing and authentic cases lowest value of the eigenvalues (ρ) is Conclusions considered to detect a spoofing event.

Authentic A covered spoofing scenario was 2 Figure 9 shows ρ for authentic and investigated in this paper where the 1.5 PRN4 PRN11 1 spoofing cases. Each value of ρ is based reception of the authentic signals were PRN14

0.5 PRN18 PRN19 on 1 s spatial correlation process. As blocked and the receiver antenna only 0 PRN22 PRN31 shown ρ in the spoofing scenario is exposed to the counterfeit signals. As -0.5 PRN32 about 100 times of that of the authentic shown the covered spoofing scenarios is -1

Relative phase (radian) -1.5 scenario. It should be noted that the relatively easy to implement while the -2 pre-despreading spoofing detection signal quality was preserved. Different

-2.5 0 10 20 30 40 50 60 can detect any signal (e.g. jammer) signal quality measures including C/N0 Time (s) transmitted from a single source. Doppler and carrier tracking indicator Figure 10: Relative phase of Ch1- were analysed. Based on the experimental Ch2 in the authentic case In the post-despreading spatial spoofing results provided here the multipath due detection the IF samples of the array to signal propagation inside the spoofing were processed with a GNSS software case was not a concern. Various single Spoofing 1.6 receiver. The software receiver tracked antenna based spoofing detection metrics

1.4 the first channel data in PLL mode and in the case of covered spoofing attack used the tracking parameters (code, were analysed. The results revealed that 1.2 PRN4 PRN11 frequency and phase) to wipe-off the these metrics are not sensitive to the PRN14 second channel data. The relative phase of attack and hence cannot be used to detect 1 PRN18 PRN19 Ch1-Ch2 can be measured by analyzing such spoofing attack. A two-element PRN22 Relative phase (radian) 0.8 PRN31 the in-phase and quadrature outputs of antenna array was utilized to implement PRN32 Ch2. The relative phase of Ch1-Ch2 at spatial processing in pre-despreading 0.6 0 10 20 30 40 50 60 the correlator output is a function of the and post- despreading stages of a GNSS Time (s) direction of arrival of satellite and relative receiver. As shown the covered spoofing Figure 11: Relative phase of Ch1- path delay of the RF chain of Ch1-Ch2. attack can be successfully detected Ch2 in the spoofing case In the spoofing case since all PRNs are using antenna array processing.

Coordinates November 2018 | 11 [10] J. Nielsen, V. Dehghanian and G. time process for GNSS receiver,” References Lachapelle (2012) “Effectiveness of International Congress on Image and [1] T. E. Humphreys, B. M. Ledvina, M. GNSS Spoofing Countermeasure based Signal Processing (CISP), Sichuan, L. Psiaki, B. W. O’Hanlon and P. M. on Receiver CNR Measurements” China, pp. 1537-1541, Oct 16-18 2012 Kintner “Assessing the Spoofing Threat: International Journal of Navigation Development of a Portable GPS Civilian and Observations, vol. 2012, Article ID [19] M. D. Zoltowski, and A. S Gecan Spoofer,” ION GNSS 21st. International 501679, 9 pages, 2012. “Advanced adaptive null steering Technical Meeting of the Satellite concepts for GPS”, Military Division, Savannah GA, pp. 2314-2325, [11] A. Jafarnia, A. Broumandan, J. Nielsen Communications Conference, MILCOM 16-19 September 2008 and G. Lachapelle “GPS Spoofer 95, IEEE, San Diego, CA, USA, , pp. Countermeasure Effectiveness based 1214-1218, 5-8 November 1995 [2] B. M. Ledvina, W. J. Bencze, B. Galusha on Using Signal Strength, Noise Power and I. Miller “An In-Line Anti-Spoofing and C/N0 Observables” International [20] C.E. McDowell “GPS Spoofer and Device for Legacy Civil GPS Receivers” Journal of Satellite Communications Repeater Mitigation System using Proceedings of the 2010 International and Networking, vol 30, no 4, pp. 181– Digital Spatial Nulling” US Patent Technical Meeting of The Institute of 191, July 2012. 7250903 B1, 7 pages 2007 Navigation, 25-27, San Deigo CA, pp. 698-712, January 2010 [12] A. Jafarnia, A. Broumandan, J. Nielsen [21] Meurer, M., A. Konovaltsev, M. and G. Lachapelle “Pre-Despreading Cuntz, C. Hättich “Robust Joint Multi- [3] A. Jafarnia-Jahromi, “GNSS Signal Authenticity Verification for GPS L1 Antenna Spoofing Detection and Authenticity Verification in the Presence C/A Signals,” NAVIGATION, Journal Attitude Estimation using Direction of Structural Interference,” PhD Thesis, of The Institute of Navigation, Vol. 61, Assisted Multiple Hypotheses RAIM,” Department of Geomatics Engineering, Issue 1, pp 1-11, 2014. Proceedings of the 25th International University of Calgary, September 2013. Technical Meeting of The Satellite [13] E. McMilin, D. S. De Lorenzo, T. Walter, Division of the Institute of Navigation [4] R. G. Hartman and P. Minn “Spoofing T. H. Lee, and P. Enge “Single Antenna (ION GNSS 2012), Nashville, TN, pp. detection system for a satellite GPS Spoof Detection that is Simple, 3007-3016, September 17-21, 2012 positioning system” US Patent 5557284, Static, Instantaneous and Backwards 1995 Compatible for Aerial Applications” [22] S. Daneshmand; A. Jahromi, A. Proc. ION GNSS+ 2014, Tampa, FL, Broumandan and G. Lachapelle Sept. 9-12 2014. [5] C. E. McDowell “GPS Spoofer and “A GNSS structural interference Repeater Mitigation System using mitigation technique using antenna Digital Spatial Nulling”, US Patent [14] S. Daneshmand, A. Jafarnia Jahromi, array processing” IEEE Sensor Array 7250903 B1, 2007 A. Broumandan, J. Nielsen and G. and Multichannel Signal Processing Lachapelle “GNSS Spoofing Mitigation Workshop (SAM), Coruna, Spain, pp. in Multipath Environments Using 109-112, 22-25 June 2014 [6] M. L. Psiaki, M. L., Powell, S.P., Space-Time Processing,” Proceedings O’Hanlon, B.W., “GNSS Spoofing of the European Navigation Conference Detection using High-Frequency [23] S. Daneshmand, A. Jafarnia, A. (ENC2013), Vienna, 23-25 April 2013. Antenna Motion and Carrier-Phase Broumandan and G. Lachapelle “A Low Data,” Proceedings of the 26th Complexity GNSS Spoofing Mitigation International Technical Meeting of [15] E. G. Manfredini, F. Dovis, and B. Technique Using a Double Antenna The Satellite Division of the Institute Motella “Validation of a signal quality Array” GPS World magazine, vol 22, no of Navigation (ION GNSS 2013), monitoring technique over a set of 12, pp. 44-46, December 2011 Nashville, TN, pp. 2949-2991, spoofed scenarios” 7th ESA Workshop September 2013. on Satellite Navigation Technologies and [24] A. Jafarnia, A. Broumandan, S. European Workshop on GNSS Signals Daneshmand, N. Sokhandan and and Signal Processing (NAVITEC), pp. [7] S. Daneshmand, A. Jafarnia, A. G. Lachapelle “A Double Antenna 1-7, 2014. Broumandan and G. Lachapelle “A Approach toward Detection, Low-Complexity GPS Anti-Spoofing Classification and Mitigation of GNSS Method Using a Multi-Antenna [16] A. Jafarnia-Jahromi, A. Broumandan, Structural Interference,” Proceedings Array” in Proceedings of ION GNSS J. Nielsen and G. 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12 | Coordinates November 2018 3D MODELING Segmentation of 3D photogrammetric point cloud This study presents research in progress, which focuses on the segmentation and classification of 3D point clouds and orthoimages to generate 3D urban models

E Ozdemir D modeling of cities has become hand, reality-based modeling approaches 3D Optical Metrology, 3very important as these models are rely on data gathered with 3D surveying Bruno Kessler Foundation being used in different studies including techniques to derive 3D geometries from (FBK), Trento, Italy energy management, visibility analysis, surveyed data. While procedural modeling Space Center, 3D cadastre, urban planning, change concept holds the main advantages of Skolkovo Institute of detection, disaster management, etc. data compression and savings from Technology (SKOLTECH), (Biljecki et al., 2015). 3D building hardware usage, it comes at two important Moscow, Russia models can be considered as one of the costs, i.e. low metric accuracy and most important entities in the 3D city issues with control ability on the model, Dr F Remondino models and there are numerous ongoing especially for complex structures. Head, 3D Optical studies from different disciplines, Metrology, Bruno including vast majority of researchers There are many approaches presented in Kessler Foundation from geomatics and computer sciences. the literature for 3D building modeling, (FBK), Trento, Italy which rely on point clouds (Haala and The two main concepts of reconstructing Kada, 2010; He et al., 2012; Lafarge 3D building models can be given as and Mallet, 2012; Sampath and Shan, procedural modeling (Musialski et al., 2010), often coupled with ancillary data 2013; Parish and Müller, 2001) and reality- such as building footprints. However, based modeling (Toschi et al., 2017a), reliable footprints are not always the latter including photogrammetry available. Moreover, these existing and Airborne Laser Scanning (Fig. 1). methodologies are not found to be fully The concept of procedural modeling is exploiting the accuracy potential of based on creating rules (procedures) that sensor data (Rottensteiner et al., 2014). reconstruct 3D models automatically (i.e. For these reasons, we are motivated to dimensions and location of starting point develop a methodology to reconstruct of a rectangular prism). On the other 3D building models without relying on such ancillary data. The method focuses on the segmentation of photogrammetric point clouds and RGB orthophotos for the successive reconstruction of 3D building models. Using a semi-automated approach, we detect vegetation (and/or other) classes on the image and mask/ separate these regions in the point cloud. Therefore, it becomes easier to process the rest of the point cloud for a segmentation and classification in order to extract the buildings from the point cloud.

The paper proposes a methodology to extract and model buildings from photogrammetric point Figure 1. A schema of our photogrammetric-based clouds segmented with the support approach for the generation of 3D building models. of orthophoto. After a review of

Coordinates November 2018 | 13 related works, the developed methodology is presented. Zegarra et al., 2015). The situation gets even more challenging Results are discussed at the end of the paper. when dealing with high-resolution aerial (less than 20 cm) and terrestrial images where intra-class variability increases as many more small objects (street elements, façade structures, road Related work signs and markings, car details, etc.) are visible. Segmentation and classification of 2D (geospatial) data is normally performed In the last years, thanks to the availability of dense point clouds with data-driven / supervised approaches - based on classifiers coming from LiDAR sensors or automated image matching like random forests, Markov Random Field (MRF), Conditional (Remondino et al., 2014), there have been many studies on 3D Random Fields (CRF), Support Vector Machines (SVM), building reconstruction from dense point clouds. Most of them Conditional Random Field (CNN), AdaBoost, maximum are based on extraction of roofs, generally using ancillary data likelihood classifier, etc. (Schindler, 2012) - or unsupervised such as building footprints, and then fitting geometric primitives approaches based on K-means, Fuzzy c-means, AUTOCLASS, (Dorninger and Pfeifer, 2008; Malihi et al., 2016; Vosselman and DBSCAN or expectation maximization (Estivill-Castro, 2002). Dijkman, 2001; Xiong et al., 2014). As our approach (Fig. 2) is based on orthophoto and point cloud segmentation, in the next Point cloud segmentation sections, a state-of the-art of such methods is shortly given. Point cloud segmentation is another challenging segmentation Image segmentation task as in the most cases there is vast amount of complex data. There have been different methodologies developed in order The automatic analysis and segmentation of terrestrial, aerial to solve this difficult task (Nguyen and Le, 2013; Woo et al., and satellite 2D images into semantically defined classes (often 2002). While some methodologies are developed with machine referred to as “image classification” or “semantic labeling”) learning approach (Hackel et al., 2017; Kanezaki et al., 2016; Qi has been an active area of research for photogrammetry, remote et al., 2017; Wu et al., 2015), some others relied on the geometric sensing and computer vision scientist since more than 30 years calculations, such as sample consensus based (Fischler and Bolles, (Bajcsy and Tavakoli, 1976; Chaudhuri et al., 2018; Duarte et al., 1981), combining images and 3D data (Adam et al., 2018), or 2017; Kluckner et al., 2009; Teboul et al., 2010; Tokarczyk et al., region growing algorithms (Ushakov, 2018). There are also 2015). In the literature image classification methods are normally various studies on classification of aerial photogrammetric 3D point clouds (Becker et al., 2017), segmentation of unstructured point clouds (Dorninger and Nothegger, 2007), and some studies on segmentation of LiDAR point clouds as well (Douillard et al., 2011; Macher et al., 2017; Ramiya et al., 2017).

3D building models

Our aim is to reconstruct Level of Detail 2 (LoD2, (Biljecki et al., 2016)) 3D building models with optimum number of vertexes. For this reason, we are not using a method that creates a mesh using all the available points in the point cloud. Instead, we prefer to employ a method that generates lightweight polygonal surfaces. In the literature there are different kind of 3D building reconstruction methodologies, which we could classify based on the used data: footprints (Müller et al., 2006), sparse point clouds, procedural modeling (Müller et Figure 2. The developed methodology, based on orthoimage and point al., 2007; Parish and Müller, 2001; Vanegas et al., 2010), combined cloud processing, to identify buildings and geometrically model them. methodologies (Müller Arisona et al., 2013), hybrid representation (Hu et al., 2018) and deep learning approaches (Wichmann et al., 2018). divided in per-pixel approaches vs object-based analyses (the latter often called GEOBIA - Geographic Object Based Image Analysis) (Blaschke et al., 2014; Morel and Solimini, 2012). Data and methodology Semantically interpreted images, i.e. thematic raster maps of building envelopes, forests or entire urban areas are important for We propose an automated methodology that aims to extract many tasks, such as mapping and navigation, trip planning, urban buildings from photogrammetric point clouds for 3D planning, environmental monitoring, traffic analysis, road network reconstruction purposes. The method combines a series of extraction, change detection, restoration, etc. In spite of a large processes including: (i) vegetation masking through orthoimage number of publications, the task is far from solved. Indeed, Earth segmentation, (ii) point cloud segmentation (vegetation, buildings, areas exhibit a large variety of reflectance patterns, with large intra- streets, ground level objects - GLO) with the aid of the image class variations and often also low interclass variation (Montoya- masking results and (iii) 3D reconstruction of the building class.

14 | Coordinates November 2018 Employed data ▪▪ α(s) represents the learning rate and ▪▪ D(t) stands for the input vector. We used two different datasets for developing and testing our method. The datasets used in our tests have very high-resolutions although, in most cases, pixel-based segmentation and classification are The first is derived from ISPRS benchmark dataset of Dortmund not ideal for such imagery. Yet, as our image segmentation goal City Center (Nex et al., 2015). As the original dataset contains is to separate only the vegetation from the others, pixel-based data from different sensors including terrestrial and aerial segmentation met our need. In order to segment the orthophotos, a laser scanners, we only used the point cloud generated using SOM network is generated with 9 layers and image data is prepared oblique images acquired with the IGI PentaCam, with the as a data matrix, where each row vector of the matrix represents GSD of 10cm in the nadir images, and 8-12cm in the oblique one band of the image. The original orthophoto and the generated views. The average density of the cloud is ca 50 pts/sqm. vegetation masks for the Dortmund dataset are shown in Figure 4.

The second dataset was flown over the city of Bergamo (Italy) Segmentation of the 3D point cloud with a Vexcel UltraCam Osprey Prime by AVT Terramessflug, with average GSD of 12cm for both nadir and oblique images The region growing segmentation algorithm built-in Point Cloud (Gerke et al., 2016; Toschi et al., 2017b). The resulting Library (PCL) (Rusu and Cousins, 2011) is used in order to dense point cloud has an average density of 30 pts/sqm. segment 3D point cloud with the aim of classification into buildings and GLOs. The algorithm (Fig. 5) basically detects points which Segmentation of the orthophoto are generating a smooth surface if they gather together, and this is decided by comparing the surface normal of the neighbour points. We used Kohonen’s Self-Organizing Map (SOM, Fig. 3), which is an Artificial Neural Network (ANN) designed for clustering the In order to make this comparison, the algorithm first calculates the given data into number of clusters that is defined by the number curvature values for each point, which is based on normal. As the of layers (González-Cuéllar and Obregón-Neira, 2013). By its points with minimum curvature are placed in planar regions, all design, SOM has an unsupervised approach for the training and the points are sorted with respect to their curvature values in order with this training the network generates a map of the given data to detect the seed points with minimum curvatures. The points are (Kohonen et al., 2001). The neuron’s weights are calculated as: labelled till there are no unlabelled points left. Before applying the region growing segmentation to the point cloud, we project the vegetation mask previously generated onto the point cloud (Fig. 6). This allow to label points as vegetation or non- vegetation where: and to automatically generate a masked 3D point cloud (Fig. 7). ▪▪ Wv represents the weights for neuron v, ▪▪ s represents the index of the step, The region growing algorithm is then applied to the masked ▪▪ θ(u,v,s) stands for the function calculating the point cloud, adjusting minimum-maximum number of points distance between neuron u and v in the step s,

Figure 3. Network Operation of Kohonen’s SOM. Figure 5. A brief summary of region growing algorithm

Figure 6. The process for the projection of vegetation mask to the cloud Figure 4. Original orthophoto (left) and the created mask (right) for Dortmund City Center. Coordinates November 2018 | 15 per cluster, normal change threshold as well as curvature candidate faces, PolyFit, creates an optimized subset based on threshold. This allow to distinguish buildings, streets and GLO angle between adjacent planes (θ<10°), and minimum number assigning a different ID per point. Merging all segments, a of points can support both of the segments (select minimum classified and segmented point cloud is obtained (Fig. 8). of number of points in segment 1 and 2, divide this amount by 5). Using this optimum subset of faces, a face selection 3D building modeling is performed (Fig. 9c) based on the following parameters;

Once building structures are identified in the point cloud, the - Fitting, i.e. a measure for the fitting quality between the geometric modeling is performed using Mapple (Nan, 2018) and point cloud and the faces, calculated with respect to the PolyFit (Nan and Wonka, 2017) tools. Mapple is a generic point percentage of points that are not used for the final model; cloud tool that can handle normal estimation, down sampling, interactive editing and other functions. Mapple is used to extract - Point coverage, i.e. a fraction related to bare areas in the model, planar segments from the point cloud based on RANSAC calculated with respect to the surface areas, candidate faces and algorithm (Fig. 9a). Then, accepting these preliminary planes as 2D α-shapes, which is basically a projection of points to the plane;

Figure 7. Original 3D point cloud of Dortmund City Center (left) b and masked cloud showing everything but the vegetation (right).

Figure 10. Examples of 3D reconstructions for different buildings extracted from the Dortmund point cloud. Some façade or roof details, if not well surveyed by the point cloud, are not correctly modelled.

Figure 8. Classification and segmentation result for the point cloud of Dortmund City Center: classification (left) of buildings (yellow), vegetation (green) and GLOs (grey); final results (right) with separated buildings. a b

Figure 11. Original orthophoto (a) and the vegetation mask (b) for the Bergamo dataset

a b

c d c d Figure 9: A building (City Hall) to be modelled from the dense point cloud (a); the Mapple tool with its parameter settings Figure 12. Original 3D point cloud (a) masked 3D point for primitive extraction (b); PolyFit interface (c); resulting cloud (b), classification result (c) and classification 3D building model for the City Hall in Dortmund (d). results with separated buildings (d).

16 | Coordinates November 2018 - Model complexity, i.e. a term to consider produced the segmented point cloud of setting of the region growing parameters, the holes and outgrowths, calculated Figure 12b. Separation of the vegetation and the setting of segment numbers from as a ratio of sharp edges and total makes it easier for the following steps of the point clouds after segmentation for amount of intersections of the pairs. point cloud segmentation and classification. merging them. However, as this is an The classification results shown in Figure ongoing research, these two steps are going These parameters can be adjusted in an 12c-d, and 3D building reconstruction to be automated in the future. As other iterative way during the 3D reconstruction results shown in Figure 13 demonstrate that future works, we would like to bring all process, which includes refinement, our methodology also provided significant functionalities into one environment and hypothesizing, confidence calculations results in case of dense urban areas. Yet, upscale the methodology to an entire city. and optimization procedures. Figure we faced some cases where we could not 9d and Figure 10 show examples of manage to reconstruct the building due to derived 3D building models from a lack of points representing the ground Acknowlegments the Dortmund point cloud. level. An example can be seen in Figure 14. The authors are thankful to Liangliang Nan (3D Geoinformatics group, TU Delft, Conclusions The Netherlands) for his kind support.

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18 | Coordinates November 2018 Detail of 3D Models Through Ramiya, A.M., Nidamanuri, R.R., Krishnan, Toschi, I., Ramos, M., Nocerino, E., Combined Photogrammetric and R., 2017. Segmentation Based Building Menna, F., Remondino, F., Moe, K., Procedural Modelling. Geo-spatial Detection Approach from Lidar Point Poli, D., Legat, K., Fassi, F., 2017b. Information Science 16, 45-53. Cloud. The Egyptian Journal of Remote Oblique Photogrammetry Supporting Sensing and Space Science 20, 71-77. 3D Urban Reconstruction of Complex Müller, P., Wonka, P., Haegler, S., Ulmer, Scenarios. International Archives of the A., Van Gool, L., 2006. Procedural Remondino, F., Spera, M.G., Nocerino, Photogrammetry, Remote Sensing and Modeling of Buildings, Acm Transactions E., Menna, F., Nex, F., 2014: State Spatial Information Sciences, 519-526. On Graphics (Tog). ACM, pp. 614-623. of the art in high density image matching. The Photogrammetric Ushakov, S., 2018. Region Growing Müller, P., Zeng, G., Wonka, P., Van Record, Vol. 29(146), pp. 144-166. Segmentation, http://pointclouds.org. Gool, L., 2007. Image-based Procedural Modeling of Facades, ACM Transactions Rottensteiner, F., Sohn, G., Gerke, Vanegas, C.A., Aliaga, D.G., Benes, B., on Graphics (TOG). ACM, p. 85. M., Wegner, J.D., Breitkopf, U., 2010. Building Reconstruction using Jung, J., 2014. Results of the ISPRS Manhattan-World Grammars. 2010 Ieee Musialski, P., Wonka, P., Aliaga, benchmark on urban object detection Conference on Computer Vision and D.G., Wimmer, M., Van Gool, and 3D building reconstruction. Pattern Recognition (Cvpr), 358-365. L., Purgathofer, W., 2013. A Isprs Journal of Photogrammetry and Survey of Urban Reconstruction, Remote Sensing 93, 256-271. Vosselman, G., Dijkman, S., 2001. Computer graphics forum. Wiley 3D Building Model Reconstruction Online Library, pp. 146-177. Rusu, R.B., Cousins, S., 2011. 3D is from Point Clouds and Ground here: Point cloud library (PCL), Robotics Plans. International archives of Nan, L., 2018. Software & code - and automation (ICRA), 2011 IEEE photogrammetry remote sensing and Liangliang Nan, https://3d.bk.tudelft. International Conference on. IEEE, pp. 1-4. spatial information sciences 34, 37-44. nl/liangliang/software.html. Sampath, A., Shan, J., 2010. Segmentation Wichmann, A., Agoub, A., Kada, Nan, L., Wonka, P., 2017. PolyFit: and Reconstruction Of Polyhedral M., 2018. Roofn3D: Deep Learning Polygonal Surface Reconstruction Building Roofs from Aerial Lidar Point Training Data For 3D Building from Point Clouds, Proceedings of Clouds. IEEE Transactions on geoscience Reconstruction. International the IEEE Conference on Computer and remote sensing 48, 1554-1567. Archives of the Photogrammetry, Vision and Pattern Recognition, Remote Sensing & Spatial Venice, Italy, pp. 2353-2361. Schindler, K., 2012. An Overview Information Sciences 42. and Comparison of Smooth Labeling Nex, F., Remondino, F., Gerke, M., Methods for Land-Cover Classification. Woo, H., Kang, E., Wang, S., Lee, Przybilla, H.-J., Bäumker, M., Zurhorst, IEEE transactions on geoscience and K.H., 2002. A New Segmentation A., 2015. ISPRS Benchmark for Multi- remote sensing 50, 4534-4545. Method for Point Cloud Data. Platform Photogrammetry. ISPRS Annals International Journal of Machine of Photogrammetry, Remote Sensing Teboul, O., Simon, L., Koutsourakis, Tools and Manufacture 42, 167-178. & Spatial Information Sciences 2. P., Paragios, N., 2010. Segmentation of Building Facades Using Wu, Z., Song, S., Khosla, A., Yu, F., Nguyen, A., Le, B., 2013. 3D Procedural Shape Priors. Zhang, L., Tang, X., Xiao, J., 2015. 3D Point Cloud Segmentation: A Shapenets: A Deep Representation for Survey, RAM, pp. 225-230. Tokarczyk, P., Wegner, J.D., Walk, S., Volumetric Shapes, Proceedings of the Schindler, K., 2015. Features, Color IEEE conference on computer vision Parish, Y.I., Müller, P., 2001. Procedural Spaces, And Boosting: New Insights on and pattern recognition, pp. 1912-1920. Modeling of Cities, Proceedings Semantic Classification of Remote Sensing of the 28th annual conference on Images. IEEE Transactions on Geoscience Xiong, B., Elberink, S.O., Vosselman, Computer graphics and interactive and Remote Sensing 53, 280-295. G., 2014. Building Modeling from techniques. ACM, pp. 301-308. Noisy Photogrammetric Point Toschi, I., Nocerino, E., Remondino, F., Clouds. ISPRS Annals of the Qi, C.R., Yi, L., Su, H., Guibas, L.J., Revolti, A., Soria, G., Piffer, S., 2017a. Photogrammetry, Remote Sensing and 2017. Pointnet++: Deep Hierarchical Geospatial Data Processing for 3D City Spatial Information Sciences 2, 197. Feature Learning On Point Sets Model Generation, Management And In A Metric Space, Advances in Visualization. International Archives of The paper was presented at 13th 3D Neural Information Processing the Photogrammetry, Remote Sensing GeoInfo Conference, 1–2 October Systems, pp. 5099-5108. & Spatial Information Sciences 42. 2018, Delft, The Netherlands.

Coordinates November 2018 | 19 DEFORMATION ANALISYS Deformation analisys of modern crustal strain The seismicity of the Sofia area is of particular interest because of the great activity and the proximity to the city of Sofia, so it is necessary to carry out the research of crustal movements in the area

Nikolay Dimitrov eological data show that the region of is a constant throughout the network. Assoc Professor, Head GCentral-west Bulgaria is characterized The advantage of these methods is of Department Geodesy, by the presence of active deformations that they evaluate unambiguously the National Institute of and modern seismic activity. The desired parameters. These result in a Geophysics, Geodesy southern region of Sofia shows a complex spatially averaged velocity field. and Geography, tectonics formed by the intersection of Bulgarian Academy several active faults. The concentration Another alternative approach is to of Science, Bulgaria of seismic activity is mainly located in eliminate the assumption of a spatially the south-southeast parts of the region unified velocity gradient and to estimate as a result of the geodynamic processes. the velocities of the points directly. The seismicity of the Sofia area is of Combining terrestrial measurements particular interest because of the great with GPS makes it possible to obtain a activity and the proximity to the city of unique velocity field, and can combine Sofia, so it is necessary to carry out the different terrestrial networks to obtain research of crustal movements in the area. a unified solution. Several studies have shown that such technique is applicable (Snay and Drew, 1989, Grant, 1990). Deformation analysis of modern earth crustal movements We use the method described by Dong (Danan Dong, 1993) for the calculation There are several estimation of stresses in the earth’s crust using methods for the availability of new theoretically stringent, practically efficient measurement technologies: and flexible techniques for combining heterogeneous data. Point positions are In Frank’s method (Frank, 1966) stresses are calculated by the angular rotation Tabl.1. GPS epoch of two mutually perpendicular axes, and tensions are assumed to spread GPS epoch equally in space. This method applies ID 1997 2000 2003 2005 2006 to triangular measurements in two or BREZ X X more epochs. The method requires BUHO X X different epoch measurements to have LOZE X X the same network configuration. SLIV X X VERI X X In a different network configuration, VLAD X X the Prescott method (Prescott, 1976) is PLA1 X X applied. This is a widespread method, TREB X which assumes that tensions spread equally GURM X in both space and time. However, this KALN X method does not produce good results KOZN X in the presence of heterogeneous data. MACH X KONO X The Simultaneous Reduction Method (Bibby, 1982) estimates the velocities CHER X Fig. 1 Network sketch (Delaunay triangles) gradient by assuming that the gradient 0026 X X X

20 | Coordinates November 2018 estimated as a function of time and also the Snay, R.A. and field of velocities is obtained from different A.R. Drew (1989). types of measurements at different times Combining GPS and and in different network configurations. classical geodetic surveys for crustal GPS measurements used deformation in the Imperial Valley, For the study of active tectonic in the region California, High several epochs of GPS measurements Precision Navigation are used as shown ot Table. 1. – Integration of Navigational and Geodetic Methods, Processing data Springer-Verlag, New York, 225-236. Fig.2. Principal strain axes. The processing of GPS measurements has been done with the Bernese software Grant, D.B. (1990). version 4.2 (Bernese GPS software Combination of terrestrial version 4.2). Coordinates of permanent and GPS data for Earth stations used in the processing fix the deformation studies, Ph.D. coordinate and kinematic systems. In Theses, Unisurv report S-32. the study of the modern movements of the Earth’s crust, interest in calculating Dong, D. (1993). The velocities of the points, the accumulated horizontal velocity field in strain and the magnitude and directions southern California from a of the rotation in the network (Dimitrov combination of terrestrial N. 2013) (Dimitrov, Georgiev 2011). The and space-geodetic data. PhD principal strain axes and the sizes and Thesis, Massachusetts Institute directions of rotation in the network of of Technology, 157pp. elementary triangles have are calculated with FONDA (Forward Observation and Burchfiel, B. C., R. Nakov, Network Deformation Analysis) software. T. Tzankov, L. H. Royden. 2000. Cenozoic Extension in Bulgaria and Northern Results Fig.3. Rotation rates. Greece: the northern part of the Aegean Extensional Regime.- The principal strain axes and the rotation rate are in line with the overall In Tectonics and Magmatism in Turkey magnitudes and directions of rotation north-south extension of southern Bulgaria and the Surrounding Area (E. Bozkurt, in each Delaunay triangle have been and northern Greece - the South Balkan J.A. Winchester and J. D. A Piper, eds.), obtained from the processing of the Extensive Area (Burchfiel et. All, 2000). Geol. Soc., Sp. Publ. 173, 325-352. measurements. (Fig.2, Fig.3.) Dimitrov N.(2013), Contemporary References: crustal movements from GPS Conclusion and triangulation data. Bulgarian Frank, F.C. (1966). Deduction of Geophysical Journal vol. 39, From the analysis of the results it is earth strains from survey data, Bull. pp3-8, ISSN 1311-753X. clear that rotations in the triangles north Seismol. Soc. Am., 56, 35-42. of the Iskar fault zone (northwest to Dimitrov N., I. Georgiev (2011). southeast) are clockwise and those in Prescott, W.H. (1976). An extension of Determination of crustral strain from the triangles located to the south of the Frank’s method for obtaining crustal GPS data in central-west Bulgaria fault zone are counter-clockwise. The shear strains from survey data, Bull. region. Proceedings, VSU L. difference in these directions, similar to Seismol. Soc. Am., 66, 1847-1853. Karavelov 2011, vol 2, VI 147-151. result for strain and shows the existence of modern activity in the area. It may Bibby, H.M. (1982). Unbaised estimate FONDA - Forward Modeling used to clarify the geological and tectonic of strin from triangulation data using Network Deformation Analysis environment. The obtained result for the method of simultenous reduction, (FONDA) Software Version 3.1, horizontal velocities, strain rate and Tectonophysics, 82, 161-174. MIT, February 2001.

Coordinates November 2018 | 21 OLD COORDINATES In Coordinates 10 years before…

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Satellite images are an interesting source for 3D mapping. However, they still do have a number of substantial disadvantages when compared to aerial images.

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Back www.javad.com LAND ADMINISTRATION Its4land - Developing innovative geospatial tools for fit-for- purpose land rights mapping The its4land project builds on strategic collaborations between the EU and East Africa to deliver innovative, scalable, and transferrable ICT solutions

Dr Mila Koeva Angela SCHWERING Placide NKERABIGWI University of Twente, Institute for Institut d’Enseignement The Netherlands Geoinformatics, University Supérieur de Ruhengeri, of Muenster, Germany Rwanda (INES), Rwanda

Sophie CROMMELINCK Malumbo CHIPOFYA Berhanu ALEMIE University of Twente, Institute for Bahir Dar University, The Netherlands Geoinformatics, University Ethiopia of Muenster, Germany

Claudia STÖCKER Sahib JAN Robert WAYUMBA University of Twente, Institute for Technical University The Netherlands Geoinformatics, University of Kenya, Kenya of Muenster, Germany

Joep CROMPVOETS Tarek ZEIN n Sub-Saharan Africa, and also in Katholische Universiteit Hansa Luftbild Imany developing regions, there are Leuven (KUL), Belgium AG· International numerous activities for land tenure Consulting, Germany recording; however, the results are deviating from the experts’ expectations (Zevenbergen et al., 2013). With the challenges of incomplete recordation and Serene HO Christian TIMM escalated land disputes, an innovation Katholische Universiteit Hansa Luftbild for fast, accurate and cost effective land Leuven (KUL), Belgium AG International rights mapping is clearly needed. Consulting, Germany A new generation of innovative land tenure tools which are scalable, transparent and applicable in conventional institutions are Ine BUNTINX Kaspar KUNDERT emerging (de Vries et al., 2015). Therefore, Katholische Universiteit ESRI Rwanda the main aim of the of “its4land”, a Leuven (KUL), Belgium European Commission Horizon 2020 project, is to develop innovative tools that respond to the continuum of land

Coordinates November 2018 | 31 rights, fit-for-purpose approach, and and industrial technologies – Information used to rapidly record the whole country provide cadastral intelligence. and Communication Technologies ICT with an accuracy of 1-5m. More than (H2020- EU.2.1.1.)’, under the call 10 million land parcels were registered The innovation process is based on four H2020-ICT-2015. The specific topic is between 2009 and 2013. The challenge emergent geospatial technologies: smart ‘International partnership building in still remaining is how to keep the system sketch maps, Unmanned Aerial Vehicles low and middle income countries’ ICT- up-to-date (Biraro, 2015b). As discussed (UAVs), automated feature extraction, as 39- 2015. As part of the global aim of the also by Ho et al (2017) in Musanze, up- well as sharing and publishing through project can is also the idea of reinforcing to-date land information is needed to geocloud services. The aim is to combine strategic collaboration between the balance the demand for urbanization and these innovative technologies with the EU and Eastern Africa. It also aims expand tourism. However, there are some specific needs, market opportunities and to demonstrate how multi-sectorial, economic and administrative factors readiness of end-users in the domain of multi-national, and multidisciplinary that affect its realization due to current land tenure information recording in East design work can take place. mechanisms and processes which do not Africa. Moreover, the tools target both top- actively facilitate data integration with down and bottom-up approaches and thus The consortium is multi-sectorial, the cadastral map to support decision- potentially support formal land registration multi-national, and multidisciplinary. It making processes. During field visits, processes, as well as informal community includes SMEs and researchers from 3 the its4land team observed that basic based land resource documentation. The EU countries and 3 East African countries topographic information such as buildings, project consists of a four year work plan, which are from Belgium (KUL – KU plots and visible infrastructure, etc. is €3.9M funding, and eight consortium Leuven), Ethiopia (BDU-Bahir Dar still missing – data which is important for partners collaborating with stakeholders University), Germany (WWU-University planning at all levels. Therefore, selecting from Ethiopia, Kenya, and Rwanda of Muenster; Hansa Luftbild), Kenya a suitable geospatial technology which that cover different land uses such as (Technical University of Kenya) the can be used for maintaining and updating urban, peri-urban, rural smallholder, and Netherlands (University of Twente), land information in a fast and affordable (former) pastoralists. Major technical tasks and Rwanda (INES Ruhengeri; ESRI way can potentially contribute to this include tool development, prototyping, Rwanda). In addition to technology challenge. In this context a lot of research and demonstration for local, national, development, the transdisciplinary work has been conducted worldwide, and also regional, and international interest groups. also develops supportive models for in Rwanda, on using Unmanned Aerial However, equal emphasis is placed on governance, capacity development, and Vehicles (UAVs) (Koeva et al., 2016). needs assessment, as well as governance, business capitalization. Moreover, gender capacity and business modelling. sensitive analysis is also incorporated. Kenya

This paper reports recent achievements, Independent to European Commission In Kenya, pastoralism constitutes 84% of findings and challenges faced during project oversight, the project includes the country’s total land use (Lengoiboni the first half of the its4land project, as a dedicated Advisory Board (AB), et. al, 2011). Therefore, one of the main well as the potential opportunity for Valorization Panels (VP), and challenges for the its4land project is integrating all aspects of the project into communications and dissemination to find the most suitable solution for a unique its4land toolbox. The paper channels. The project also maintains its recognizing pastoralist land rights, most concludes with future plans and ideas for own ICT infrastructure to support project of which has been held under customary the development of a sustainable business management, internal communications, tenure arrangements, which up till 2016, model for commercialization of the and data management. The setup seeks were not constitutionally recognized as integrated suite of land tenure recording to cover the depth and breadth of the a legal tenure type. However, such land tools within the end-user markets. land tool sector. The project operates in use is temporally and spatially dynamic. multiple locations across East Africa, with This is exacerbated by colonial and all case locations having different foci post-colonial land reforms that sought Background and including a mix of livelihoods and to privatize land rights but weak land landscapes such as urban, peri-urban, rural governance systems have resulted in “The its4land project is a ‘Research smallholder, and (former) pastoralist areas. poor quality land information. This has and Innovation Action’ and is formally led to a lack of transparency over land governed through the European Rwanda dealings, resulting in chronic land related Commission’s Horizon 2020 Industrial conflict in the country. An aim for its4land Leadership program focused on In Rwanda there were huge changes with in Kenya is to leverage the geospatial international partnership building in low regards to land which aimed to regularize technologies to not only contribute to and middle income countries through the all existing lands under private, leasehold, mapping pastoral land rights, but more development of new technologies. More and state tenures (Biraro, 2015a). To generally to contribute to improving the specifically the ‘Leadership in enabling achieve this, a fit-for-purpose approach was quality of land information in the country.

32 | Coordinates November 2018 Ethiopia accurate spatial data, tenure systems producing land information as a public and inherent rights, restrictions and good. In the short term, the main market will Its4land project in Ethiopia is focused responsibilities (RRRs), and a range of be the public sector; however, sound land on two different cases: peri-urban and socio-economic attributes of the right information can lead to the development rural landscapes. Bahir Dar is one of the holder. The history of land-based conflict in of secondary markets such as location- fastest growing cities with dominant peri- these countries directed the need to acquire based goods and services in the private urban territories where the growth is in other ownership evidence (e.g. history of sector. The its4land technologies also all directions. In Ethiopia the urban and acquisition, neighbors, etc.) to support likely face competition for resources in rural land administration is separated in unambiguous determination of land tenure each of the countries, e.g. donor-funded different institutions. Moreover, with this RRRs. Poor expropriation and compensation certification and a rural land information complexities in the landscape to distinguish practices also stimulated the desire among system in Ethiopia, other fit-for-purpose a clear boundaries is quite challenging. For communities for other property data (e.g. technology testing in Kenya, and a reliance establishing cadaster and land administration type of crops, fixtures on land, irrigation on proprietary GIS systems in Rwanda. In system in the urban areas different donors, systems, etc.). Rwanda offered a point of all countries, innovation will also likely stakeholders and authorities are joining their difference: a centralized government focused disrupt existing workflows and processes. forces. After the analysis of the possible on balancing urban-regional growth linked available tools, the usage of high-resolution land information needs to development UAV images, geocloud services, usage of objectives. Therefore needs were focused Results - innovative tools sketchmaps and automatic techniques for on improving the quality of non-cadastral for land recording boundary delineation are seen as potential data and integrating this with the cadastral solutions to improve existing designs. fabric for more insightful decision-making. Software tool for recording In addition, since Rwanda’s national land land tenure information based In the rural areas high level land tenure regularization program has provided on hand-drawn sketch maps degradation and land fragmentation can the government with a good source of be observed. For reducing poverty and data for decision-making, stakeholders The work of the project partners from enhancing land productivity, responsible agreed on the need to maintain the the University of Munster is related to land consolidation is seen as a solution quality of cadastral data and improve data the implementation of a sketch based (Bennett and Alemie, 2016). Therefore, management especially data accessibility. geospatial data recording tool, called in the rural areas in Ethiopia there is a Smart SkeMa, especially tailored to clear opportunity for providing local To meet these needs, UAV technology was capturing land tenure data from a local stakeholders with information such as: up- considered to be of greatest potential to perspective. The main components of the to-date images and tools for recording land exploit. The other its4land tools – smart work are (i) developing a domain model data to help in the consolidation process. sketchmaps, automated feature extraction of concepts used in the description of land and geocloud services – had less clear resources and tenures within localized innovation pathways, attributed to the contexts (e.g. at community level or within Contextualization-get needs difficulties that stakeholders often had cultural groups); (ii) developing spatial in understanding the concepts behind models for representing sketch maps as From the very beginning of the project the technologies, and often based their records of land tenure information; (iii) the partners from KU Leuven started with perceptions on the more familiar aspects developing methods for recognition of land their major task to capture the specific of the technologies. Common readiness tenure sketch maps and for embedding needs, market opportunities, and readiness requirements identified included strategic the sketch maps within existing spatial of end-users in the domain of land tenure requirements (align need with policies, data sets (sketch map alignment). information recording. In 2017, they political will and change leadership); engaged with 57 organizations and structural and/or governance requirements The development of Smart SkeMa has community groups across the three case (develop appropriate frameworks to been informed, in part, by data collected countries (more than 100 individuals) – direct action at a national level coordinate during field visits to Kenya and Ethiopia. Ethiopia, Kenya and Rwanda – seeking and manage new relationships between These data were used primarily for to identify relevant land issues, document stakeholders for using the technologies and the development of the domain model land tenure information needs, readiness their data); organizational requirements and the modules for recognition and requirements for using its4land technologies (local changes that build organizational interpretation of sketch maps. and potential market opportunities. capacity including technical elements). Data collection - Field visits to The data collected indicate that cadastral There was limited insight into potential Kajiado, Kenya and Bahir-Dar Ethiopia data is still recognized as a critical land market opportunities, with stakeholders information need. This encapsulates generally believing that the likely ‘market’ Data collection was performed in workshops common conventional requirements (e.g. for the its4land technologies lay in organized with communities. In Kenya

Coordinates November 2018 | 33 the target community were pastoralists in concepts specific to the communities that UAV- driven workflows for Kajiado county and Ethiopia the community were visited. The initial outcome, which land tenure data acquisition were an agricultural settlement on the was a glossary of terms, has been extended outskirts of Bahir-Dar city in Amhara into a formal OWL ontology using The team from University of Twente (ITC) state. Each workshop consisted of an Protégé as the modelling tool. Important designs, tests and validates a UAV driven introductory lecture about mapping and concepts are annotated with images to land administration workflow. In order to how communities can develop their own clearly illustrate the associated concept do so, a logical approach studying first land records using simple hand drawn for each term. The images and field data policy and legal developments regarding maps. Then we carried out open discussions informed the design of the visual symbols UAV regulations in general and focus on prompting the participants to discuss specific to be used during sketching exercises. regulatory frameworks for UAV flights issues that they considered important and in East Africa in particular has been which could be more easily illustrated Qualitative representation followed. Based on the outcomes of this using maps. Some of the issues discussed of land tenure maps legal prerequisite, a phase of test flights included mapping of vegetation or water and prototyping provides guidelines to areas and some participants wondered In the second quarter, the focus was design efficient operational workflows whether these kinds of maps could be used more on current tasks especially which meet the needs of respective for tracking changes in vegetation patterns. on implementing the qualitative users. Data acquisition workflows representations of input maps. These encompass the whole operational UAV Focusing on such land issues, spatial are necessary as an interface between procedure including flight planning and information was collected via freehand the sketch map and the base map data. preparation, field work, data processing sketches and through discussions with As with the sketch recognition work, and quality assessment. Key aspects participants. During the group discussions all the components in python were concern regulatory frameworks, the participants also contributed additional implemented using Jupyter notebooks minimization of ground measurements information or missing information in the to provide better accessibility of the and the implementation of the UAV prepared maps. From the two field visits work. This work entirely technically workflow into each country context. to Kenya and Ethiopia, 73 sketch maps involving the study of different ways at two different scales were collected. to abstract away the details of numeric After a detailed analysis of the existing Out of the 73 sketch maps, 44 are large spatial representations (vector or raster) UAVs, a fixed wing UAV DT18 PPK area sketch maps while the remaining to obtain more cognitively plausible by DelairTech was selected. One of the sketch maps contain detailed local representations – such representations main reasons refers to its capabilities for information. This data was used in the that preserve topology but do not mapping large areas. With a flight time of design processes for both the domain guarantee preservation of distances. up to 90min the UAV can capture more model and the sketch recognition tool. than 1 km² during one flight with a ground Looking ahead sampling distance of less than 3cm. This Object recognition system UAV allows for direct georeferencing During the discussions with different which tremendously minimizes the time For the sketch recognition part, three well- stakeholders, it became apparent that and costs for ground surveying / truthing known matching approaches in the area of while almost all stakeholders found the activities. A data quality assessment of the computer vision: template based matching, idea of smart sketch maps interesting, tests flights performed in Toulouse revealed supervised learning using Haar cascades many of them did not fully grasp how it 5-8cm absolute geometric accuracy. Each (Viola P, et al., 2001) and Histogram of would work in detail. As such, a main of the above-mentioned African countries Oriented Gradients (HOG) together with goal for the project is to complete an received the same UAV and pilot training. Support Vector Machines (SVM) were initial demo that supports an end-to- explored (Dalal N, et al., 2005). The end community mapping workflow. This UAV legislation quality of the images of sketch maps taken will enable the engagement of potential with a mobile phone could be further users and open opportunities to test the With Rwanda, Kenya and Ethiopia, all improved by applying the stroke detection tool in a real world application context. African case locations of its4land present technique of Epshtein et al. (2010). a different setup when it comes to UAV In order to make the tool useful for local regulations. Rwanda enacted its regulations Domain modelling authorities as well we are also generalizing in April 2016 whereas Kenya just gazetted the MSKO domain model and linking it its UAV regulations in November 2017. Domain model, termed the Maasai of with the Land Administration Domain Although at a slow pace, Ethiopia is Southern Kenyan Ontology (MSKO), Model (LADM). A final step in this heading into the right direction to enforce was developed, by documenting concepts journey will be to provide simple user a legislation that deals with UAV flights. related to land usage in the Maasai culture interfaces for interacting with each of A comprehensive research investigation of in general from the literature and some the Smart SkeMa’s components. the current status of UAV regulations in a

34 | Coordinates November 2018 global context is outlined in Stöcker et al. opportunities and limitations of the UAV of Twente (ITC) aims to design and (2017). The outcomes can help to approach equipment. Different ground truthing implement a tool for automated boundary relevant stakeholders and to provide strategies as well as various processing delineation for cadastral mapping. This guidance for upcoming flights even if legal scenarios reveal valuable insights to guide is done by supporting the delineation frameworks are not yet enacted. At the time initial test flights in Rwanda and Kenya. of visible cadastral boundaries through being, Rwanda showcases the best status: Time consuming field work to measure automatically extracted features from UAV the its4land drone was quickly released high quantities of GCPs becomes obsolete data. The tool is designed to delineate from customs and is already registered at and makes large-scale UAV mapping a physical objects demarcating visible Rwanda Civil Aviation Authority (RCAA). more feasible solution for practitioners boundaries, which are assumed to make up Two dedicated pilots are in the process to that require high geometric accuracies a large portion of all cadastral boundaries. receive their official Rwandan UAV pilot (Stöcker et al. 2017). After a successful Those visible boundaries bear the license which requires a CAA-approved maiden flight in Rwanda, potential use potential to be extractable with computer practical and theoretical flight assessment. cases are discussed with the authorities. vision methods (Bennett et al., 2010; The third and final step to reach full Additionally, several data collection Crommelinck et al., 2016; Zevenbergen and implementation refers to the operator flights were completed in collaboration Bennett, 2015). Such an approach cannot certification which requires a special with Charis UAS and both the peri- deliver complete matching – as some license for the institution that operates the urban as well as the urban study area in cadastral boundaries are only social and UAV. Here, INES Ruhengeri will strive to Rwanda are already captured with UAV not visible to optical sensors – however, obtain this certification in the next three images. Besides Rwanda, the special flight even 50% matching would radically alter months. In the meantime, a local Rwandan permissions for Kenya allows to conduct tenure mapping in terms of cost and effort. UAV- company named Charis UAS Ltd. UAV data collection missions in the rural is certified to operate the DT18 for the Maasai land and in peri-urban Kisumu. The current functioning of the tool consists its4land project. In Kenya, before the UAV of (i) a methodology that automatically regulations became legally binding (Nov Looking ahead extracts and processes candidate cadastral 2017), the only way to commence UAV boundary features from UAV data, and (ii) flights was the possession of a special flight Data collection activities will increase a procedure for a subsequent interactive permission. This exemption was granted in the next months. This rich database delineation (Figure 1). Part (i) consists for the its4land partner at the Technical with various contexts, use cases and UAV of two state-of-the-art computer vision University of Kenya and includes as flight settings will provide a profound methods, namely gPb contour detection special flight permission for three weeks basis to gain insight into UAV driven and SLIC superpixels, as well as a at a given location. The release of the data acquisition workflows. Besides the machine learning part assigning costs to UAV equipment from customs as well research for the prototype of the UAV- each outline according to local boundary as the legal flight permission in Ethiopia based mapping workflow, knowledge knowledge. Part (ii) allows a user-guided involves the biggest challenge as the use transfer and capacity building in the delineation by calculating least-cost and import of UAVs is strictly forbidden. African partner countries will play a paths along previously extracted and Sensitization and communication with key role. Presentations, workshops and weighted lines. The approach has been respective authorities are ongoing. customized tutorials will help to establish tested on visible road outlines in two the UAV technology in the countries. UAV datasets from Germany. Results UAV data collection show that all roads can be delineated Tool for automated delineation comprehensively. Compared to manual Several test flights with the DT18 PPK in of visible cadastral boundaries delineation, the number of clicks Germany provide sufficient data to evaluate from UAV data per 100 m is reduced by up to 86%, influencing parameter on the data quality as while obtaining a similar localization well as initial conclusions of technological This innovation led by University quality. The approach shows promising

Figure 1. Delineation workflow for automated delineation of visible cadastral boundaries.

Coordinates November 2018 | 35 results to reduce the effort of manual based on the specific national rules. The a capacity development model in order delineation that is currently employed current focus is characterized by matching to strengthen the necessary skills and for indirect (cadastral) surveying. requirements from the investigation made competencies so that the innovation by KU Leuven related with the needs and process can have sustainable effects. The theoretical foundation for the tool preparing a consolidated understanding development has been described and of the proposed demonstrator platform. During the last months, the researchers published (Crommelinck, S. et. al. 2016). Major efforts has been made in the of KU Leuven were focused on defining The same applies for investigations joined work with colleagues developing governance and capacity development, on the state-of-the-art computer vision the tool for hand-made sketch maps in which aims to formulate an operational approaches, namely gPb contour detection adapting LADM for qualitative data definition for governance and capacity and SLIC superpixels, that have been and creating qualitative extended spatial development for the use of the its4land evaluated separately and determined reference data from this input source. technologies. Therefore, a literature as efficient for UAV-based cadastral An algorithm to process semantic study was conducted to provide a short mapping (Crommelinck, S. et. al. 2017a; recognized sketched object and transform yet concise overview on widespread Crommelinck, S. et. al. 2017b). corresponding qualitative representations governance and capacity development into (approximate) metric coordinates definitions. This overview shed a light on a Future work will focus on the tool’s was developed. A proof of concept wide array of definitions, while specifically transferability to different scenarios implementation of the algorithm was done. focusing on the theories and ideological and its in-field applicability. standpoints useful for the its4land tools. The adapted version of the land administration domain model (LADM) In order to extend and validate the Tool integration forms the basis for organizing and gathered literature information and integrating qualitative described data. The to avoid that western approaches and Publish and share already developed algorithm to create terms will be inappropriately imposed (approximate) shapes for sketched objects to the African context a panel of experts One of the primary tasks of the partners will be developed to prototype level and from valorization partners, exploitation from Hansa Luftbuild is the development integrated into the publish and share managers and work package leaders of a technical platform for hosting and platform. This will allow using standard were approached to give their views integrating the results, methods and tools interfaces like OGC WFS/WMS, REST on the first version of the working developed by the other project partners. or GeoJSON by separating the internal definitions through an online survey. Their The technical platform is considered as model of qualitative described land tenure suggestions and recommendations were the publish and share platform. It can be information and their representation. analyzed to refine and finalize the working considered on the on hand as a runtime definitions of governance and capacity environment for the tools developed in The work will then focus on integration of development for the use of the its4land its4land and on the other as provider of the tools developed by the other partners tools. From these activities, governance integrating data and information in existing into the publish and share platform. To of the its4land tools is defined as“the LAS or other tools. The implementation follow the paradigm of geocloud, the process of interactively steering the land follows a toolbox approach. Publish and tools will be encapsulated as services with tenure society to sustain the use of the share provides a framework of common an appropriate API. The usage scenarios its4land tools” Capacity development APIs and services used by all its4land and workflows to combine the its4land for the its4land tools is defined as“The tools. Following the toolbox approach tools with land administration systems development of knowledge, skills and user can select those its4land tools will be defined and implemented. attitudes in individuals and networks of fitting best to his tasks. The publish and people that are relevant for the uptake share framework can further be used to Govern and grow and sustained use of the its4land tools”. implement additional tools and methods. To support scaling and sustainable use of The next phase ‘Review of governance The other main aspect of publish and the its4land technologies, KU Leuven is and capacity development models’ share is the dissemination and share of undertaking ongoing activities that deals aims to get a better interdisciplinary data created by its4land tools to external specifically with the development of a understanding of existing models of user or systems. This will be done by governance model (including a model governance and capacity development. service interfaces based on standards for capacity development) to support This involves an extensive literature from OGC and W3C. The modeling the use of innovative tools. Aligning review of contemporary publications on of the interfaces follows the concepts with the fit-for-purpose approach, this governance and capacity development introduces by LADM. External systems will be done especially with the aim models. Simultaneously, field work for like LAS or planning systems can use this to meet stakeholders’ needs and the empirical data collection will take place to integrate data into their own process, creation and partial implementation of around this period. By the end of 2018,

36 | Coordinates November 2018 this theoretical review can be used for the The results of the project will be exploitation planning. They also clarify development of the conceptual governance commercialized and marketed as issues, explore solutions and actions, and capacity development models. These appropriate, as products or services, and anticipate possible conflicts for a models will seek to draw on influences and offered to the public. In order successful exploitation. In addition, from other models for application to the to reach the above mentioned aim a they set up roadmaps for the long-term its4land context, while being sensitive to valorization panel has been established sustainability of the project results; and the need to integrate different indicators with members from the three East African create value out of the novel knowledge. from micro, meso and macro levels. countries. During the field works of the colleagues from KU Leuven meetings Capitalize were held with these members who Conclusions were informed and updated about the The last phase of the project involves the project objectives and its progress. All eight consortium partners of its4land development of a sustainable business project are collaborating to create new model for commercialization of the Six exploitable results were identified innovative tools that further support faster, integrated suite of land tenure recording by the project partners in a workshop cheaper, easier, and more responsible tools, within the end-user markets. Using on 16 October 2017. These results will land rights mapping. This collaboration the results from the technical work form the basis in the exploitation and is particularly needed during fieldwork done in the project and in parallel with business modelling process which is now in Africa. Regular management, the work covering the development of taking shape. The project partners are technical meetings and workshops are sustainable governance and capacity making use of the European Commission also organized. As an example, a CEB building models, actor preferences (local offered Common Exploitation Booster workshop is planned, which will be communities, government, investors, and (CEB) support services in order to run by a senior expert from the META small and medium-sized enterprises) will develop a business plan. These services Group (under contract by the European be combined with products and services. aim to bridge the gap between research Commission). After the workshop, the This will be done in order to define a results and exploitation by helping the its4land business plan will be developed. range of business model scenarios for project partners in raising awareness The major tasks that were completed the different sectors and case contexts. on exploitation possibilities and for the project during the past two years

Coordinates November 2018 | 37

SD65_CMPL_Pentax Half-Page_April17_Ad.indd 1 11/04/17 3:35 pm were related with assessing the specific References Ho, S., Biraro, M., Muvunyi, G., Wayumba, needs, market opportunities, and readiness R. 2017. “Field Data Results, Version of end-users in the domain of land tenure Bennett, R., Kitchingman, A., & 1.”, its4land, KU-Leuven, Belgium information recording to support activities Leach, J. 2010. “On the nature and of the whole project. The work was utility of natural boundaries for land ICAO, 2011. Unmanned Aircraft focused in the case study locations in the and marine administration”. Land Systems (UAS). Cir 328 AN/190. three East African countries. The major use policy, 27(3), pp.772-779. achievements include the following: all Koeva, M., Muneza, M., Gevaert, C., the activities on contextualization were Bennett, R. M., & Alemie, B. K. 2016. Gerke, M., & Nex, F. 2016. “Using UAVs completed; the first version of the smart “Fit-for-purpose land administration: for map creation and updating. A case sketch maps ontology was done, UAVs for lessons from urban and rural Ethiopia”. study in Rwanda”, Survey Review, 1-14. Land Rights A Guide to Regulatory Practice Survey Review, 48(346), pp.11-20. was written; a prototype for the automated Lengoiboni, M., Arnold K. Bregt, and Paul boundary delineation was developed, UAV Biraro, M., Bennett, R. M., & Lemmen, C. van der Molen. 2010. “Pastoralism within flight permission in Rwanda and Kenya 2015a. “Accelerated Land Administration land administration in Kenya—The missing were received; findings from its4land Updates”. In: Advances in Responsible link.” Land Use Policy, 27.2 pp.579-588. work were published in scientific journals, Land Administration, pp. 145-162. conference papers, posters and media. Stöcker, E.C., Bennett, R.M., Nex, F.C., Biraro, M., Khan, S., Konguka, G., Ngabo, Gerke, M. and Zevenbergen, J.A. 2017. Significant impact was also achieved in V., Kanyiginya, V., Tumusherure, W., Potel, “Review of the Current State of UAV terms of establishing strong partnership with J. 2015b. “Final Report of Study on the Regulations”. In: Remote Sensing: open technology SMEs, linking more coherently access to the land tenure administration access, 9 (2017) 5article no. 459, p.26 with other Eastern African technology system in Rwanda and the outcomes of projects, utilizing our network to better the system on ordinary citizens”. LAND Stöcker, C., Nex, F. C., Koeva, M. N., interact with top-down and bottom-up Project, USAID, Kigali, Rwanda. & Gerke, M. (2017). Quality assessment users; and setting up media partnerships of combined IMU/GNSS data for direct with reputable global geospatial industry Crommelinck, S., Bennett, R., Gerke, georeferencing in the context of UAV- publications, ICT advances, end-user M., Nex, F., Yang, M., Vosselman, G. based mapping. The International understandings, enhancing innovation 2016. “Review of Automatic Feature Archives of Photogrammetry, Remote capacity etc. Overall, the results of the project Extraction from High-Resolution Optical Sensing and Spatial Information are supporting not only Eastern African Sensor Data for UAV-Based Cadastral Sciences 42 (2017): 355. countries, governments, NGOs, and academia Mapping”. Remote Sensing, 8(8), pp.1-28. – but, also European Union (EU) technology, UN-HABITAT. 2012. “Handling Land– SME, and government sectors. This is Crommelinck, S., Bennett, R., Gerke, M., Innovative Tools for Land Governance done mainly by advancing EU geo ICT Koeva M.,Yang, M. Y., & Vosselman, and Secure Tenure”. GLTN. Nairobi. strengths, creating new and exploitable land G. 2017a. “SLIC Superpixels for Object tenure tools and strengthening EU-Eastern Delineation from UAV Data”. UAV-g Viola P, and Jones M. 2001. “Rapid Object African partnerships. In the next period, conference, Bonn, Germany, pp.1-8. Detection Using a Boosted Cascade the focus will be on knowledge sharing, of Simple Features.” In CVPR 2001, global market access and potential social Crommelinck, S., Bennett, R., Gerke, Proceedings of the 2001 IEEE Computer and environmental impact, mobile image M., Yang, M. Y., & Vosselman, Society Conference On Computer Vision processing and qualitative data processing G., 2017b. “Contour Detection for and Pattern Recognition, 1: I–I. IEEE. platform, implementation of qualitative UAV-Based Cadastral Mapping”. representation of sketchmap, documentation Remote Sensing, 9(2), pp.1-13. Zevenbergen, J., Augustinus, C., Antonio, of extended LADM, writing of a technical D., & Bennett, R.. 2013. “Pro-poor land report and manual on key flight scenarios Dalal N, and Triggs B. 2005. administration: Principles for recording and development of a business model. “Histograms of Oriented Gradients for the land rights of the underrepresented”. Human Detection.” In CVPR 2005, Land use policy, 31, pp.595-604. IEEE Computer Society Conference Acknowledgements On Computer Vision and Pattern Zevenbergen, J., and Bennett, R. 2015. Recognition, 1:886–893. IEEE. “The visible boundary: More than The research described in this paper just a line between coordinates”. In was funded by the research project de Vries, W. T., Bennett, R. M., & GeoTechRwanda, Kigali, Rwanda, pp 1-4. “its4land”, which is part of the Zevenbergen, J. 2015. “Toward Responsible Horizon 2020 program of the European Land Administration”. In Advances in The paper was presented at FIG Congress Union, project number 687828. Responsible Land Administration, pp. 3-14. 2018, Istanbul, Turkey, 6 – 11 May 2018.

38 | Coordinates November 2018 NEWS - IMAGING

Converts static scans into by Emirati engineers, was designed SaudiSat-5B remote sensing satellites. immersive 360° imagery and built at the Space Technology Both are the second generation of Saudi- Laboratories, at the Mohammed bin made Earth observation satellites, NavVis can now automatically convert E57 Rashid Space Centre in Dubai. replacing the SaudiSat-2 (launched point cloud files into interactive, realistic in 2004) and SaudiSat-3 (launched in 360° walkthroughs, following the latest Its role will be to beam high-quality 2007) remote sensing satellites that software upgrade to IndoorViewer. It is images to the ground station in the emirate. were also manufactured by KACST, a web-based application that displays The pictures will help governments and SpaceWatch.Global reports. realistic digital twins using 360° panoramic private companies across the globe with images, point clouds and maps generated climate changes, disaster relief, urban The two 200 kg high-resolution Earth by 3D scanning devices. Users can planning, and more.www.thenational.ae observation satellites are to be launched move around digital twins of scanned later this year from China, via a Long spaces as if they are on site and use the Vietnam to launch MicroDragon March 2D launch vehicle from the Jiuquan interactive functionality to add, search earth observation satellite Satellite Launch Centre in the Gobi Desert. for and route to geo-tagged information and take accurate measurements. MicroDragon, a miniaturized satellite The SaudiSat-5 satellites will be used developed by Vietnamese engineers, is to provide high-resolution images of The intuitive user interface and scheduled to be launched in December the planet’s surface from low-Earth functionality has made NavVis with the assistance of Japan. The launch orbit, and will help with urban planning, IndoorViewer a valuable deliverable for was announced on October 18 by the monitoring movements and changes on laser scanning professionals who want to Vietnam National Space Center (VNSC), the Earth’s surface. They should also extend the use of point clouds beyond BIM as part of a joint Vietnam-Japan project provide Saudi government agencies with models and building plans to a wider range on disaster and climate change prevention services - in particular high-resolution of building stakeholders who would also using earth observation satellites. satellite imagery. https://gbtimes.com benefit from 3D scan data.www.navvis.com According to VNSC Deputy Director Vu Maxar technologies’ digitalglobe Russia to launch egyptian Anh Tuan, the project has helped establish partners with vodafone remote sensing satellite a disaster warning, resource management, and environmental monitoring system by DigitalGlobe, a Maxar Technologies Russia will launch an EgyptSat-A earth developing the infrastructure of the VNSC company has announced the release remote sensing satellite on a Soyuz-2.1b and transferring satellite manufacturing of Sensing4Farming, an Internet of carrier rocket on December 27, a source in technology. Vietnam’s earth observation Things (IoT) product for smart, digital the Russian space industry told Sputnik. satellite is expected to provide imagery and precision agriculture created in of a specific area within 6-12 hours, partnership with Vodafone Spain, part The EgyptSat-A is being built by Russia’s compared with at least two days when of Vodafone Group, one of the world’s Rocket and Space Corporation Energia ordering from a satellite imagery provider. largest telecommunications companies. (RSC Energia) for Egypt’s National Sensing4Farming provides crucial insights Authority for Remote Sensing and Space The satellite will be used as a tool to help about crop health to farmers, agronomists, Sciences under a deal worth $100 million. with preventing and mitigating the impact and agrobusinesses via computer, mobile of natural disasters and climate change as phone or tablet to optimize agriculture “Roscosmos has approved December well as managing natural resources. Prior productions. www.DigitalGlobe.com. 27 as the launch date for the earth to MicroDragon, Vietnam had previously remote sensing satellite built by RSC built PicoDragon, weighing 1 kilogram and Government of Canada to invest Energia under a contract with Egypt,” was launched into orbit in November 2013. $7.2 million in exactEarth https://sputniknews.com In the future, Vietnam plans to manufacture LOTUSat-1 and LOTUSat-2, two radar exactEarth Ltd., a leading provider KhalifaSat successfully launches satellites weighing approximately 600 of Satellite-AIS data services has into space from Japan kilograms each. www.satellitetoday.com announced that the Government of Canada (“GoC”) will make an investment The most sophisticated satellite built Saudi Arabia completes of $7.2 million over three-years to by the UAE was successfully launched SaudiSat-5 RS satellites support the development, management from an island off the southern tip of and expansion of exactView RT, the Japan this morning, in a new landmark King Abdulaziz City for Science and Company’s real-time Satellite-AIS for the country’s space programme. Technology (KACST) of Saudi Arabia service. The investment is being made KhalifaSat, the first satellite designed, has completed the development and through the GoC’s Strategic Innovation tested and manufactured entirely manufacture of the SaudiSat-5A and Fund (“SIF”), a program designed to

Coordinates November 2018 | 39 NEWS - LBS & AUTONOMOUS DRIVING

support businesses across all sectors of images of precise locations of interest to the Kinesis keeps markovitz fleet on the economy by encouraging R&D that soldier’s handheld device. raytheon.com track with integrated telematics will accelerate the commercialization of innovative products, processes and For India’s second moon mission, UK building supply company M services and will facilitate the growth of isro tests cryogenic engine Markovitz is using Kinesis telematics innovative firms.investors.exactearth.com to track and manage its fleet of delivery India successfully tested the cryogenic trucks and staff cars. Integrated with fuel senseFly and IN-FLIGHT engine for the heavy rocket that would cards from UK Fuels, Kinesis delivers Data join forces launch the country’s second moon mission real time GPS monitoring of a vehicle’s on January 3, 2019, the space agency said. exact location improving customer service IN-FLIGHT Data, in collaboration with more accurate ETA notifications. It with senseFly, completed North “The cryogenic engine of the Geo also uses Kinesis driver performance data, America’s first urban BVLOS UAS Satellite Launch Vehicle (GSLV MK- fuel analysis, geofencing and is trialling (drone) project in a major city. The III) in the upper stage has been tested the use of the Kinesis Maintenance App. project, carried out in the city of for the Chandrayaan-2 Mission,” said Calgary, Alberta, was commissioned the state-run Indian Space Research The location of delivery trucks, updated to collect mapping data to support the Organisation (ISRO) in a statement here. every 30 seconds and displayed using development of a new graveyard site, the an easy to interpret map screen, is city’s first new cemetery since 1940. The crucial test was conducted boosting customer service with more recently for 25 seconds at the accurate and timely communications. The mapping of the area, completed using space agency’s propulsion complex Delivery ETAs can be calculated and a senseFly eBee Plus fixed-wing drone, in Tamil Nadu’s Mahendragiri, shared at the start of day, updated, and saw IN-FLIGHT Data’s team conduct 685km southwest of Chennai. resent, if required, as drivers complete a total of 414 km (257 mi) BVLOS their schedules. www.kinesisfleet.com operations at an average distance of 2.35 The second lunar mission will be launched km (1.46 mi) from the pilot, and began as from the rocketport at Sriharikota in Garmin’s latest watch features part of IN-FLIGHT Data’s wider BVLOS Andhra Pradesh, about 90km northeast of GPS, GLONASS and Galileo UAS operations trial earlier this year. Chennai, with a lander and rover a decade after the first moon mission in October Garmin is now offering a GPS, Restricted ground access to the site meant 2008 around its orbit. www.ndtv.com/ GLONASS and Galileo watch called that remotely launched drone operations Instinct, which is a strong and durable were the obvious option. Since the site Australian space agency signs MoUs watch with GNSS support, plus built-in was situated near a protected nature with counterparts in Canada, UK 3-axis compass, barometric altimeter and reserve and bird sanctuary, drone use also wrist-based heart rate sensor. The multi- minimised the project’s environmental The Australian Space Agency has GNSS feature helps users track their impact, negating the need to drive vehicles formally entered into Memorandums location in challenging environments. onto the site and disturb wildlife of Understanding (MoUs) with counterpart agencies in Canada and Fujitsu and Ericsson team Raytheon delivers first SeeMe the United Kingdom, as part of the up on 5G partnership satellite to DARPA Australia’s plan to launch a “vibrant new space industry”, according to a Fujitsu Limited and Ericsson have entered Raytheon Company has delivered press release from the Department of an agreement to deliver end-to-end 5G the first Space Enabled Effects for Industry, Innovation and Science. network solutions and related services Military Engagements, or SeeMe, under a strategic partnership. The two satellite to DARPA. Assembled on These MoUs will “help all three companies are joining forces to develop the company’s advanced missile nations develop their respective space this based on their combined portfolios – production lines, the new SeeMe programs and take advantage of spanning radio access and core network satellite will provide greater situational the rapidly-expanding global space – for the dynamic 5G market in Japan, awareness to soldiers on the ground. industry,” said the press release. connecting communications service providers to the global 5G ecosystem. DARPA’s SeeMe program is designed It is also investing more than $260 million to show that small satellites can be built to develop world-leading core satellite The two companies aim to initially affordably to give small squads timely infrastructure and technologies, including provide systems and solutions for the tactical imagery directly from a small better GPS for Australian business and Japanese market, and seek to further satellite. A future constellation of small regional Australians and improved access to expand their collaboration to other satellites would deliver high-resolution satellite imagery. www.spacetechasia.com customers globally. www.ericsson.com

40 | Coordinates November 2018 Microsoft to invest $40 million in AI programs in the areas of national security Honda joins with cruise and technology for humanitarian issues – including next-generation machine general motors to build new reasoning for automated information autonomous vehicle Microsoft will invest $40 million to apply processing and decision support – and artificial intelligence to humanitarian advanced algorithm development for Cruise and General Motors Co. have issues, the third program in a previously air, sea, land, cyber and space systems. announced that they have joined announced series of AI initiatives. http://theleadsouthaustralia.com forces with Honda to pursue the shared goal of transforming mobility The project, AI for Humanitarian Honeywell partners with through the large-scale deployment Action, follows a $50 million pledge Fetch Robotics to deliver of autonomous vehicle technology. in AI for Earth and a $25 million autonomous mobile robots investment in AI for Accessibility. Honda will work jointly with Cruise and Honeywell has announced a strategic General Motors to fund and develop a The humanitarian program will focus collaboration with Fetch Robotics purpose-built autonomous vehicle for on disaster-response issues, needs of to provide distribution centers with Cruise that can serve a wide variety children across the world, issues affecting autonomous mobile robots to help of use cases and be manufactured at refugees and the broad category of them more effectively fulfill growing high volume for global deployment. human rights. www.seattletimes.com volumes of e-commerce orders. In addition, they will explore global opportunities for commercial deployment HERE announces HERE XYZ The initiative enables Honeywell of the Cruise network. www.gm.com Intelligrated’s customers to increase HERE Technologies has announced productivity and boost labor efficiency First autonomous shuttle drives the availability of HERE XYZ, a real- by deploying Fetch Robotics’ on Canada’s public roads time, interoperable and open location autonomous mobile robotics, which data management service. The service, operate safely alongside people to Keolis Canada and the City of Candiac, currently in beta, fills a major gap for transport items through distribution with the manufacturer NAVYA, financial mapmakers and developers of location- centers without human guidance or support from the Québec Government, aware applications by providing live fixed paths. By adding this offering to the collaboration of Propulsion Québec, access to uploaded data, complete its smart robotics portfolio, Honeywell the Cluster for Electric and Smart flexibility in rendering tools, and Intelligrated can provide customers Transportation and the Technopôle cloud services to share your location with a range of flexible automation IVÉO have officially announced the data with the world in an instant. solutions that can be tailored to address first long-term demonstration project current and future operational needs. of a 100% electric autonomous HERE XYZ is built for a broad range shuttle on public roads in Canada. of developers and users, from students Momenta receives a new to small and medium businesses, round of funding The NAVYA Autonom Shuttle will large enterprises, data journalists and operate in mixed traffic, this is a first step cartographers. Developers in large Momenta, a China-based autonomous towards integrating autonomous shuttles organizations can make rich, interactive driving company, has announced into shared transportation solutions, in maps and location-aware applications that it has secured a new round of addition to complement the existing that benefit from the robust tools and funding from industry-leading strategic transport offer. The pilot project will begin capabilities of HERE XYZ. www.here.com investors and government funds at a in the summer 2018 for a period of 12 valuation north of $1 billion, making months, including 8 months at the service Lockheed Martin partners Momenta the first autonomous driving of citizens. During the winter, a research with new Australian Institute unicorn company in China. and development project to test the shuttle of Machine Learning in Québec cold weather conditions will Momenta has world-class deep learning take place without passengers on board. A team of researchers from Lockheed experts, including the authors of the Martin’s Science Technology Engineering most advanced image recognition For this project, Keolis has obtained Leadership and Research Laboratory in frameworks, Faster R-CNN and ResNet, financial support of 350,000 $ from Melbourne will move to Adelaide, South and winners of ImageNet 2015, ImageNet the Ministry of Economy, Science Australia to be co-located with Australian 2017, MS COCO Challenge and many and Innovation as part of the measure Institute for Machine Learning researchers. other competitions. The team has to support demonstration projects grown significantly within the past two in the action plan in favor of the The partnership will support honours, years with 80% of the Momenta team industry of ground transportation doctoral and post-doctoral R&D being researchers and developers. and sustainable mobility.

Coordinates November 2018 | 41 NEWS - GNSS

Dr Yu Jiao receives Parkinson Award GRALLE project (Galileo-based Army’s assured positioning, navigation Reliable Automatic and Low Latent and timing cross-functional team. The Institute of Navigation’s (ION) Emergency warning service), according Satellite Division presented Dr. Yu Jiao to a European Global Navigation GPS signals are susceptible to interference with its Bradford W. Parkinson Award Satellite Systems Agency (GSA). such as jamming and spoofing. Nelson’s on September 28, 2018 at the ION office is writing a “capability development GNSS+ Conference (Miami, Florida). As the service should be based on a document” to address the need for common alert protocol, one of the assured PNT. https://spacenews.com Dr. Jiao was recognized for graduate elements of the project is the development student excellence in Global Navigation of a common alert messaging standard China launches 2 BeiDou-3 Satellite Systems in her thesis, “Low- with QZSS, Japan’s satellite-based navigation satellites Latitude Ionospheric Scintillation augmentation system (SBAS). This Signal Simulation, Characterization was the reason behind the recent China recently launched twin BeiDou-3 and Detection on GPS Signals.” test of the system with QZSS in a navigation satellites on a Long March- suburb of Melbourne, Australia. 3B carrier rocket from Xichang Satellite The Bradford W. Parkinson Award Launch Center in Sichuan Province. The is granted annually to recognize an Google launches motorbike mode satellites entered their planned orbit after outstanding graduate student in the navigation in Kenya, first for Africa flying more than three hours, and will field of GNSS, and is presented in work with the 14 BeiDou-3 satellites honor of Bradford W. Parkinson for his Google, said it would offer Motorbike already in orbit. The satellites are the leadership in establishing the U.S. Global Mode on Google Maps in Kenya, offering 39th and 40th of the BeiDou navigation Positioning System and for his work on the voice navigation service for bike system, and the 15th and 16th of the behalf of the Satellite Division of The riders in Africa for the first time. BeiDou-3 family. www.satellitetoday.com Institute of Navigation. www.ion.org. Kenyan roads are full of motorcycles Russian scientists develop high- Date of orbiting Glonass satellite to taxis, known as boda bodas, that are precision laser for satellite navigation be set after next launch from Plesetsk much cheaper rides to car taxis. Scientists from ITMO University The date of launching another satellite Google, already provides developed a laser for precise measurement Glonass-M will be set after the next the service in India. of the distance between the moon and launch from the Plesetsk space site in Earth. The short pulse duration and the Arkhangelsk Region, a source in the Google will also launch its Street View high power of this laser help to reduce space rocket industry has told TASS. The service in Kenya for the first time, errors in determining the distance to the Information Satellite Systems Reshetnev allowing users to virtually explore moon to just a few millimeters. This data company earlier addressed the corporation via its images 9,500 km (6,000 miles) can be used to specify the coordinates Roscosmos with a proposal for orbiting of roads in cities such as Nairobi and of artificial satellites in accordance a Glonass-M satellite from Plesetsk in holiday destinations such as Malindi with the lunar mass influence to make November 2018, but Roscosmos and the on the coast. www.yahoo.com navigation systems more accurate. Defense Ministry have not made up their mind yet. http://tass.com/science/1027380 US Army to introduce new Both GPS and GLONASS systems requirements for GPS receivers are based on accurate measurement GNSS-based emergency warning in weapon systems of the distance between a terrestrial service successfully tested with QZSS object and several artificial satellites. The Army is drafting new rules for the Satellite coordinates must be as accurate In the framework of GNSS cooperation use of GPS receivers in weapon systems as possible to ensure precise object between the European Union (EU) and and will create a training program for location. Additionally, the moon’s mass Japan, a test was recently conducted soldiers that operate these systems. affects satellite trajectories. Therefore, of a GNSS-based global Emergency Army is looking for ways to make lunar coordinates must be taken into Warning Service using Japan’s Quasi- weapon systems more secure against account when calculating satellite Zenith Satellite System (QZSS), electronic attacks aimed at GPS signals. position. The lunar coordinates are which delivered impressive results. obtained by measuring the distance The Army’s goal is to protect systems to the moon with laser locators. The EU is looking into the potential for and soldiers when they fight in “contested deploying a new, global, emergency environments” where adversaries Scientists from ITMO University’s warning service (EWS) based on Galileo, might attempt to disrupt GPS signals, Research Institute of Laser Physics have as part of the EU Horizon 2020-funded said Willie Nelson, director of the developed a laser for a lunar locator

42 | Coordinates November 2018 capable of measuring the distance to the After some time an SMS and email cities, this can lead to significant errors moon with a margin of error of a few will be sent to the village panchayat or in positioning emergency callers.” millimeters. The laser boasts a relatively municipal body to pick up the garbage. small size, low radiation divergence https://timesofindia.indiatimes.com FCC to vote on allowing US and a unique combination of short pulse devices to use Galileo duration, high pulse energy and high GMV wins 250 million euro ground pulse repetition rate. The laser pulse control contract for Galileo The U.S. Federal Communications duration is 64 picoseconds, which is Commission will vote in almost 16 billion times less than one Spanish company GMV won a 250 November on whether to allow second. The laser’s beam divergence, million euro ($290 million) contract U.S. devices to access Galileo. which determines radiation brightness at recently to maintain and upgrade the large distances, is close to the theoretical ground control system for Europe’s “Enabling the Galileo system to limit; it is several times lower than the satellite navigation fleet Galileo over the work in concert with the U.S. GPS indicators described for similar devices. next three years. The company’s contract constellation should make GPS more with the European Space Agency, signed precise, reliable and resilient for The new laser will be used in a lunar in September, marks the biggest deal American consumers and businesses laser locator of the GLONASS navigation for GMV and the biggest for Spain’s alike ,” said FCC Chairman Ajit Pai. system. This will make it possible to space industry. https://spacenews.com correct satellite coordinates calculating In 2015, the National Telecommunications in real-time, making the Russian European commission to and Information Administration (NTIA) navigational system more accurate. The make use of Galileo signals submitted to the FCC a request from the margin of error when locating users may mandatory in smartphones European Commission to waive certain of be reduced to 10 cm. https://phys.org the commission’s earth station licensing The European Commission (EC) is rules to permit non-federal U.S. receive- Goa, India to use GPS technology working to mandate that smartphones only earth stations to operate with Galileo. for Garbage Management in the European Union (EU) should be equipped to use Galileo signals as well The NTIA recommended grant of The high-level task force on solid waste as other signals. This is a part of a broad the requested waivers, and the International management in Goa has approved the space strategy that was launched in Bureau issued a Public Notice seeking creation of a smartphone app –Black October 2016 to strengthen the EU’s space comment on the potential public Spot Mobile Application to ensure program and maximize the benefits. interest benefits and technical issues that data about garbage blackspots are associated with the waiver request. mapped and cleared across the state. “The current practice of establishing caller location, which is based on cell- The FCC is proposing to waive its The authority felt the need of a ID positioning, whilst available and licensing requirements for non- mobile-based black spot tracker to guaranteed under the Universal Services federal operations with Galileo signals monitor garbage dumping sites. Directive, is not accurate enough as it known as E1 and E5, subject to certain provides caller location based on the technical constraints, officials said. When a resident notices a blackspot serving cell-tower of a mobile phone, he has to turn on the GPS, open the which may not necessarily be the closest The FCC includes conditions to ensure application and click the photo of that cell-tower,” according to a discussion users of satellite-based positioning, particular spot. The captured photo will paper. “This area is dependent on the angle navigation and timing services in the contain metadata and will be geo- tagged. of coverage and cell radius. The latter can United States will benefit from Galileo Then the app’s software will process vary from 550 meters to several kilometers. signals. The systems are interoperable the data and identify the jurisdiction. In certain cases, notably in mountains and under a 2004 agreement. Essentials of Geodesy and Map Projections

The author is well known geodesist in India retired as Director, Survey Training Institute of Survey of India in 2001 after 38 years of service. He distinguished himself as Surveyor, Teacher, Geodesist and Administrator. The book can be employed as classroom text at the graduate level and can also be referred by professional surveyors. N K Agrawal 1st edition 2018 For copies, contact: Price Rs 300 GEODESY and GPS Advisors & Consultants, 202 KNR Apartments, Street No 8 Habisiguda, Hyderabad – 500007, India Ph: +91 40 27154448, M: +91 9490745875, Email: [email protected] NEWS - GIS

Ordnance Survey releases first geospatial software and services that the software’s extensive terrain and 3D fully automated product meet the requirements of UN operations, analysis capabilities for contour generation, taking full advantage of the expertise viewshed analysis, volume calculation, Ordnance Survey (OS) has released its of mission partners including member and much more. bluemarblegeo.com first fully automated product derived states, technology contributing countries, from large scale source data, which international organizations, academia, Pointfuse launches New Point means with the single press of a button NGOs and the private sector. The scope of Cloud Processing Software OS can create a premium national the initiative covers software development dataset using the most up-to-date for the entire lifecycle of geospatial Pointfuse has released the latest version OS source data in just eight days. information at the enterprise level, from of its point cloud conversion software. Its data collection, management and sharing 2018 version features a new cloud based The OS project team defined several to geospatial analysis and web and data processing service, called Pointfuse objectives which included delivering mobile applications. The initiative also Bolt, together with ground-breaking efficiencies to OS by replacing the focuses on the technology’s sustainability auto classification features and support highly manual process of maintaining and eventual transfer from the UN to for new laser scanning hardware and the product, improving the product other potential user groups as well as software formats. Designed to promote currency, and implementing a‘framework’ developing countries. boundlessgeo.com and support the practice of frequent system which could be re-used for other capture it is set to disrupt workflows in OS products. The development also Bentley systems releases open- mapping, modelling and measurement by introduced four core principles, which source library: iModel.js supporting the development of intelligent, were fundamental to the project. These ‘living’ models that are easy to consume consisted of: trusting the data source Bentley Systems has announced the and easy to share. http://pointfuse.com (OS’s geospatial database of half a billion initial release of its iModel.js library, features), only using commercial off-the- an open-source initiative to improve the BAE : to deliver geospatial data shelf tools (COTS), creating full end-to- accessibility, for both visualization and under NGAs Janus programme end automation and delivering data quality analytical visibility, of infrastructure which meets the needs of the end user. digital twins. It can be used by developers BAE Systems is one of two companies and IT professionals to quickly and selected by the US National Geospatial- The team delivered a fully automated easily create immersive applications Intelligence Agency (NGA) to produce map production process solution that connect their infrastructure digital and deliver geospatial data to support utilising range of the latest technologies, twins with the rest of their digital the NGA, combatant commanders, and including Esri ModelBuilder and Python world. It is the cornerstone of Bentley’s other government organisations. for geo-processing, Esri ArcGIS for just-announced iTwin™ Services that publication of map images, as well combine iModelHub, reality The 10-year indefinite delivery/indefinite as end-to-end system orchestration modeling, and web-enabling software quantity (IDIQ) Janus contracts, worth up delivered by Workflow Manager. The technologies within a Connected Data to USD1.52 billion, are designed to help solution also relies on the Azure cloud Environment (CDE) for infrastructure NGA strengthen near real-time access environment for data processing. engineering. www.bentley.com to commercially created geospatial data, enriched content, and community-sourced Boundless partners with the united Global Mapper adds online access information in a cost-effective manner to nations on the UN open GIS initiative to NEXTMap One™ Elevation Data improve decision-making timelines, BAE Systems said. www.marketscreener.com Boundless have announced its partnership Blue Marble Geographics has announced with the United Nations (UN) to support its the immediate availability of NEXTMap® New tool developed by Esri and USGS UN Open GIS Initiative, which aides UN worldwide elevation data, including operations around the world through open Intermap’s newest generation NEXTMap A new tool that gives users the most source geospatial software and services. One, as an online streaming service within detailed view yet of the world’s islands is With Boundless’ technology, the UN can Global Mapper. Developed by Intermap now available from the USGS and Esri. leverage a hybrid architecture approach Technologies®, NEXTMap One offers And it’s as close as your computer or and maintain interoperability with existing both Digital Terrain Model (DTM) and cellphone. The Global Islands Explorer software systems to maximize the value of Digital Surface Model (DSM) datasets (GIE) is an online app that can help a its open technology and open data in global at one-meter resolution for detailed variety of users, from researchers to peacekeeping and other UN operations. analysis. With an active NEXTMap policy-makers to the interested public, to subscription, Global Mapper users can locate and access basic information on The UN Open GIS Initiative aims quickly and easily render these 3D datasets hundreds of thousands of islands across to identify and develop open source for an area of interest and make use of the globe. The GIE is a web-based tool

44 | Coordinates November 2018 that allows the user to search for islands aid the planning and development of Bank Mitras would be on-boarded by by name or by zooming in on a map of Jaipur city. https://m.dailyhunt.in early December 2018. http://pib.nic.in global islands. The island coastlines can be displayed on top of a number of different Finance ministry, India launches Punjab, India GIS portal backdrop images like topographic base “ Jan Dhan Darshak” maps, satellite imagery, or an uncluttered Tapping the IT potential for bringing light grey canvas. https://doi.org Department of Financial Services efficiency, transparency and accountability (DFS), Ministry of Finance and National in the Public Works Department, PWD Genesys initiates aerial survey for Informatics Centre (NIC), India has jointly Minister Punjab launched the Punjab Jaipur’s 3D city model project developed a mobile app called Jan Dhan Roads GIS Portal and Punjab Sarak Darshak as a part of financial inclusion Sewa (PSS) Mobile App recently. Genesys International Corporation (FI) initiative . As the name suggests, this has started the mapping of the city app will act as a guide for the common PWD department with the technical support of Jaipur using an array of latest people in locating a financial service touch of NIC has prepared the GIS portal of technologies to create 3D models point at a given location in the country. Punjab roads wherein the details of all the of each and every structure in the roads as to whether they are State roads, Jaipur Development Authority area Jan Dhan Darshak app will be in a unique National highways, roads of Mandi Board, having over 1 million buildings spread position to provide a citizen centric link roads, District roads etc is available. over 3000 square kilo meters. platform for locating financial service Besides the other attributes of the roads touch points across all providers such like the length, width, crust thickness, For the first time in the country, a latest as banks, post office, CSC, etc. These year of construction, cost incurred and hybrid aerial camera system will be services could be availed as per the needs last repair undertaken would also be used which has Nadir, Oblique and and convenience of the common people. available. This will help the department Lidar sensors. The project flagged off While over 5 lakh FI touch points (Bank to spruce up its work as availability by the Government of Rajasthan and branches, ATMs, Post Offices) have been of digital data will expedite planning / RajCOMP Info Services (RISL) will mapped on this App, approx. 1.35 lakh implementation. http://punjab.gov.in NEWS - UAV

Kalashnikov gunmaker creates an evolution of the company’s existing signed a cooperative satellite navigation signal Drone Cannon product, a portable, agreement with NASA suppressing system for drones compact and inconspicuous counterdrone to conduct a demonstration jamming device which can be utilized at in the National Airspace System in ZALA AERO, part of the Kalashnikov large outdoor events by law enforcement 2020 and work toward full integration of Group, has demonstrated a new without raising public concern. This unmanned aerial systems into the NAS. device of satellite navigation product is particularly relevant given signal suppression for UAVs. the recent drone attacks, heightening the The Resolute Eagle platform has the range awareness of law enforcement globally and endurance to provide line of sight, The compact module is placed under to potential threats to high profile beyond visual line of sight, and satellite an unmanned aerial vehicle’s wing political targets. www.suas-global.com communications-based beyond line of and suppresses the signal of satellite sight operating capabilities, enabling navigation systems within a radius FAA expands restrictions on drones it to support a wide range of military, of up to 5km, and also blocks the near high-priority Navy bases law enforcement, homeland security, operation of all devices that use satellite humanitarian, and commercial missions. navigational systems for navigation. The Federal Aviation Administration (FAA) is expanding its efforts to keep drones from The single, reconfigurable aircraft comes The satellite navigation signal suppressing operating near high-priority Navy bases. in two configurations—standard and system has been developed for Special vertical take-off and landing—with a Operations forces. The system can be used Drones will be required to maintain a flight endurance of 12 to 18+ hours to neutralize an enemy’s equipment that distance of at least 3,000 feet laterally depending on configuration.PAEISR.com. may pose a threat to defended facilities. and 1,000 feet vertically from vessels operating in the vicinity of Naval FLIR announces DroneSense- The new system will expand the range Base Kitsap in Washington and Naval FLIR Edition of electronic warfare devices developed Submarine Base Kings Bay in Georgia. by ZALA. It comprises the REX-1 anti- FLIR announced the new DroneSense-FLIR drone rifle and the ZONT man-portable The new regulation comes at the request Edition. This drone flight management device. The new satellite navigation of the Department of Defense and the software platform, designed for public signal suppressing system has undergone U.S. Coast Guard, which have expressed safety applications, is the first collaborative successful trials and proven its efficiency. concerns about drone overflights near product to result from a recent strategic http://tass.com/defense/1027589 sensitive locations for years. A separate investment in DroneSense. FLIR invested in FAA notice issued advises to drone the Austin, Texas-based unmanned aircraft DJI Rolls out Phantom 4 operators to remain clear of DoD system (UAS) software developer in April RTK Surveying Drone and Department of Energy facilities, 2018. It is the only software platform mobile assets, and Coast Guard vessels to combine thermal and visual imaging DJI has announced the global rollout of nationwide. https://abcnews.go.com processing with flight data planning and the Phantom 4 RTK, a high-precision management capabilities, with the goal drone designed for surveying, mapping Skycatch Edge1 now of improving incident and routine non- and inspection. According to DJI, a real- available worldwide emergency response management for public time kinematic (RTK) module is integrated safety organizations. FLIR.com/DroneSense. directly into the drone, providing real- Skycatch has announced the first-of- time, centimeter-level positioning data. its-class, on-premise data processing EU ‘GLAD-2’ develop low- and GNSS base station, the Skycatch cost nav for UAVs The RTK module can provide positioning Edge1. Tested and optimized for the accuracy of 1cm+1ppm (horizontal) Skycatch Explore1 and DJI Phantom A European Union-funded initiative and 1.5cm+1ppm (vertical). In 4 RTK drones, the self-positioning has developed a low-cost positioning addition, the drone can get 5-centimeter Edge1 allows commercial drone users and navigation system for unmanned absolute horizontal accuracy of the ability to process and receive data aerial systems (UAS). photogrammetric models, says DJI. without the need for internet or cellular connectivity. www.skycatch.com Using multiple antennas, the device is DroneShield Launches DroneNode based on off-the-shelf components and Drone Security Device PAE ISR Partners with NASA for advanced data-fusion algorithms. It fuses 2020 Unmanned Aircraft Demo GNSS and inertial data to enable accurate DroneShield Ltd. has announced the launch and reliable navigation. The EU-funded of the additional product DroneNode, in PAE ISR, LLC, the original equipment Horizon 2020 GLAD-2 project developed response to end-user requirements. It is manufacturer of the Resolute Eagle, the system. The work involved in-

46 | Coordinates November 2018 NEWS - INDUSTRY depth analysis of algorithms, hardware system successfully delivered medical Eos supports Haiti Outreach in and software redesign, exhaustive supplies, dry blood spots kits for HIV, its sustainable water initiative refinement and repeated in-field testing. Hepatitis C and general blood chemistry testing, as well as food, automotive parts Eos Positioning Systems, Inc.® Researchers used low-cost GNSS receivers, and general parcels for many of DDC’s (Eos) is giving back to the global together with advanced data fusion customers which were present for the Pilot water community by supporting Haiti with an inertial measurement unit, and Project. These flights were conducted Outreach’s sustainable water initiative. barometer data to enhance the attitude both to and from Moosonee and Moose Haiti Outreach is a 21-year-old nonprofit and position of UAS in harsh GNSS Factory. www.dronedeliverycanada.com organization dedicated to helping Haiti environments. The system also avoided become a developed country. Haiti the use of magnetometers, making it Unifly and Terra Drone co-develop Outreach collaborates with individual immune to magnetic fields, and removing UTM system with Hitachi Haitian communities to create and the need for system calibration when the maintain access to potable water through magnetic environment is modified. Hitachi has launched a drone platform community outreach, well digging, and solution expanding their existing distribution-network development. Haiti Engineers selected different GNSS antennas infrastructure inspection services portfolio Outreach’s community-led initiatives are and measured their performance according with an AI-assisted, drone-based service. heavily planned and prioritized, thanks to technical and economic criteria. A multi- Moving from pilot controlled flights to to comprehensive field data collection antenna approach enabled UAS to take automated drone flights Beyond Visual Line and advanced geospatial analysis. accurate headings without suffering the of Sight (BVLOS) is key to realizing the usual problems inherent to magnetometers. full potential of these drone applications. The Eos Arrow Gold GNSS receiver helps To that end, Hitachi provides a drone Haiti Outreach build and improve potable Skyfish unveils on-board flight management system and drone water distribution networks by providing computing module maintenance services to support safe accurate subfoot elevations required for and secure autonomous drone flights. hydraulic modeling simulations. The UAV technology developer Skyfish has GNSS receiver uses Atlas® satellite- introduced the company’s computing In August 2018, Hitachi was awarded based corrections to provide real-time platform for commercial drones that the contract for the development of the decimeter (three to five centimeters) fully automates crucial infrastructure “Fukushima Robot Test Field” drone flight location throughout the country. inspection and measurement tasks for management system. The “Fukushima the first time, giving drone service, Robot Test Field” is the only test center with Spectra Precision is now communication infrastructure, and a drone operations management function Spectra Geospatial energy providers unrivalled performance at the Japanese large-scale demonstration and accuracy. www.skyfish.ai/ laboratory. The goal of the test center is to Spectra Precision has announced the further advance BVLOS drone flights. launch of a new brand identity and Drone Delivery Canada Integrates name for its survey and GIS suite of into Controlled Airspace Unifly and Terra Drone provide the solutions. The organization will now technical UTM backbone to ensure safe be known as Spectra® Geospatial. DDC’s BVLOS Pilot Project commenced BVLOS drone flights at the test center. on September 17, 2018 and was Spectra Geospatial delivers quality completed on September 28, 2018. MSAB and URSA introduce XRY Drone products to the survey, GIS and The Pilot Project flight operations construction markets. Focusing on the were conducted in both day time and XRY Drone lets investigators extract and specific needs of the market, the Spectra evenings on a set of approved flight analyze data from popular drone models Geospatial brand offers a complete paths. Throughout the Pilot Project, DDC being used for illegal activity - to reveal product portfolio including GNSS, GIS, worked closely with Transport Canada flight paths, origin, behavior and other optical total stations, data collection and NAV CANADA to ensure safety critical information that can identify hardware, field and office software. while also demonstrating the efficiency operators. Police, corrections agencies, and efficacy of its Sparrow drone as well border control and military organizations New generation of manual as its proprietary FLYTE management around the globe are developing methods total station by Leica system. DDC is pleased to report that no to counter the growing threat from drones. flight safety incidents occurred, and each When a drone engaged in illegal activity Leica Geosystems has launched the new mission was completed successfully. is recovered, investigators need to extract, manual total stations, the Leica FlexLine decode and view the data - to get actionable series. Building on the FlexLine series DDC’s Sparrow X1000 cargo drone and intelligence that can help lead them to the legacy of quality, durability and low DDC’s proprietary FLYTE management operators and organizers. www.msab.com total cost of ownership, the new Leica

Coordinates November 2018 | 47 Galileo update FlexLine TS03, TS07 and TS10 models are designed to improve productivity Four more galileo satellites The constellation in orbit is only one in the field by automatically capturing brought online element of the overall satellite navigation height. Replacing the former manual total system – the tip of the Galileo iceberg. stations (Leica FlexLine TS02, TS06, According to the European Global At the same time as the satellites were TS09 and Leica Viva TS11), the new Navigation Satellite Systems Agency being built, tested and launched, a global series is designed for reliability through (GSA), Galileo Satellites GSAT0215, ground segment was put in place. extensive testing and comes standard with GSAT0216, GSAT0217, and GSAT0218, the latest in UX-focused software, Leica launched in December 2017, have been Establishing Galileo’s ground FlexField or Leica Captivate. Enabling commissioned for operational use. segment was among the most complex quicker field-to-office data sharing, the developments ever undertaken by TS07 and TS10 also offer integration of Since October 12, all Galileo satellites that ESA, having to fulfil strict levels of mobile data devices. leica-geosystems.com were launched last year (in December) are performance, security and safety. usable for service provision, according M.App Enterprise 2018 to the GSA. GUs 2018023, 2018019, The first work order contracts Thales 2018020 and 2018018 announced the Alenia Space as prime contractor Hexagon’s Geospatial division announces commissioning of Galileo satellites to undertake all necessary activities a new version of M.App Enterprise GSAT0215 (E21), GSAT0216 (E25), to upgrade the Galileo Mission for 2018, M.App Enterprise 16.5. GSAT02017 (E27) and GSAT0218 (E31), Segment and the GSMC as part of This privately-hosted solution allows increasing the number of satellites that Galileo’s exploitation phase. organizations to deploy Hexagon Smart are available for service provision to 18. M.Apps that dynamically address their This work includes upgrading Galileo’s location-based business problems. It Galileo satellites Nicole (GSAT0215), system architecture to provide is the ideal platform to monitor assets, Zofia (GSAT0216), Alexandre (GSAT0217) more accurate navigation products evaluate changes, and take action, with and Irina (GSAT0218), were launched for broadcast by Galileo satellites, the new release now including a native on December 12, 2017 at 18:36 UTC, updating obsolescent elements in mobile client. The mobile workflow from the Guiana Space Centre (CSG) – the current system and improving enables managers to assign tasks to field Europe’s Spaceport in French Guiana operability linked to the provision of workers when it’s necessary to act. — with a nominal duration of 3 hours, services and enhanced robustness. 55 minutes and 45 seconds from lift- Hexagon acquire Bricsys off to separation of the satellites. It also includes the construction of additional uplink stations – tasked with Its CAD platform, BricsCAD, supports uplinking the latest navigation messages to 2D/3D general, mechanical, and sheet Contract signing to boost the Galileo constellation – at the existing metal design and building information performance and security Galileo ground station sites of Papeete in modelling (BIM) in one system. It’s 100% of Galileo services French Polynesia and Svalbard in Norway. based on the de facto standard design A new sensor station – providing a ground- format (.dwg), providing designers, ESA has awarded a new framework based measurement of Galileo signal engineers, and BIM professionals powerful contract and two new work orders quality and precise satellite position – will access to the huge potential of vertical to Thales Alenia Space in France, to also be installed at Wallis Island in the CAD applications created by thousands upgrade the Galileo Mission Segment – Pacific. The work order will also augment of third-party developers. Bricsys that element of the worldwide Galileo the capabilities for implementation of also offers its own set of time-saving, ground segment dedicated to delivering the Public Regulated Service (PRS), the artificial intelligence-driven add-ons – navigation services – and the Galileo single most accurate and secure class from conceptual modelling to seamless Security Monitoring Centre (GSMC) of Galileo signals. www.esa.int BIM workflows and cloud connectivity. near Paris, as well as to implement a Headquartered in Ghent, Belgium, Bricsys second GSMC in Spain, near Madrid. will be fully consolidated, operating within Hexagon’s PPM division.

Unicore introduces GNSS/INS high-precision board, CLAP-B

Unicore Communications has launched CLAP-B, a multi-GNSS/MEMS integrated inertial navigation board, which integrates

48 | Coordinates November 2018 a miniaturized high-performance which includes a cloud based data – meeting the high standards required inertial measurement unit (IMU) on a processing service called Pointfuse Bolt. for scientific-grade evidence in court. compact high performance GNSS board. Designed to promote and support the The high-accuracy GNSS positioning practice of frequent capture of digitized ‘as The DT301T-RTK is military-grade with coupled with a high-precision gyro and built’ data, it will help BIM practitioners an IP65 rating, yet lightweight - offering accelerometer provides stable, continuous create intelligent data that is easy to the versatility to be used in the field, office three-dimensional position, velocity and consume and easy to share. Pointfuse Bolt and vehicles. A dual frequency GNSS attitude, as well as original acceleration sits alongside other new developments module is built into the tablet, which and angular velocity measurements, that are set to disrupt workflows in uses real-time reference points within even in GNSS-denied environments. digital construction by supporting the 1 – 2-centimeter accuracy to position development of a living model helping 3D point clouds created from aerial New version of Inpho Software Suite to minimize project risk and mitigate photogrammetry, using GPS, GLONASS unnecessary costs. http://pointfuse.com and GALILEO receivers. www.dtri.com Trimble has announced a new version of its Inpho office software VeraChoke GNSS antenna SBG systems’ navsight suite for photogrammetry. The suite by Tallysman land/air solution includes two new capabilities: ▪▪ MATCH-3DX software for Tallysman has introduced a high- SBG Systems has released the Navsight the creation of rich 3D point accuracy choke ring antenna: the Land/Air Solution, a full high performance clouds and true orthomosaics Tallysman VeraChoke. Adapting existing inertial navigation solution designed to ▪▪ MATCH-3DX Meshing add- innovations on its patented VeraPhase make surveyors’ mobile data collection on for the generation of antenna, Tallysman’s VeraChoke offers easier, whether it is mobile mapping, photorealistic textured meses a choice in form factor for reference GIS, or road inspection. Built on a proven and monitoring applications. technology, Navsight strengthens SBG Inpho version 9 combines the classical Systems position as leading innovator photogrammetric capabilities of the Swift Navigation introduces Starling on the mobile positioning market. existing MATCH-T DSM product with modern 3D workflows. Swift Navigation has announced the Navsight Land/Air Solution consists in availability of its Starling™ Positioning an Inertial Measurement Unit available at two Nomad® 5 handheld computer Engine with Broadcom’s industry- different performance levels, and connected leading dual-frequency GNSS receiver to Navsight, a rugged equipment embedding Nomad® 5 handheld computer is the chip, the BCM47755. It is capable of the fusion intelligence, the GNSS receiver, next generation of its rugged Nomad delivering centimeter accuracy with and all connections to external equipment series of handhelds. Built for tasks such minimal power consumption and small such as LiDAR, cameras, computer, etc. as data collection, asset management footprint for rapidly expanding precise and inspections, it is designed to make positioning applications. It is a modular and Navsight Land/Air Solution is the result the work of professional field teams portable GNSS high-precision positioning of more than 10 years of experience in the easier, more productive and efficient. engine that leverages Swift’s Skylark™ mobile positioning industry, especially in the Cloud Corrections Service. swiftnav.com unmanned industry where position reliability The Nomad 5 is flexible and easy to is mandatory. SBG renown expertise lies in use—an all-in-one versatile package DT Research introduces the fusion algorithms allowing the company that features a streamlined form factor, DT301T Rugged RTK Tablet to get the best performance from inertial, a 5-inch sunlight-readable touch screen odometer, and GNSS technologies, excluding and an Android™ 8.1 operating system. DT Research, the leading designer and false GNSS fix, and improving the trajectory Intuitive to operate straight out of the manufacturer of purpose-built computing in complicated areas such as urban canyons, box, it is certified to military (MIL-STD- solutions for vertical markets, has forest, and tunnels. The Navsight Land/Air 810G) specifications for ruggedness and announced the DT301T Rugged RTK Solution supports all GNSS constellations, includes an all-day, user-replaceable Tablet (DT301T-RTK), a lightweight RTK, and every Precise Point Positioning battery, programmable hard keys, and a military-grade tablet that is purpose- services (Omnistar, TerraStar, etc.). powerful 2.2 GHz Qualcomm® processor. built for GIS mapping applications with Real Time Kinematic (RTK) SBG IMU are easy to install, as the sensor Pointfuse launches new laser satellite navigation used to enhance the alignment and lever arms are automatically scanning software suite precision of position data derived from estimated and validated. Once connected satellite-based positioning systems. This to the Navsight processing unit, the web Pointfuse has released Pointfuse 2018 unique tablet enables 3D Point Cloud interface guides the user to configure the a new suite of laser scanning software creation with centimeter-level accuracy solution. www.sbg-systems.com

Coordinates November 2018 | 49 MARK YOUR CALENDAR

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D-600 Precise Aerial Imaging System 6 Rotor Multicopter with Autopilot

R-1500N & R-2800N W-1500N & W-2800 G6 Ti|Ni S-3180V Reflectorless Windows CE GNSS Receivers Scanning System Total Stations Total Stations Precision Satellite 3D laser measurement Total surveying Truly integrated Surveying with wireless system solutions systems communications

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The most powerful LabSat yet, the new LabSat 3 WIDEBAND captures and replays more GNSS signals at a much higher resolution than before.

Small, battery powered and with a removable solid state disk, LabSat 3 WIDEBAND allows you to quickly gather detailed, real world satellite data and replay these signals on your bench.

With three channels, a bandwidth of up to 56MHz and 6 bit sampling, LabSat 3 WIDEBAND can handle almost any combination of constellation and signal that exists today, with plenty of spare capacity for future planned signals.

LabSat 3 WIDEBAND can record and replay the following signals:

• GPS: L1 / L2 / L5 • GLONASS: L1 / L2 / L3 • BeiDou: B1 / B2 / B3 • QZSS: L1 / L2 / L5 • Galileo: E1 / E1a / E5a / E5b / E6 • SBAS: WAAS, EGNOS , GAGAN, MSAS, SDCM • IRNSS www.labsat.co.uk