RTK enabled and functioning properly: Vertical: ± 0.1 m; Horizontal: ± 0.1 m RTK disabled: Vertical: ± 0.1 m (with vision positioning); ± 0.5 m (with GNSS positioning) Horizontal: ± 0.3 m (with vision positioning); ± 1.5 m (with GNSS positioning)
Image Position Compensation
The relative positions of the centers of the six cameras’ CMOS and the phase center of the onboard D-RTK antenna have been calibrated and are recorded in the EXIF data of each image.
Mapping Functions
Ground Sample Distance (GSD)
(H/18.9) cm/pixel, H indicates the aircraft altitude relative to the area mapped (unit: m)
Rate of Data Collection
Max operating area of approx. 0.63 km2 for a single flight at an altitude of 180 m, i.e., GSD is approx. 9.52 cm/pixel, with a forward overlap rate of 80% and a side overlap ratio of 60%, during a flight that drains the battery from 100% to 30%.
Frequency Used GPS: L1/L2; GLONASS: L1/L2; BeiDou: B1/B2; Galileo[2]: E1/E5 First-Fixed Time: < 50 s Positioning Accuracy: Vertical 1.5 cm + 1 ppm (RMS); Horizontal 1 cm + 1 ppm (RMS). 1 ppm indicates error with a 1 mm increase over 1 km of movement. Velocity Accuracy: 0.03 m/s
Gimbal
Controllable Range
Tilt: -90° to +30°
Vision System
Velocity Range
≤ 31 mph (50 kph) at 6.6 ft (2 m) above ground with adequate lighting
Altitude Range
0 - 33 ft (0 - 10 m)
Operating Range
0 - 33 ft (0 - 10 m)
Obstacle Sensory Range
2 - 98 ft (0.7 - 30 m)
Operating Environment
Surfaces with clear patterns and adequate lighting (> 15 lux)
Camera
Sensors
Six 1/2.9” CMOS, including one RGB sensor for visible light imaging and five monochrome sensors for multispectral imaging. Each Sensor: Effective pixels 2.08 MP (2.12 MP in total)
Filters
Blue (B): 450 nm ± 16 nm; Green (G): 560 nm ± 16 nm; Red (R): 650 nm ± 16 nm; Red edge (RE): 730 nm ± 16 nm; Near-infrared (NIR): 840 nm ± 26 nm
Lenses
FOV (Field of View): 62.7° Focal Length: 5.74 mm (35 mm format equivalent: 40 mm), autofocus set at ∞ Aperture: f/2.2
RGB Sensor ISO Range
200 - 800
Monochrome Sensor Gain
1 - 8x
Electronic Global Shutter
1/100 - 1/20000 s (visible light imaging); 1/100 - 1/10000 s (multispectral imaging)