Recurrent monitoring of sandy beaches and of the dunes behind them is needed to improve the scientific knowledge on their dynamics as well as to develop sustainable management practices of those valuable landforms. Unmanned Aircraft Systems (UAS) are sought as a means to fulfill this need, especially leveraged by photogrammetric and LiDAR-based mapping methods and technology. The present study compares different strategies to carry UAS photogrammetric corridor mapping over linear extensions of sandy shores. In particular, we present results on the coupling of a UAS with a mobile laser scanning system, operating simultaneously in Cap Ferret, SW France. This aerial-terrestrial tandem enables terrain reconstruction with kinematic ground control points, thus largely avoiding the deployment of surveyed ground control points on the non-stable sandy ground. Results show how these three techniques—mobile laser scanning, photogrammetry based on ground control points, and photogrammetry based on kinematic ground control points—deliver accurate (i.e., root mean square errors < 15 cm) 3D reconstruction of beach-to-dune transition areas, the latter being performed at lower survey and logistic costs, and with enhanced spatial coverage capabilities. This study opens the gate for exploring longer (hundreds of kilometers) shoreline dynamics with ground-control-point-free air and ground mapping techniques.

In this article, we report about the first results of the mapKITE system, a tandem terrestrial-aerial concept for geodata acquisition and processing, obtained in corridor mapping missions. The system combines an Unmanned Aerial System (UAS) and a Terrestrial Mobile Mapping System (TMMS) operated in a singular way: real-time waypoints are computed from the TMMS platform and sent to the UAS in a follow-me scheme. This approach leads to a simultaneous acquisition of aerial-plus-ground geodata and, moreover, opens the door to an advanced post-processing approach for sensor orientation. The current contribution focuses on analysing the impact of the new, dynamic Kinematic Ground Control Points (KGCPs), which arise inherently from the mapKITE paradigm, as an alternative to conventional, costly Ground Control Points (GCPs). In the frame of a mapKITE campaign carried out in June 2016, we present results entailing sensor orientation and calibration accuracy assessment through ground check points, and precision and correlation analysis of self-calibration parameters’ estimation. Conclusions indicate that the mapKITE concept eliminates the need for GCPs when using only KGCPs plus a couple of GCPs at each corridor end, achieving check point horizontal accuracy of ${\mu }_{E,N}\approx 1.7$ px (3.4 cm) and ${\mu }_h\approx 4.3$ px (8.6 cm). Since obtained from a simplified version of the system, these preliminary results are encouraging from a future perspective.

In this paper, we present mapKITE, a new mobile, simultaneous terrestrial and aerial, geodata collection and post-processing method. On one side, the method combines a terrestrial mobile mapping system (TMMS) with an unmanned aerial mapping one, both equipped with remote sensing payloads (at least, a nadir-looking visible-band camera in the UA) by means of which aerial and terrestrial geodata are acquired simultaneously. This tandem geodata acquisition system is based on a terrestrial vehicle (TV) and on an unmanned aircraft (UA) linked by a 'virtual tether', that is, a mechanism based on the real-time supply of UA waypoints by the TV. By means of the TV-to-UA tether, the UA follows the TV keeping a specific relative TV-to-UA spatial configuration enabling the simultaneous operation of both systems to obtain highly redundant and complementary geodata. On the other side, mapKITE presents a novel concept for geodata post-processing favoured by the rich geometrical aspects derived from the mapKITE tandem simultaneous operation. The approach followed for sensor orientation and calibration of the aerial images captured by the UA inherits the principles of Integrated Sensor Orientation (ISO) and adds the pointing-and-scaling photogrammetric measurement of a distinctive element observed in every UA image, which is a coded target mounted on the roof of the TV. By means of the TV navigation system, the orientation of the TV coded target is performed and used in the post-processing UA image orientation approach as a Kinematic Ground Control Point (KGCP). The geometric strength of a mapKITE ISO network is therefore high as it counts with the traditional tie point image measurements, static ground control points, kinematic aerial control and the new point-and-scale measurements of the KGCPs. With such a geometry, reliable system and sensor orientation and calibration and eventual further reduction of the number of traditional ground control points is feasible. The different technical concepts, challenges and breakthroughs behind mapKITE are presented in this paper, such as the TV-to-UA virtual tether and the use of KGCP measurements for UA sensor orientation. In addition, the use in mapKITE of new European GNSS signals such as the Galileo E5 AltBOC is discussed. Because of the critical role of GNSS technologies and the potential impact on the corridor mapping market, the European Commission and the European GNSS Agency, in the frame of the European Union Framework Programme for Research and Innovation “Horizon 2020,” have recently awarded the “mapKITE” project to an international consortium of organizations coordinated by GeoNumerics S.L.

The constant irruption of new sensors is a challenge for software systems that do not rely on generic data models able to manage change or innovation. Several data modeling standards exist. Some of these address the problem from a generic perspective but are far too complex for the kind of applications targeted by this work, while others focus strictly on specific kinds of sensors. These approaches pose a problem for the maintainability of software systems dealing with sensor data. This work presents ASTROLABE, a generic and extensible data model specifically devised for trajectory determination systems working with sensors whose error distributions may be fully modeled using means and covariance matrices. A data model relying on four fundamental entities (observation, state, instrument, mathematical model) and related metadata is described; two compliant specifications (for file storage and network communications) are presented; a portable C++ library implementing these specifications is also briefly introduced. STROLABE, integrated in CTTC’s trajectory determination system NAVEGA, has been extensively used since 2009 in research and production (real-life) projects, coping successfully with a significant variety of sensors. Such experience helped to improve the data model and validate its suitability for the target problem. The authors are considering putting ASTROLABE in the public domain.

We discuss the precision and multipath robustness properties of the Galileo E5 AltBOC signal, the Galileo High Accuracy Service (HAS) for Galileo and GPS, and the potential advantages of combining HAS with the E5 AltBOC ranging signals in view of the current HAS corrections being limited to the E1, E5a and E5b signals. For this purpose we analyse the behaviour of HAS for static positioning in ideal conditions and by just using pseudo-range measurements. We do this for the conventional E1/E5a HAS combination and for the E1/E5 AltBOC one using a simple rough approximation of the future E5 AltBOC HAS corrections (HAS pseudo-corrections for E5 AltBOC). This provides initial insight and shows how the E5 AltBOC measurements benefit from the pseudo-corrections. We then proceed analogously with kinematic measurements in a urban environment. We conclude by recommending that HAS be extended to provide corrections for the E5 AltBOC signals.

Keywords: SAR interferometry, UAV, orientation, INS/GNSS, topographic mapping In a large number of scenarios and missions, the technical, operational and economical advantages of UAS-based photogrammetry and remote sensing over traditional airborne and satellite platforms are apparent. Airborne Synthetic Aperture Radar (SAR) or combined optical/SAR operation in remote areas might be a case of a typical "dull, dirty, dangerous" mission suitable for unmanned operation – in harsh environments such as for example rain forest areas in Brazil, topographic mapping of small to medium sparsely inhabited remote areas with UAS-based photogrammetry and remote sensing seems to be a reasonable paradigm. An example of such a system is the SARVANT platform, a fixed-wing aerial vehicle with a six-meter wingspan and a maximumtake- of-weight of 140 kilograms, able to carry a fifty-kilogram payload. SARVANT includes a multi-band (X and P) interferometric SAR payload, as the P-band enables the topographic mapping of densely tree-covered areas, providing terrain profile information. Moreover, the combination of X- and P-band measurements can be used to extract biomass estimations. Finally, long-term plan entails to incorporate surveying capabilities also at optical bands and deliver real-time imagery to a control station. This paper focuses on the remote-sensing concept in SARVANT, composed by the aforementioned SAR sensor and envisioning a double optical camera configuration to cover the visible and the near-infrared spectrum. The flexibility on the optical payload election, ranging from professional, medium-format cameras to mass-market, small-format cameras, is discussed as a driver in the SARVANT development. The paper also focuses on the navigation and orientation payloads, including the sensors (IMU and GNSS), the measurement acquisition system and the proposed navigation and orientation methods. The latter includes the Fast AT procedure, which performs close to traditional Integrated Sensor Orientation (ISO) and better than Direct Sensor Orientation (DiSO), and features the advantage of not requiring the massive image processing load for the generation of tie points, although it does require some Ground Control Points (GCPs). This technique is further supported by the availability of a high quality INS/GNSS trajectory, motivated by single-pass and repeat-pass SAR interferometry requirements.