SIST-TS ISO/TS 19130-2:2020

Geographic information -- Imagery sensor models for geopositioning -- Part 2: SAR, InSAR, lidar and sonar

ISO/TS 19130-2:2014 supports exploitation of remotely sensed images. It specifies the sensor models and metadata for geopositioning images remotely sensed by Synthetic Aperture Radar (SAR), Interferometric Synthetic Aperture Radar (InSAR), LIght Detection And Ranging (lidar), and SOund Navigation And Ranging (sonar) sensors. The specification also defines the metadata needed for the aerial triangulation of airborne and spaceborne images.
ISO/TS 19130-2:2014 specifies the detailed information that shall be provided for a sensor description of SAR, InSAR, lidar, and sonar sensors with the associated physical and geometric information necessary to rigorously construct a physical sensor model. For the case where precise geoposition information is needed, this Technical Specification identifies the mathematical formulae for rigorously constructing physical sensor models that relate two-dimensional image space to three-dimensional ground space and the calculation of the associated propagated error.
ISO/TS 19130-2:2014 does not specify either how users derive geoposition data or the format or content of the data the users generate.

Information géographique -- Modèles de capteurs d'images de géopositionnement -- Partie 2: SAR, InSAR, lidar et sonar

L'ISO/TS 19130-2:2014 prend en charge l'exploitation des images de télédétection. Elle spécifie les modèles de capteurs et les métadonnées pour la géolocalisation des images de télédétection des capteurs radar à synthèse d'ouverture (SAR), radar interférométrique à synthèse d'ouverture (Interferometric Synthetic Aperture Radar - InSAR), télédétection par laser (lidar) et sonar. Elle définit également les métadonnées nécessaires à l'aérotriangulation des images aéroportées et spatioportées.
L'ISO/TS 19130-2:2014 donne les informations détaillées qui doivent être fournies pour la description des capteurs de SAR, InSAR, lidar et sonar, ainsi que les informations physiques et géométriques associées nécessaires à la construction rigoureuse d'un modèle physique de capteur. Pour les cas où des informations de géolocalisation précises sont nécessaires, la présente Spécification technique identifie les formules mathématiques permettant la construction rigoureuse de modèles physiques de capteurs qui mettent en relation l'espace-image en deux dimensions et l'espace-sol en trois dimensions en intégrant le calcul de l'erreur de propagation associée.
L'ISO/TS 19130-2:2014 ne précise ni comment les utilisateurs dérivent les données de géolocalisation, ni le format ou le contenu des données qu'ils génèrent.

Geografske informacije - Modeli zaznavanja podob za geopozicioniranje - 2. del: SAR, InSAR, lidar in sonar

Ta tehnična specifikacija podpira uporabo podob, zaznanih na daljavo. Določa modele zaznavanja in metapodatke za slike geopozicioniranja, ki jih na daljavo zaznavajo senzorji radarja s sintetično odprtino (SAR), interferometričnega radarja s sintetično odprtino (InSAR), svetlobnega zaznavanja in merjenja (lidar) ter naprave za navigacijo in določanje razdalje s pomočjo zvoka (sonar). Specifikacija določa tudi metapodatke, ki so potrebni za zračno triangulacijo slik iz zraka in vesolja. Ta tehnična specifikacija določa podrobne informacije, ki jih je treba zagotoviti za opis senzorjev naprav SAR, InSAR, lidar in sonar, skupaj s povezanimi fizičnimi in geometrijskimi informacijami, potrebnimi za natančno konstruiranje modela fizičnega senzorja. V primeru, ko so potrebne natančne informacije o geopoziciji, ta tehnična specifikacija navaja matematične formule za natančno konstruiranje modelov fizičnih senzorjev, ki povezujejo dvodimenzionalni slikovni prostor s tridimenzionalnim zemeljskim prostorom, in izračun pripadajoče razširjene napake. Ta tehnična specifikacija ne določa natančno, kako uporabniki pridobivajo podatke o geopoziciji, niti ne določa oblike ali vsebine podatkov, ki jih uporabniki ustvarijo.

General Information

• Status: Published
• Public Enquiry End Date: 21-Nov-2019
• Publication Date: 08-Dec-2019
• ICS: 07.040 - Astronomy. Geodesy. Geography
• ICS: 35.240.70 - IT applications in science
• Technical Committee: GIG - Geographic information
• Current Stage: 6060 - National Implementation/Publication (Adopted Project)
• Start Date: 26-Nov-2019
• Due Date: 31-Jan-2020
• Completion Date: 09-Dec-2019
• Ref Project: ISO/TS 19130-2:2014 - Geographic information - Imagery sensor models for geopositioning - Part 2: SAR, InSAR, lidar and sonar

Overview

ISO/TS 19130-2:2014 - Geographic information: Imagery sensor models for geopositioning - Part 2: SAR, InSAR, lidar and sonar - specifies the sensor models and geolocation metadata required to rigorously geoposition remotely sensed imagery from Synthetic Aperture Radar (SAR), Interferometric SAR (InSAR), lidar, and sonar sensors. The Technical Specification defines the physical sensor description, required metadata for aerial triangulation (airborne and spaceborne), the mathematical formulae for constructing physical sensor models that map 2D image space to 3D ground space, and the calculation of associated propagated error for precise geopositioning. It does not prescribe how users must derive geoposition data or the output data formats.

Key Topics and Requirements

• Physical sensor models for SAR, InSAR, lidar and sonar, including required physical and geometric metadata to construct rigorous models.
• Mathematical formulae and error propagation methods for precise geopositioning (image-to-ground transformations).
• Aerial triangulation metadata and elements required for rigorous bundle adjustment and observation handling for airborne/spaceborne imagery.
• Conformance classes: one class per sensor type (SAR, InSAR, lidar, sonar) plus aerial triangulation - defining mandatory and conditional metadata for each class.
• Sensor model extensions and components (e.g., SE_SensorModel, SE_Dynamics, SE_PlatformDynamics) and refinements for SAR/InSAR operation.
• Annexes and profiles: normative annexes on conformance/testing and a data dictionary; informative metadata profiles for SAR, lidar, and sonar supporting precise geopositioning.

Practical Applications and Users

Who uses ISO/TS 19130-2:2014 and why:

• Remote sensing data providers and commercial imagery vendors - to supply standardized geolocation metadata enabling interoperability.
• GIS and photogrammetry professionals - for orthorectification, accurate feature extraction, DEM generation, and multisensor fusion.
• Geospatial software developers - to implement generalized geopositioning tools that support multiple sensor types via standard metadata and sensor models.
• Surveyors, marine mapping and hydrography teams - for sonar-based bathymetry georeferencing.
• Scientific and defense communities - for interferometry (InSAR) processing, change detection, precise positioning, and sensor calibration.

Practical uses include rigorous geopositioning, orthorectification, aerial triangulation/bundle adjustments, InSAR interferometry, lidar point cloud georeferencing, and multisensor data integration.

Related Standards

• ISO/TS 19130 (Part 1) - general imagery sensor models and metadata
• ISO 19115-1 / ISO 19115-2 - geospatial metadata standards for imagery and gridded data
• ISO 19111, ISO 19107, ISO 19157 - spatial referencing, spatial schema, and data quality standards

ISO/TS 19130-2:2014 supports consistent, interoperable geolocation metadata and rigorous sensor modeling across SAR, InSAR, lidar and sonar sensor domains, improving the reliability and reuse of remotely sensed imagery.

Standards Content (Sample)

SLOVENSKI STANDARD
01-januar-2020
Geografske informacije - Modeli zaznavanja podob za geopozicioniranje - 2. del:
SAR, InSAR, lidar in sonar
Geographic information -- Imagery sensor models for geopositioning -- Part 2: SAR,
InSAR, lidar and sonar
Information géographique -- Modèles de capteurs d'images de géopositionnement --
Partie 2: SAR, InSAR, lidar et sonar
Ta slovenski standard je istoveten z: ISO/TS 19130-2:2014
ICS:
07.040 Astronomija. Geodezija. Astronomy. Geodesy.
Geografija Geography
35.240.70 Uporabniške rešitve IT v IT applications in science
znanosti
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.

TECHNICAL ISO/TS
SPECIFICATION 19130-2
First edition
2014-01-15
Geographic information — Imagery
sensor models for geopositioning —
Part 2:
SAR, InSAR, lidar and sonar
Information géographique — Modèles de capteurs d’images de
géopositionnement —
Partie 2: SAR, InSAR, lidar et sonar
Reference number
©
ISO 2014
© ISO 2014
All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized otherwise in any form
or by any means, electronic or mechanical, including photocopying, or posting on the internet or an intranet, without prior
written permission. Permission can be requested from either ISO at the address below or ISO’s member body in the country of
the requester.
ISO copyright office
Case postale 56 • CH-1211 Geneva 20
Tel. + 41 22 749 01 11
Fax + 41 22 749 09 47
E-mail [e-mail]
Web www.iso.org
Published in Switzerland
ii © ISO 2014 – All rights reserved

Contents Page
Foreword .iv
Introduction .v
1 Scope . 1
2 Conformance . 1
3 Normative references . 1
4 Terms and definitions . 2
5 Symbols and abbreviations .12
5.1 Symbols .12
5.2 Abbreviated terms .17
5.3 Notation .18
6 Sensor Model Extensions .19
6.1 Introduction .19
6.2 SE_SensorModel .19
6.3 SE_Dynamics .19
6.4 SE_PlatformDynamics .20
7 Refinement of SAR physical sensor model .20
7.1 Introduction .20
7.2 SE_SAROperation .21
8 Interferometric SAR .22
8.1 Introduction .22
8.2 InSAR geometry .22
8.3 Interferometric SAR operation.24
9 Lidar physical sensor model .26
9.1 Description of sensor .26
9.2 Information required for geolocating .27
10 Sonar physical sensor model .28
10.1 Description of sensor .28
10.2 Information required for geolocating .32
11 Aerial triangulation .36
11.1 Introduction .36
11.2 SE_AerialTriangulation .37
11.3 SE_ATObservations .37
11.4 SE_ATOtherResults .38
11.5 SE_ATUnknowns .39
Annex A (normative) Conformance and testing .40
Annex B (normative) Data dictionary .42
Annex C (informative) Synthetic aperture radar sensor model metadata profile supporting
precise geopositioning .74
Annex D (informative) Lidar sensor model metadata profile supporting precise geopositioning .98
Annex E (informative) Sonar sensor model metadata profile supporting
precise geopositioning .129
Bibliography .151
Foreword
ISO (the International Organization for Standardization) is a worldwide federation of national standards
bodies (ISO member bodies). The work of preparing International Standards is normally carried out
through ISO technical committees. Each member body interested in a subject for which a technical
committee has been established has the right to be represented on that committee. International
organizations, governmental and non-governmental, in liaison with ISO, also take part in the work.
ISO collaborates closely with the International Electrotechnical Commission (IEC) on all matters of
electrotechnical standardization.
The procedures used to develop this document and those intended for its further maintenance are
described in the ISO/IEC Directives, Part 1. In particular the different approval criteria needed for the
different types of ISO documents should be noted. This document was drafted in accordance with the
editorial rules of the ISO/IEC Directives, Part 2. www.iso.org/directives
Attention is drawn to the possibility that some of the elements of this document may be the subject of
patent rights. ISO shall not be held responsible for identifying any or all such patent rights. Details of any
patent rights identified during the development of the document will be in the Introduction and/or on
the ISO list of patent declarations received. www.iso.org/patents
Any trade name used in this document is information given for the convenience of users and does not
constitute an endorsement.
For an explanation on the meaning of ISO specific terms and expressions related to conformity
assessment, as well as information about ISO’s adherence to the WTO principles in the Technical
Barriers to Trade (TBT) see the following URL: Foreword - Supplementary information
The committee responsible for this document is ISO/TC ISO/TC 211, Geographic information/Geomatics.
ISO/TS 19130 consists of the following parts, under the general title Geographic information — Imagery
sensor models for geopositioning:
— Geographic information — Imagery sensor models for geopositioning
— Part 2: Geographic information — Imagery sensor models for geopositioning — Part 2: SAR, InSAR,
lidar and sonar
iv © ISO 2014 – All rights reserved

Introduction
The purpose of this Technical Specification is to specify the geolocation information that an imagery data
provider shall supply in order for the user to be able to find the earth location of the data using a detailed
physical sensor model for Synthetic Aperture Radar (SAR), Light Detection And Ranging (lidar) and
Sound Navigation And Ranging (sonar). The intent is to standardize sensor descriptions and specify the
minimum geolocation metadata requirements for data providers and geopositioning imagery systems.
Observations in this document are the generic meaning of the word; observations are not in the meaning
of ISO 19156 observations.
Vast amounts of data from imaging systems have been collected, processed and distributed by government
mapping and remote sensing agencies and by commercial data vendors. In order for this data to be useful
in extraction of geographic information, further processing of the data are needed. Geopositioning, which
determines the ground coordinates of an object from image coordinates, is a fundamental processing
step. Because of the diversity of sensor types and the lack of a common sensor model standard, data
from different producers may contain different parametric information, lack parameters required to
describe the sensor that produces the data, or lack ancillary information necessary for geopositioning
and analysing the data. Often, a separate software package must be developed to deal with data from
each individual sensor or data producer. Standard sensor models and geolocation metadata allow
agencies or vendors to develop generalized software products that are applicable to data from multiple
data producers or from multiple sensors. With such standards, different producers can describe the
geolocation information of their data in the same way, thus promoting interoperability of data between
application systems and facilitating data exchange.
Part 1 provided a location model and metadata relevant to all sensors. It also included metadata specific
to whiskbroom, pushbroom, and frame sensors, and some metadata for Synthetic Aperture Radar
(SAR) sensors. In addition, it provided metadata for functional fit geopositioning, whether the function
was part of a correspondence model or a true replacement model. It also provided a schema for these
metadata elements. Comments on Part 1 stated that metadata needed to be specified for additional
sensors. The technology of such sensors has now become sufficiently mature that standardization is
now possible. This Technical Specification extends the specification of the set of metadata elements
required for geolocation by providing physical sensor models for LIght Detection And Ranging (lidar)
and SOund Navigation And Ranging (sonar), and it presents a more detailed set of elements for SAR.
This Technical Specification also defines the metadata needed for the aerial triangulation of airborne
and spaceborne images. This Technical Specification also provides a schema for all of these metadata
elements.
TECHNICAL SPECIFICATION ISO/TS 19130-2:2014(E)
Geographic information — Imagery sensor models for
geopositioning —
Part 2:
SAR, InSAR, lidar and sonar
1 Scope
This Technical Specification supports exploitation of remotely sensed images. It specifies the sensor
models and metadata for geopositioning images remotely sensed by Synthetic Aperture Radar (SAR),
Interferometric Synthetic Aperture Radar (InSAR), LIght Detection And Ranging (lidar), and SOund
Navigation And Ranging (sonar) sensors. The specification also defines the metadata needed for the
aerial triangulation of airborne and spaceborne images.
This Technical Specification specifies the detailed information that shall be provided for a sensor
description of SAR, InSAR, lidar and sonar sensors with the associated physical and geometric
information necessary to rigorously construct a Physical Sensor Model. For the case where precise
geoposition information is needed, this Technical Specification identifies the mathematical formulae
for rigorously constructing Physical Sensor Models that relate two-dimensional image space to three-
dimensional ground space and the calculation of the associated propagated error.
This Technical Specification does not specify either how users derive geoposition data or the format or
content of the data the users generate.
2 Conformance
This Technical Specification specifies 5 conformance classes. There is one conformance class for
each type of sensor. Any set of geopositioning information claiming conformance to this Technical
Specification shall satisfy the requirements for at least one conformance class as specified in Table 1.
The requirements for each class are shown by the presence of an X in the boxes for all clauses in the
application test suite (ATS) required for that class. If the requirement is conditional, the box contains a
C. The conditions are defined in the corresponding UML models.
Table 1 — Conformance classes
Section of this part of ISO 19130
A.1.1 A.1.2 A.1.3 A.2 A.3 A.4 A.5 A.6
SAR X C X
InSAR X C X
Conformance
Lidar X X X X
Class
Sonar X X X X
Aerial triangulation X C X
3 Normative references
The following referenced documents are indispensable for the application of this document. For dated
references, only the edition cited applies. For undated references, the latest edition of the referenced
document (including any amendments) applies.
ISO/TS 19103:2005, Geographic information — Conceptual schema language
ISO 19107:2003, Geographic information — Spatial schema
ISO 19108:2002, Geographic information — Temporal schema
ISO 19111:2007, Geographic information — Spatial referencing by coordinates
ISO 19115-1:2014, Geographic information — Metadata — Part 1: Fundamentals
ISO 19115-2:2009, Geographic information — Metadata — Part 2: Extensions for imagery and gridded data
ISO 19123:2005, Geographic information — Schema for coverage geometry and functions
ISO 19157:2013, Geographic information — Data quality
ISO/TS 19130:2010, Geographic information — Imagery sensor models for geopositioning
4 Terms and definitions
For the purposes of this document, the following terms and definitions apply.
4.1
active sensor
sensor (4.66) that generates the energy that it uses to perform the sensing
4.2
active sonar
type of active sensor (4.1) that transmits sound waves into the water and receives the returned waves
echoed from objects in the water
4.3
adjustable model parameters
model parameters that can be refined using available additional information, such as ground control
points, to improve or enhance modeling corrections
[SOURCE: ISO/TS 19130:2010, 4.2]
4.4
ARP
aperture reference point
3D location of the centre of the synthetic aperture
Note 1 to entry: It is usually expressed in ECEF coordinates in metres.
[SOURCE: ISO/TS 19130:2010, 4.4]
4.5
area recording
instantaneously recording an image in a single frame (4.22)
4.6
attitude
orientation of a body, described by the angles between the axes of that body’s coordinate system and the
axes of an external coordinate system
[SOURCE: ISO 19116:2004, 4.2]
2 © ISO 2014 – All rights reserved

4.7
attribute
named property of an entity
[SOURCE: ISO/IEC 2382-17:1999, 17.02.12]
4.8
azimuth resolution
resolution (4.60) in the cross-range direction
Note 1 to entry: This is usually measured in terms of the impulse response of the SAR sensor (4.66) and processing
system. It is a function of the size of the synthetic aperture, or alternatively the dwell time (e.g. larger aperture -
> longer dwell time - > better resolution).
[SOURCE: ISO/TS 19130:2010, 4.7]
4.9
beam width
useful angular width of the beam of electromagnetic energy
Note 1 to entry: For SAR, beam width is usually measured in radians and is the angular width between two points
that have 1/2 of the power (3 dB below) of the centre of the beam. It is a property of the antenna. Power emitted
outside of this angle is too little to provide a usable return (4.62).
Note 2 to entry: Angle, measured in a horizontal plane, between the directions on either side of the axis at which
the intensity (4.37) of a beam of energy drops to a specified fraction of the value it has on the axis.
[SOURCE: ISO/TS 19130:2010, 4.8, modified — Notes 1 and 2 have been added.]
4.10
broadside
direction orthogonal to the velocity vector (4.81) and parallel to the plane tangent to the Earth’s
ellipsoid at the nadir point of the ARP (4.4)
[SOURCE: ISO/TS 19130:2010, 4.9]
4.11
complex image
first-level product produced by processing SAR Phase History Data (4.48)
4.12
datum
parameter or set of parameters that define the position of the origin, the scale, and the orientation of a
coordinate system
[SOURCE: ISO 19111:2007, 4.14]
4.13
depression angle
vertical angle from the platform horizontal plane to the slant range direction (4.56), usually measured
at the ARP (4.4)
Note 1 to entry: Approximately the complement of the look angle (4.42).
4.14
Differential Global Navigational Satellite System
enhancement to Global Positioning System that uses GNSS and DGNSS to broadcast the difference
between the positions indicated by the satellite systems and the known fixed positions
4.15
Doppler angle
angle between the velocity vector (4.81) and the range vector (4.58)
[SOURCE: ISO/TS 19130:2010, 4.19]
4.16
Doppler shift
wavelength change resulting from relative motion of source and detector
Note 1 to entry: In the SAR context, it is the frequency shift imposed on a radar signal due to relative motion
between the transmitter (4.79) and the object being illuminated.
[SOURCE: ISO/TS 19130:2010, 4.20]
4.17
draught
vertical distance, at any section of a vessel from the surface of the water to the bottom of the keel
[SOURCE: IHO Hydrographic Dictionary, S-32, Fifth Edition]
4.18
easting
E
distance in a coordinate system, eastwards (positive) or westwards (negative) from a north-south
reference line
[SOURCE: ISO 19111:2007, 4.16]
4.19
field of regard
total angular extent over which the field of view (FOV) (4.20) may be positioned
Note 1 to entry: The field of regard is the area that is potentially able to be viewed by a system at an instant in
time. It is determined by the system’s FOV and the range (4.54) of directions in which the system is able to point.
[SOURCE: Adapted from the Manual of Photogrammetry]
4.20
field of view
FOV
instantaneous region seen by a sensor (4.66), provided in angular measure
Note 1 to entry: In the airborne case, this would be swath (4.75) width for a linear array, ground footprint for an
area array, and for a whiskbroom scanner it refers to the swath width.
[SOURCE: Manual of Photogrammetry]
4.21
first return
first reflected signal that is detected by a 3D imaging system, time of flight (TOF) type, for a given
sampling position and a given emitted pulse
[SOURCE: Adapted from STM E2544]
4.22
frame
data collected by the receiver (4.59) as a result of all returns (4.62) from a single emitted pulse
Note 1 to entry: A complete 3D data sample of the world produced by a lidar (4.40) taken at a certain time, place,
and orientation. A single lidar frame is also referred to as a range (4.54) image.
[SOURCE: Adapted from NISTIR 7117]
4 © ISO 2014 – All rights reserved

4.23
geiger mode
photon counting mode for lidar (4.40) systems, where the detector is biased and becomes sensitive to
individual photons
Note 1 to entry: These detectors exist in the form of arrays and are bonded with electronic circuitry. The electronic
circuitry produces a measurement corresponding to the time at which the current was generated; resulting in a
direct time-of-flight measurement. A lidar that employs this detector technology typically illuminates a large scene
with a single pulse. The direct time-of-flight measurements are then combined with platform location/attitude
(4.6) data along with pointing information to produce a three-dimensional product of the illuminated scene of
interest. Additional processing is applied which removes existing noise present in the data to produce a visually
exploitable data set.
[SOURCE: Adapted from Albota 2002]
4.24
geodetic coordinate system
coordinate system in which position is specified by geodetic latitude, geodetic longitude and (in the
three-dimensional case) ellipsoidal height
[SOURCE: ISO 19111:2007, 4.18]
4.25
geodetic datum
datum (4.12) describing the relationship of a two- or three-dimensional coordinate system to the Earth
Note 1 to entry: In most cases, the geodetic datum includes an ellipsoid description (ISO/TS 19130:2010)
Note 2 to entry: The term and this Technical Specification may be applicable to some other celestial bodies.
[SOURCE: ISO 19111:2007, 4.24, modified — Notes 1 and 2 have been added.]
4.26
geographic coordinates
longitude, latitude and height of a ground or elevated point
Note 1 to entry: Geographic coordinates are related to a coordinate reference system or compound coordinate
reference system. Depth equals negative height.
4.27
geographic information
information concerning phenomena implicitly or explicitly associated with a location relative to the
Earth
[SOURCE: ISO 19101:2002, 4.16]
4.28
geolocating
geopositioning an object using a Physical Sensor Model (4.68) or a True Replacement Model
[SOURCE: ISO/TS 19130:2010, 4.34]
4.29
grazing angle
vertical angle from the local surface tangent plane to the slant range direction (4.56)
Note 1 to entry: It is usually measured at the GRP and approximately the complement of the incident angle (4.35)
[SOURCE: ISO/TS 19130:2010, 4.39, modified — Note 1 to entry has been added.]
4.30
hydrophone
component of the sonar system which receives the sound echo and converts it to an electric
signal
4.31
heave
oscillatory rise and fall of a ship due to the entire hull being lifted by the force of the sea
[SOURCE: IHO Hydrographic Dictionary S-32, Fifth Edition]
4.32
hydrographic swath
strip or lane on the ground scanned by a multi-beam sounder when the survey vessel proceeds
along its course
[SOURCE: IHO Hydrographic Dictionary S-32, Fifth Edition]
4.33
image coordinates
coordinates with respect to a Cartesian coordinate system of an image
Note 1 to entry: The image coordinates can be in pixels or in a measure of length (linear measure).
4.34
image formation
process by which an image is generated from collected Phase History Data (4.48) in a SAR system
[SOURCE: ISO/TS 19130:2010, 4.51]
4.35
incident angle
vertical angle between the line from the detected element to the sensor (4.66) and the local surface
normal (tangent plane normal)
Note 1 to entry: It is approximately the complement of the grazing angle (4.29).
[SOURCE: ISO/TS 19130:2010, 4.57, modified — Note 1 to entry has been added.]
4.36
instantaneous field of view
instantaneous region seen by a single detector element, measured in angular space
[SOURCE: Manual of Photogrammetry]
4.37
intensity
power per unit solid angle from a point source into a particular direction
Note 1 to entry: Typically for lidar (4.40), sufficient calibration has not been done to calculate absolute intensity, so
relative intensity is usually reported. In linear mode (4.41) systems, this value is typically provided as an integer,
resulting from a mapping of the return’s (4.62) signal power to an integer value via a lookup table.
4.38
last return
last reflected signal that is detected by a 3D imaging system, time-of-flight (TOF) type, for a given
sampling position and a given emitted pulse
[SOURCE: Adapted from ASTM E2544]
6 © ISO 2014 – All rights reserved

4.39
layover
visual effect in SAR images of ambiguity among returns (4.62) from scatterers at different heights that
fall into the same range-Doppler-time bin
Note 1 to entry: The effect makes buildings “lay over” onto the ground toward the sensor (4.66)velocity vector
(4.81), akin to perspective views in projective imagery.
4.40
lidar
light detection and ranging
system consisting of 1) a photon source (frequently, but not necessarily, a laser), 2) a photon detection
system, 3) a timing circuit, and 4) optics for both the source and the receiver (4.59) that uses emitted
laser light to measure ranges (4.54) to and/or properties of solid objects, gases, or particulates in the
atmosphere
Note 1 to entry: Time of flight (TOF) lidars use short laser pulses and precisely record the time each laser pulse
was emitted and the time each reflected return(s) (4.62) is received in order to calculate the distance(s) to the
scatterer(s) encountered by the emitted pulse. For topographic lidar (4.80), these time-of-flight measurements
are then combined with precise platform location/attitude (4.6) data along with pointing data to produce a three-
dimensional product of the illuminated scene of interest.
4.41
linear mode
lidar (4.40) system in which output photocurrent is proportional to the input optical incident intensity
(4.37)
Note 1 to entry: A lidar system which employs this technology typically uses processing techniques to develop the
time-of-flight measurements from the full waveform that is reflected from the targets in the illuminated scene of
interest. These time-of-flight measurements are then combined with precise platform location/attitude (4.6) data
along with pointing data to produce a three-dimensional product of the illuminated scene of interest.
[SOURCE: Adapted from Aull et al., 2002]
4.42
look angle
vertical angle from the platform down direction (4.50) to the slant range direction (4.56), usually measured
at the ARP (4.4)
Note 1 to entry: It is approximately the complement of the depression angle (4.13).
4.43
mean sea level
MSL
average height of the surface of the sea at a tide station for all stages of the tide over a 19-year period,
usually determined from hourly height readings measured from a fixed predetermined reference level
[SOURCE: IHO Hydrographic Dictionary S-32, Fifth Edition]
4.44
multibeam sonar
wide swath (4.75) echo sounder for use in seabed mapping and surveying using the multi-beam principle
Note 1 to entry: Depths are measured directly below and transverse to the ship’s track. The width of the swath is
a function of the number of beams and their aperture.
[SOURCE: IHO Hydrographic Dictionary S-32, Fifth Edition]
4.45
multiple returns
multiple signals returned and detected for a given emitted pulse, such as when a laser beam hitting
multiple objects separated in range (4.54) is split
[SOURCE: Adapted from ASTM E2544]
4.46
objective
optical element that receives light from the object and forms the first or primary image of an optical
system
4.47
passive sonar
type of passive sensor (4.66) that only receives sound waves from external sources and does not transmit
any sound waves
4.48
phase history data
PHD
video phase history data
raw radar return (4.62) signal information after demodulation
Note 1 to entry: Usually stored as a series of range (4.54) lines, each containing information from a specific range
bin (4.55). PHD can be thought of as a table of five columns: In-phase signal, Quadrature signal, Range (4.54),
Doppler Angle (4.15), and Time.
4.49
platform coordinate reference system
engineering coordinate reference system fixed to the collection platform within which positions on the
collection platform are defined
[SOURCE: ISO/TS 19130:2010, 4.65]
4.50
platform down direction
downward normal to the platform horizontal plane
4.51
point cloud
collection of data points in 3D space
Note 1 to entry: The distance between points is generally non-uniform and hence all three coordinates (Cartesian
or spherical) for each point must be specifically encoded.
4.52
projection centre
perspective centre
point located in three dimensions through which all rays between object points and image points appear
to pass geometrically
Note 1 to entry: It is represented by the rear nodal point of the imaging lens system.
[SOURCE: ISO/TS 19130:2010, 4.62, modified — Note 1 to entry has been added.]
4.53
pulse repetition frequency
number of times the system (e.g. lidar [4.40]) emits pulses over a given time period, usually stated in
kilohertz (kHz)
8 © ISO 2014 – All rights reserved

4.54
range
distance between the antenna and a distant object, synonymous with slant range
4.55
range bin
group of radar returns (4.62) that all have the same range (4.54)
[SOURCE: ISO/TS 19130:2010, 4.69]
4.56
range direction
slant range direction
direction of the range vector (4.58)
Note 1 to entry: It is nominally the direction from a radar antenna to an object, represented by a vector from the
ARP (4.4) to the GRP for SAR.
[SOURCE: ISO/TS 19130:2010, 4.70, modified — Note 1 to entry has been added.]
4.57
range resolution
spatial resolution (4.60) in the range direction (4.56)
Note 1 to entry: For a SAR sensor (4.66), it is usually measured in terms of the impulse response of the sensor and
processing system. It is a function of the bandwidth of the pulse.
[SOURCE: ISO/TS 19130:2010, 4.71]
4.58
range vector
vector from the antenna to a point in the scene
[SOURCE: ISO/TS 19130:2010, 4.72]
4.59
receiver
hardware used to detect and record signals
Note 1 to entry: In lidar (4.40) and sonar systems, the receiver detects and records reflected pulse returns (4.62).
4.60
resolution (of a sensor)
smallest difference between indications of a sensor (4.66) that can be meaningfully distinguished
[SOURCE: ISO/TS 19101-2:2008, 4.34]
4.61
resolution (of imagery)
smallest distance between two uniformly illuminated objects that can be separately resolved in an
image
4.62
return
sensed signal from an emitted laser pulse which has reflected off of an illuminated scene of
interest
Note 1 to entry: There may be multiple returns (4.45) for a given emitted laser pulse.
4.63
scan
set of sequential frames (4.22) collected during a single full cycle of a mechanical scanner representing a
cross-track excursion from one side of the field of regard (4.19) to the other and back again
4.64
scan mode
SAR mode in which the antenna beam is steered to illuminate a swath (4.75) of ground at various angles
relative to flight path throughout the collection
Note 1 to entry: Steering the antenna also allows dwell time to be increased and provides the ability to collect
strips at angles non-parallel to the flight direction and with better resolution (4.60) than Stripmap mode.
[SOURCE: ISO/TS 19130:2010, 4.77]
4.65
ScanSAR mode
special case of stripmap mode that uses an electronically steerable antenna to quickly change the swath
(4.75) being imaged during collection to collect multiple parallel swaths in one pass
[SOURCE: ISO/TS 19130:2010, 4.78]
4.66
sensor
element of a measuring system that is directly affected by a phenomenon, body, or substance carrying a
quantity to be measured
[SOURCE: ISO/IEC GUIDE 99:2007, 3.8]
4.67
settlement
general lowering in level of a moving vessel, relative to what its level would be were it motionless, due to
the regional depression of the surface of the water in which the ship moves
Note 1 to entry: Settlement is not an increase in displacement.
Note 2 to entry: Settlement is measured as an angular tilt about the centre of gravity of the vessel.
[SOURCE: IHO Hydrographic Dictionary S-32, Fifth Edition]
4.68
sensor model
mathematical description of the relationship between the three-dimensional object
space and the two-dimensional plane of the associated image produced by a sensor (4.66)
[SOURCE: ISO/TS 19130:2010, 4.80]
4.69
sidescan sonar
type of sonar that transmits sound energy from the sides of a towfish, creating a fanlike beam on either
side that sweeps the seafloor, and continuously records return (4.62) signals, creating a “picture” of the
seafloor and any other objects
Note 1 to entry: Sidescan sonar is used for imaging bottom features and targets in a wide variety of water depths.
Note 2 to entry: This includes synthetic aperture sidescan sonar.
4.70
single beam sonar
type of sonar that produces one narrow sonar beam directly beneath the transducer (4.78)/receiver
(4.59) and receives a return (4.62) echo from the closest object
Note 1 to entry: Single beam sonar is commonly called a single beam echosounder (abbr: SBES).
4.71
sonar processing system
system that processes the sonar signals to determine the geopositions of objects sensed by sonar sensors
(4.66)
10 © ISO 2014 – All rights reserved

4.72
Sound Navigation And Ranging
sonar
sensor (4.66) that uses sound navigation and ranging technology for sensing
4.73
squat
effect that causes a vessel moving through water to create an area of lowered pressure under its bottom
that increases the effective draught (4.17) (i.e. lowers the vessel in the water)
Note 1 to entry: The effect is a result of Bernoulli’s principle of fluid dynamics. The squat represents the increase
in effective draught.
Note 2 to entry: For a ship underway, the change of level of the bow and stern from the still water condition in
response to the elevation and depression of the water level about the hull resulting from the bow and stern wave
systems.
[SOURCE: Implementation Specification — a Draught Information System for the St. Lawrence Seaway,
4.18, modified — Note 2 to entry has been added.]
4.74
stare
scanning mode consisting of a step stair pattern
Note 1 to entry: This applies to a HARLIE transceiver, based on a volume phase holographic optical element.
4.75
swath
ground area from which return (4.62) data are collected during continuous airborne lidar (4.40)
operation
Note 1 to entry: A typical mapping mission may consist of multiple adjacent swaths, with some overlap, and the
operator will turn off the laser while the aircraft is oriented for the next swath. This term may also be referred
to as a Pass.
4.76
sweep sonar
type of sonar that has several single beam transducer (4.78)/receivers (4.59) mounted on a boom, which
is then operated parallel to the water’s surface and orthogonal to the vessel’s direction of travel
Note 1 to entry: Sweep sounding is commonly called multi-channel echosounding (MCES).
4.77
swipe
set of sequential frames (4.22) collected during a single half cycle of a mechanical scanner representing
a cross-track excursion from one side of the field of regard (4.19) to the other
4.78
transducer
device that converts one type of energy to another
4.79
transmitter
component of sonar that converts an electrical impulse into a sound wave and sends the wave into the
water
Note 1 to entry: Transmitter is also called projector in multibeam echosounding.
4.80
topographic lidar
lidar (4.40) system used to measure the topography of the ground surface
Note 1 to entry: Generally referring to an airborne lidar system.
4.81
velocity vector
first derivative of the antenna’s position vector
5 Symbols and abbreviations
5.1 Symbols
A 3D Affine transform matrix
a image vector
B radar pulse bandwidth
b 3D Affine translation vector
C number of columns (samples) in the image
C correction for row-column to line-sample conversion.

C correction for row-column to line-sample conversion
s
c speed of light in a vacuum
c speed of sound in the medium in which the sonar operates
s
col column in the row-column coordinate system
D physical radar antenna aperture
d pixel width in CCS — not applicable to SAR
x
d pixel height in CCS — not applicable to SAR
y
f camera focal length
G Ground Reference Point (GRP)
H sensor altitude, m HAE; also platform Heading
H heading in reference to the local-vertical coordinate system, e.g. platform Heading
dg
h height (MSL) of the object the laser intersects, in kilometres.
h object elevation, m HAE
h elevation relative to elipsoid, e.g. sensor altitude, object elevation
ae
I In-phase (real) component of phase history data sample
i index of frames
j index of points
12 © ISO 2014 – All rights reserved

K refraction constant, micro-radians
k arbitrary constant
k first order radial distortion coefficient
k second order radial distortion coefficient
k third order radial distortion coefficient
L front nodal point of lens

line in the line sample coordinate system
l line number
l location of GRP in line direction in image space
M generic 3D point (in ECEF)
p
M rotation matrix (various)
M rotation matrix from the ellipsoid-tangential reference frame to the ECEF reference
ECEF
frame
M rotation matrix from the local vertical reference frame to the ellipsoid-tangential
ELL
reference frame.
M rotation matrix from the sensor reference frame to the gimbal reference frame
GIM
(gimbal angles).
M rotation matrix from the gimbal reference frame to the platform reference frame
PLA
(boresight angles).
M rotation matrix from scanner reference frame to sensor reference frame (scan
SEN
angles).
M rotation matrix from the platform reference frame to the local vertical reference
VER
frame (INS observations).
M rotation about the x-axis (roll)
ω
M rotation about the y-axis (pitch)
φ
M rotation about the z-axis (yaw)
κ
M the orientation matrix
o
mD Down in the North East Down (NED) Coordinate System, cf. Figure C.4. (“mZ” can
also be used to represent down in the North East Down (NED) Coordinate System)
mE East in the North East Down (NED) or North East Up Coordinate System, cf. Fig-
ure C.4.
mN North in the North East Down (NED) or North East Up Coordinate System, cf. Fig-
ure C.4.
N North in the North East Down (NED) or North East Up Coordinate System
P pitch in reference to the local-vertical coordinate system
P object point coordinate (ground space)
c
p , p lens decentring coefficients
1 2
p , p line and sample coordinates of a generic pixel in the image
l s
Q quadrature (imaginary) component of phase history data sample
c
Q generic point in the image
Q vector representing a generic point in the image in the slant plane
s
Q vector representing GRP in the slant plane (ARP as origin)
vector from ARP to GRP (in ECEF)
Q
R range
R ground range
G
R slant range
S
R′
range from front nodal point (L) to the point on the ground (A)
r radial distance on image from principal point to point of interest
r azimuth resolution
A
r vector from the ECEF origin to the GNSS antenna phase-centre in the ECEF refer-
ECEF
ence frame (GNSS obs
...

TECHNICAL ISO/TS
SPECIFICATION 19130-2
First edition
2014-01-15
Geographic information — Imagery
sensor models for geopositioning —
Part 2:
SAR, InSAR, lidar and sonar
Information géographique — Modèles de capteurs d’images de
géopositionnement —
Partie 2: SAR, InSAR, lidar et sonar
Reference number
©
ISO 2014
© ISO 2014
All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized otherwise in any form
or by any means, electronic or mechanical, including photocopying, or posting on the internet or an intranet, without prior
written permission. Permission can be requested from either ISO at the address below or ISO’s member body in the country of
the requester.
ISO copyright office
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Tel. + 41 22 749 01 11
Fax + 41 22 749 09 47
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Published in Switzerland
ii © ISO 2014 – All rights reserved

Contents Page
Foreword .iv
Introduction .v
1 Scope . 1
2 Conformance . 1
3 Normative references . 1
4 Terms and definitions . 2
5 Symbols and abbreviations .12
5.1 Symbols .12
5.2 Abbreviated terms .17
5.3 Notation .18
6 Sensor Model Extensions .19
6.1 Introduction .19
6.2 SE_SensorModel .19
6.3 SE_Dynamics .19
6.4 SE_PlatformDynamics .20
7 Refinement of SAR physical sensor model .20
7.1 Introduction .20
7.2 SE_SAROperation .21
8 Interferometric SAR .22
8.1 Introduction .22
8.2 InSAR geometry .22
8.3 Interferometric SAR operation.24
9 Lidar physical sensor model .26
9.1 Description of sensor .26
9.2 Information required for geolocating .27
10 Sonar physical sensor model .28
10.1 Description of sensor .28
10.2 Information required for geolocating .32
11 Aerial triangulation .36
11.1 Introduction .36
11.2 SE_AerialTriangulation .37
11.3 SE_ATObservations .37
11.4 SE_ATOtherResults .38
11.5 SE_ATUnknowns .39
Annex A (normative) Conformance and testing .40
Annex B (normative) Data dictionary .42
Annex C (informative) Synthetic aperture radar sensor model metadata profile supporting
precise geopositioning .74
Annex D (informative) Lidar sensor model metadata profile supporting precise geopositioning .98
Annex E (informative) Sonar sensor model metadata profile supporting
precise geopositioning .129
Bibliography .151
Foreword
ISO (the International Organization for Standardization) is a worldwide federation of national standards
bodies (ISO member bodies). The work of preparing International Standards is normally carried out
through ISO technical committees. Each member body interested in a subject for which a technical
committee has been established has the right to be represented on that committee. International
organizations, governmental and non-governmental, in liaison with ISO, also take part in the work.
ISO collaborates closely with the International Electrotechnical Commission (IEC) on all matters of
electrotechnical standardization.
The procedures used to develop this document and those intended for its further maintenance are
described in the ISO/IEC Directives, Part 1. In particular the different approval criteria needed for the
different types of ISO documents should be noted. This document was drafted in accordance with the
editorial rules of the ISO/IEC Directives, Part 2. www.iso.org/directives
Attention is drawn to the possibility that some of the elements of this document may be the subject of
patent rights. ISO shall not be held responsible for identifying any or all such patent rights. Details of any
patent rights identified during the development of the document will be in the Introduction and/or on
the ISO list of patent declarations received. www.iso.org/patents
Any trade name used in this document is information given for the convenience of users and does not
constitute an endorsement.
For an explanation on the meaning of ISO specific terms and expressions related to conformity
assessment, as well as information about ISO’s adherence to the WTO principles in the Technical
Barriers to Trade (TBT) see the following URL: Foreword - Supplementary information
The committee responsible for this document is ISO/TC ISO/TC 211, Geographic information/Geomatics.
ISO/TS 19130 consists of the following parts, under the general title Geographic information — Imagery
sensor models for geopositioning:
— Geographic information — Imagery sensor models for geopositioning
— Part 2: Geographic information — Imagery sensor models for geopositioning — Part 2: SAR, InSAR,
lidar and sonar
iv © ISO 2014 – All rights reserved

Introduction
The purpose of this Technical Specification is to specify the geolocation information that an imagery data
provider shall supply in order for the user to be able to find the earth location of the data using a detailed
physical sensor model for Synthetic Aperture Radar (SAR), Light Detection And Ranging (lidar) and
Sound Navigation And Ranging (sonar). The intent is to standardize sensor descriptions and specify the
minimum geolocation metadata requirements for data providers and geopositioning imagery systems.
Observations in this document are the generic meaning of the word; observations are not in the meaning
of ISO 19156 observations.
Vast amounts of data from imaging systems have been collected, processed and distributed by government
mapping and remote sensing agencies and by commercial data vendors. In order for this data to be useful
in extraction of geographic information, further processing of the data are needed. Geopositioning, which
determines the ground coordinates of an object from image coordinates, is a fundamental processing
step. Because of the diversity of sensor types and the lack of a common sensor model standard, data
from different producers may contain different parametric information, lack parameters required to
describe the sensor that produces the data, or lack ancillary information necessary for geopositioning
and analysing the data. Often, a separate software package must be developed to deal with data from
each individual sensor or data producer. Standard sensor models and geolocation metadata allow
agencies or vendors to develop generalized software products that are applicable to data from multiple
data producers or from multiple sensors. With such standards, different producers can describe the
geolocation information of their data in the same way, thus promoting interoperability of data between
application systems and facilitating data exchange.
Part 1 provided a location model and metadata relevant to all sensors. It also included metadata specific
to whiskbroom, pushbroom, and frame sensors, and some metadata for Synthetic Aperture Radar
(SAR) sensors. In addition, it provided metadata for functional fit geopositioning, whether the function
was part of a correspondence model or a true replacement model. It also provided a schema for these
metadata elements. Comments on Part 1 stated that metadata needed to be specified for additional
sensors. The technology of such sensors has now become sufficiently mature that standardization is
now possible. This Technical Specification extends the specification of the set of metadata elements
required for geolocation by providing physical sensor models for LIght Detection And Ranging (lidar)
and SOund Navigation And Ranging (sonar), and it presents a more detailed set of elements for SAR.
This Technical Specification also defines the metadata needed for the aerial triangulation of airborne
and spaceborne images. This Technical Specification also provides a schema for all of these metadata
elements.
TECHNICAL SPECIFICATION ISO/TS 19130-2:2014(E)
Geographic information — Imagery sensor models for
geopositioning —
Part 2:
SAR, InSAR, lidar and sonar
1 Scope
This Technical Specification supports exploitation of remotely sensed images. It specifies the sensor
models and metadata for geopositioning images remotely sensed by Synthetic Aperture Radar (SAR),
Interferometric Synthetic Aperture Radar (InSAR), LIght Detection And Ranging (lidar), and SOund
Navigation And Ranging (sonar) sensors. The specification also defines the metadata needed for the
aerial triangulation of airborne and spaceborne images.
This Technical Specification specifies the detailed information that shall be provided for a sensor
description of SAR, InSAR, lidar and sonar sensors with the associated physical and geometric
information necessary to rigorously construct a Physical Sensor Model. For the case where precise
geoposition information is needed, this Technical Specification identifies the mathematical formulae
for rigorously constructing Physical Sensor Models that relate two-dimensional image space to three-
dimensional ground space and the calculation of the associated propagated error.
This Technical Specification does not specify either how users derive geoposition data or the format or
content of the data the users generate.
2 Conformance
This Technical Specification specifies 5 conformance classes. There is one conformance class for
each type of sensor. Any set of geopositioning information claiming conformance to this Technical
Specification shall satisfy the requirements for at least one conformance class as specified in Table 1.
The requirements for each class are shown by the presence of an X in the boxes for all clauses in the
application test suite (ATS) required for that class. If the requirement is conditional, the box contains a
C. The conditions are defined in the corresponding UML models.
Table 1 — Conformance classes
Section of this part of ISO 19130
A.1.1 A.1.2 A.1.3 A.2 A.3 A.4 A.5 A.6
SAR X C X
InSAR X C X
Conformance
Lidar X X X X
Class
Sonar X X X X
Aerial triangulation X C X
3 Normative references
The following referenced documents are indispensable for the application of this document. For dated
references, only the edition cited applies. For undated references, the latest edition of the referenced
document (including any amendments) applies.
ISO/TS 19103:2005, Geographic information — Conceptual schema language
ISO 19107:2003, Geographic information — Spatial schema
ISO 19108:2002, Geographic information — Temporal schema
ISO 19111:2007, Geographic information — Spatial referencing by coordinates
ISO 19115-1:2014, Geographic information — Metadata — Part 1: Fundamentals
ISO 19115-2:2009, Geographic information — Metadata — Part 2: Extensions for imagery and gridded data
ISO 19123:2005, Geographic information — Schema for coverage geometry and functions
ISO 19157:2013, Geographic information — Data quality
ISO/TS 19130:2010, Geographic information — Imagery sensor models for geopositioning
4 Terms and definitions
For the purposes of this document, the following terms and definitions apply.
4.1
active sensor
sensor (4.66) that generates the energy that it uses to perform the sensing
4.2
active sonar
type of active sensor (4.1) that transmits sound waves into the water and receives the returned waves
echoed from objects in the water
4.3
adjustable model parameters
model parameters that can be refined using available additional information, such as ground control
points, to improve or enhance modeling corrections
[SOURCE: ISO/TS 19130:2010, 4.2]
4.4
ARP
aperture reference point
3D location of the centre of the synthetic aperture
Note 1 to entry: It is usually expressed in ECEF coordinates in metres.
[SOURCE: ISO/TS 19130:2010, 4.4]
4.5
area recording
instantaneously recording an image in a single frame (4.22)
4.6
attitude
orientation of a body, described by the angles between the axes of that body’s coordinate system and the
axes of an external coordinate system
[SOURCE: ISO 19116:2004, 4.2]
2 © ISO 2014 – All rights reserved

4.7
attribute
named property of an entity
[SOURCE: ISO/IEC 2382-17:1999, 17.02.12]
4.8
azimuth resolution
resolution (4.60) in the cross-range direction
Note 1 to entry: This is usually measured in terms of the impulse response of the SAR sensor (4.66) and processing
system. It is a function of the size of the synthetic aperture, or alternatively the dwell time (e.g. larger aperture -
> longer dwell time - > better resolution).
[SOURCE: ISO/TS 19130:2010, 4.7]
4.9
beam width
useful angular width of the beam of electromagnetic energy
Note 1 to entry: For SAR, beam width is usually measured in radians and is the angular width between two points
that have 1/2 of the power (3 dB below) of the centre of the beam. It is a property of the antenna. Power emitted
outside of this angle is too little to provide a usable return (4.62).
Note 2 to entry: Angle, measured in a horizontal plane, between the directions on either side of the axis at which
the intensity (4.37) of a beam of energy drops to a specified fraction of the value it has on the axis.
[SOURCE: ISO/TS 19130:2010, 4.8, modified — Notes 1 and 2 have been added.]
4.10
broadside
direction orthogonal to the velocity vector (4.81) and parallel to the plane tangent to the Earth’s
ellipsoid at the nadir point of the ARP (4.4)
[SOURCE: ISO/TS 19130:2010, 4.9]
4.11
complex image
first-level product produced by processing SAR Phase History Data (4.48)
4.12
datum
parameter or set of parameters that define the position of the origin, the scale, and the orientation of a
coordinate system
[SOURCE: ISO 19111:2007, 4.14]
4.13
depression angle
vertical angle from the platform horizontal plane to the slant range direction (4.56), usually measured
at the ARP (4.4)
Note 1 to entry: Approximately the complement of the look angle (4.42).
4.14
Differential Global Navigational Satellite System
enhancement to Global Positioning System that uses GNSS and DGNSS to broadcast the difference
between the positions indicated by the satellite systems and the known fixed positions
4.15
Doppler angle
angle between the velocity vector (4.81) and the range vector (4.58)
[SOURCE: ISO/TS 19130:2010, 4.19]
4.16
Doppler shift
wavelength change resulting from relative motion of source and detector
Note 1 to entry: In the SAR context, it is the frequency shift imposed on a radar signal due to relative motion
between the transmitter (4.79) and the object being illuminated.
[SOURCE: ISO/TS 19130:2010, 4.20]
4.17
draught
vertical distance, at any section of a vessel from the surface of the water to the bottom of the keel
[SOURCE: IHO Hydrographic Dictionary, S-32, Fifth Edition]
4.18
easting
E
distance in a coordinate system, eastwards (positive) or westwards (negative) from a north-south
reference line
[SOURCE: ISO 19111:2007, 4.16]
4.19
field of regard
total angular extent over which the field of view (FOV) (4.20) may be positioned
Note 1 to entry: The field of regard is the area that is potentially able to be viewed by a system at an instant in
time. It is determined by the system’s FOV and the range (4.54) of directions in which the system is able to point.
[SOURCE: Adapted from the Manual of Photogrammetry]
4.20
field of view
FOV
instantaneous region seen by a sensor (4.66), provided in angular measure
Note 1 to entry: In the airborne case, this would be swath (4.75) width for a linear array, ground footprint for an
area array, and for a whiskbroom scanner it refers to the swath width.
[SOURCE: Manual of Photogrammetry]
4.21
first return
first reflected signal that is detected by a 3D imaging system, time of flight (TOF) type, for a given
sampling position and a given emitted pulse
[SOURCE: Adapted from STM E2544]
4.22
frame
data collected by the receiver (4.59) as a result of all returns (4.62) from a single emitted pulse
Note 1 to entry: A complete 3D data sample of the world produced by a lidar (4.40) taken at a certain time, place,
and orientation. A single lidar frame is also referred to as a range (4.54) image.
[SOURCE: Adapted from NISTIR 7117]
4 © ISO 2014 – All rights reserved

4.23
geiger mode
photon counting mode for lidar (4.40) systems, where the detector is biased and becomes sensitive to
individual photons
Note 1 to entry: These detectors exist in the form of arrays and are bonded with electronic circuitry. The electronic
circuitry produces a measurement corresponding to the time at which the current was generated; resulting in a
direct time-of-flight measurement. A lidar that employs this detector technology typically illuminates a large scene
with a single pulse. The direct time-of-flight measurements are then combined with platform location/attitude
(4.6) data along with pointing information to produce a three-dimensional product of the illuminated scene of
interest. Additional processing is applied which removes existing noise present in the data to produce a visually
exploitable data set.
[SOURCE: Adapted from Albota 2002]
4.24
geodetic coordinate system
coordinate system in which position is specified by geodetic latitude, geodetic longitude and (in the
three-dimensional case) ellipsoidal height
[SOURCE: ISO 19111:2007, 4.18]
4.25
geodetic datum
datum (4.12) describing the relationship of a two- or three-dimensional coordinate system to the Earth
Note 1 to entry: In most cases, the geodetic datum includes an ellipsoid description (ISO/TS 19130:2010)
Note 2 to entry: The term and this Technical Specification may be applicable to some other celestial bodies.
[SOURCE: ISO 19111:2007, 4.24, modified — Notes 1 and 2 have been added.]
4.26
geographic coordinates
longitude, latitude and height of a ground or elevated point
Note 1 to entry: Geographic coordinates are related to a coordinate reference system or compound coordinate
reference system. Depth equals negative height.
4.27
geographic information
information concerning phenomena implicitly or explicitly associated with a location relative to the
Earth
[SOURCE: ISO 19101:2002, 4.16]
4.28
geolocating
geopositioning an object using a Physical Sensor Model (4.68) or a True Replacement Model
[SOURCE: ISO/TS 19130:2010, 4.34]
4.29
grazing angle
vertical angle from the local surface tangent plane to the slant range direction (4.56)
Note 1 to entry: It is usually measured at the GRP and approximately the complement of the incident angle (4.35)
[SOURCE: ISO/TS 19130:2010, 4.39, modified — Note 1 to entry has been added.]
4.30
hydrophone
component of the sonar system which receives the sound echo and converts it to an electric
signal
4.31
heave
oscillatory rise and fall of a ship due to the entire hull being lifted by the force of the sea
[SOURCE: IHO Hydrographic Dictionary S-32, Fifth Edition]
4.32
hydrographic swath
strip or lane on the ground scanned by a multi-beam sounder when the survey vessel proceeds
along its course
[SOURCE: IHO Hydrographic Dictionary S-32, Fifth Edition]
4.33
image coordinates
coordinates with respect to a Cartesian coordinate system of an image
Note 1 to entry: The image coordinates can be in pixels or in a measure of length (linear measure).
4.34
image formation
process by which an image is generated from collected Phase History Data (4.48) in a SAR system
[SOURCE: ISO/TS 19130:2010, 4.51]
4.35
incident angle
vertical angle between the line from the detected element to the sensor (4.66) and the local surface
normal (tangent plane normal)
Note 1 to entry: It is approximately the complement of the grazing angle (4.29).
[SOURCE: ISO/TS 19130:2010, 4.57, modified — Note 1 to entry has been added.]
4.36
instantaneous field of view
instantaneous region seen by a single detector element, measured in angular space
[SOURCE: Manual of Photogrammetry]
4.37
intensity
power per unit solid angle from a point source into a particular direction
Note 1 to entry: Typically for lidar (4.40), sufficient calibration has not been done to calculate absolute intensity, so
relative intensity is usually reported. In linear mode (4.41) systems, this value is typically provided as an integer,
resulting from a mapping of the return’s (4.62) signal power to an integer value via a lookup table.
4.38
last return
last reflected signal that is detected by a 3D imaging system, time-of-flight (TOF) type, for a given
sampling position and a given emitted pulse
[SOURCE: Adapted from ASTM E2544]
6 © ISO 2014 – All rights reserved

4.39
layover
visual effect in SAR images of ambiguity among returns (4.62) from scatterers at different heights that
fall into the same range-Doppler-time bin
Note 1 to entry: The effect makes buildings “lay over” onto the ground toward the sensor (4.66)velocity vector
(4.81), akin to perspective views in projective imagery.
4.40
lidar
light detection and ranging
system consisting of 1) a photon source (frequently, but not necessarily, a laser), 2) a photon detection
system, 3) a timing circuit, and 4) optics for both the source and the receiver (4.59) that uses emitted
laser light to measure ranges (4.54) to and/or properties of solid objects, gases, or particulates in the
atmosphere
Note 1 to entry: Time of flight (TOF) lidars use short laser pulses and precisely record the time each laser pulse
was emitted and the time each reflected return(s) (4.62) is received in order to calculate the distance(s) to the
scatterer(s) encountered by the emitted pulse. For topographic lidar (4.80), these time-of-flight measurements
are then combined with precise platform location/attitude (4.6) data along with pointing data to produce a three-
dimensional product of the illuminated scene of interest.
4.41
linear mode
lidar (4.40) system in which output photocurrent is proportional to the input optical incident intensity
(4.37)
Note 1 to entry: A lidar system which employs this technology typically uses processing techniques to develop the
time-of-flight measurements from the full waveform that is reflected from the targets in the illuminated scene of
interest. These time-of-flight measurements are then combined with precise platform location/attitude (4.6) data
along with pointing data to produce a three-dimensional product of the illuminated scene of interest.
[SOURCE: Adapted from Aull et al., 2002]
4.42
look angle
vertical angle from the platform down direction (4.50) to the slant range direction (4.56), usually measured
at the ARP (4.4)
Note 1 to entry: It is approximately the complement of the depression angle (4.13).
4.43
mean sea level
MSL
average height of the surface of the sea at a tide station for all stages of the tide over a 19-year period,
usually determined from hourly height readings measured from a fixed predetermined reference level
[SOURCE: IHO Hydrographic Dictionary S-32, Fifth Edition]
4.44
multibeam sonar
wide swath (4.75) echo sounder for use in seabed mapping and surveying using the multi-beam principle
Note 1 to entry: Depths are measured directly below and transverse to the ship’s track. The width of the swath is
a function of the number of beams and their aperture.
[SOURCE: IHO Hydrographic Dictionary S-32, Fifth Edition]
4.45
multiple returns
multiple signals returned and detected for a given emitted pulse, such as when a laser beam hitting
multiple objects separated in range (4.54) is split
[SOURCE: Adapted from ASTM E2544]
4.46
objective
optical element that receives light from the object and forms the first or primary image of an optical
system
4.47
passive sonar
type of passive sensor (4.66) that only receives sound waves from external sources and does not transmit
any sound waves
4.48
phase history data
PHD
video phase history data
raw radar return (4.62) signal information after demodulation
Note 1 to entry: Usually stored as a series of range (4.54) lines, each containing information from a specific range
bin (4.55). PHD can be thought of as a table of five columns: In-phase signal, Quadrature signal, Range (4.54),
Doppler Angle (4.15), and Time.
4.49
platform coordinate reference system
engineering coordinate reference system fixed to the collection platform within which positions on the
collection platform are defined
[SOURCE: ISO/TS 19130:2010, 4.65]
4.50
platform down direction
downward normal to the platform horizontal plane
4.51
point cloud
collection of data points in 3D space
Note 1 to entry: The distance between points is generally non-uniform and hence all three coordinates (Cartesian
or spherical) for each point must be specifically encoded.
4.52
projection centre
perspective centre
point located in three dimensions through which all rays between object points and image points appear
to pass geometrically
Note 1 to entry: It is represented by the rear nodal point of the imaging lens system.
[SOURCE: ISO/TS 19130:2010, 4.62, modified — Note 1 to entry has been added.]
4.53
pulse repetition frequency
number of times the system (e.g. lidar [4.40]) emits pulses over a given time period, usually stated in
kilohertz (kHz)
8 © ISO 2014 – All rights reserved

4.54
range
distance between the antenna and a distant object, synonymous with slant range
4.55
range bin
group of radar returns (4.62) that all have the same range (4.54)
[SOURCE: ISO/TS 19130:2010, 4.69]
4.56
range direction
slant range direction
direction of the range vector (4.58)
Note 1 to entry: It is nominally the direction from a radar antenna to an object, represented by a vector from the
ARP (4.4) to the GRP for SAR.
[SOURCE: ISO/TS 19130:2010, 4.70, modified — Note 1 to entry has been added.]
4.57
range resolution
spatial resolution (4.60) in the range direction (4.56)
Note 1 to entry: For a SAR sensor (4.66), it is usually measured in terms of the impulse response of the sensor and
processing system. It is a function of the bandwidth of the pulse.
[SOURCE: ISO/TS 19130:2010, 4.71]
4.58
range vector
vector from the antenna to a point in the scene
[SOURCE: ISO/TS 19130:2010, 4.72]
4.59
receiver
hardware used to detect and record signals
Note 1 to entry: In lidar (4.40) and sonar systems, the receiver detects and records reflected pulse returns (4.62).
4.60
resolution (of a sensor)
smallest difference between indications of a sensor (4.66) that can be meaningfully distinguished
[SOURCE: ISO/TS 19101-2:2008, 4.34]
4.61
resolution (of imagery)
smallest distance between two uniformly illuminated objects that can be separately resolved in an
image
4.62
return
sensed signal from an emitted laser pulse which has reflected off of an illuminated scene of
interest
Note 1 to entry: There may be multiple returns (4.45) for a given emitted laser pulse.
4.63
scan
set of sequential frames (4.22) collected during a single full cycle of a mechanical scanner representing a
cross-track excursion from one side of the field of regard (4.19) to the other and back again
4.64
scan mode
SAR mode in which the antenna beam is steered to illuminate a swath (4.75) of ground at various angles
relative to flight path throughout the collection
Note 1 to entry: Steering the antenna also allows dwell time to be increased and provides the ability to collect
strips at angles non-parallel to the flight direction and with better resolution (4.60) than Stripmap mode.
[SOURCE: ISO/TS 19130:2010, 4.77]
4.65
ScanSAR mode
special case of stripmap mode that uses an electronically steerable antenna to quickly change the swath
(4.75) being imaged during collection to collect multiple parallel swaths in one pass
[SOURCE: ISO/TS 19130:2010, 4.78]
4.66
sensor
element of a measuring system that is directly affected by a phenomenon, body, or substance carrying a
quantity to be measured
[SOURCE: ISO/IEC GUIDE 99:2007, 3.8]
4.67
settlement
general lowering in level of a moving vessel, relative to what its level would be were it motionless, due to
the regional depression of the surface of the water in which the ship moves
Note 1 to entry: Settlement is not an increase in displacement.
Note 2 to entry: Settlement is measured as an angular tilt about the centre of gravity of the vessel.
[SOURCE: IHO Hydrographic Dictionary S-32, Fifth Edition]
4.68
sensor model
mathematical description of the relationship between the three-dimensional object
space and the two-dimensional plane of the associated image produced by a sensor (4.66)
[SOURCE: ISO/TS 19130:2010, 4.80]
4.69
sidescan sonar
type of sonar that transmits sound energy from the sides of a towfish, creating a fanlike beam on either
side that sweeps the seafloor, and continuously records return (4.62) signals, creating a “picture” of the
seafloor and any other objects
Note 1 to entry: Sidescan sonar is used for imaging bottom features and targets in a wide variety of water depths.
Note 2 to entry: This includes synthetic aperture sidescan sonar.
4.70
single beam sonar
type of sonar that produces one narrow sonar beam directly beneath the transducer (4.78)/receiver
(4.59) and receives a return (4.62) echo from the closest object
Note 1 to entry: Single beam sonar is commonly called a single beam echosounder (abbr: SBES).
4.71
sonar processing system
system that processes the sonar signals to determine the geopositions of objects sensed by sonar sensors
(4.66)
10 © ISO 2014 – All rights reserved

4.72
Sound Navigation And Ranging
sonar
sensor (4.66) that uses sound navigation and ranging technology for sensing
4.73
squat
effect that causes a vessel moving through water to create an area of lowered pressure under its bottom
that increases the effective draught (4.17) (i.e. lowers the vessel in the water)
Note 1 to entry: The effect is a result of Bernoulli’s principle of fluid dynamics. The squat represents the increase
in effective draught.
Note 2 to entry: For a ship underway, the change of level of the bow and stern from the still water condition in
response to the elevation and depression of the water level about the hull resulting from the bow and stern wave
systems.
[SOURCE: Implementation Specification — a Draught Information System for the St. Lawrence Seaway,
4.18, modified — Note 2 to entry has been added.]
4.74
stare
scanning mode consisting of a step stair pattern
Note 1 to entry: This applies to a HARLIE transceiver, based on a volume phase holographic optical element.
4.75
swath
ground area from which return (4.62) data are collected during continuous airborne lidar (4.40)
operation
Note 1 to entry: A typical mapping mission may consist of multiple adjacent swaths, with some overlap, and the
operator will turn off the laser while the aircraft is oriented for the next swath. This term may also be referred
to as a Pass.
4.76
sweep sonar
type of sonar that has several single beam transducer (4.78)/receivers (4.59) mounted on a boom, which
is then operated parallel to the water’s surface and orthogonal to the vessel’s direction of travel
Note 1 to entry: Sweep sounding is commonly called multi-channel echosounding (MCES).
4.77
swipe
set of sequential frames (4.22) collected during a single half cycle of a mechanical scanner representing
a cross-track excursion from one side of the field of regard (4.19) to the other
4.78
transducer
device that converts one type of energy to another
4.79
transmitter
component of sonar that converts an electrical impulse into a sound wave and sends the wave into the
water
Note 1 to entry: Transmitter is also called projector in multibeam echosounding.
4.80
topographic lidar
lidar (4.40) system used to measure the topography of the ground surface
Note 1 to entry: Generally referring to an airborne lidar system.
4.81
velocity vector
first derivative of the antenna’s position vector
5 Symbols and abbreviations
5.1 Symbols
A 3D Affine transform matrix
a image vector
B radar pulse bandwidth
b 3D Affine translation vector
C number of columns (samples) in the image
C correction for row-column to line-sample conversion.

C correction for row-column to line-sample conversion
s
c speed of light in a vacuum
c speed of sound in the medium in which the sonar operates
s
col column in the row-column coordinate system
D physical radar antenna aperture
d pixel width in CCS — not applicable to SAR
x
d pixel height in CCS — not applicable to SAR
y
f camera focal length
G Ground Reference Point (GRP)
H sensor altitude, m HAE; also platform Heading
H heading in reference to the local-vertical coordinate system, e.g. platform Heading
dg
h height (MSL) of the object the laser intersects, in kilometres.
h object elevation, m HAE
h elevation relative to elipsoid, e.g. sensor altitude, object elevation
ae
I In-phase (real) component of phase history data sample
i index of frames
j index of points
12 © ISO 2014 – All rights reserved

K refraction constant, micro-radians
k arbitrary constant
k first order radial distortion coefficient
k second order radial distortion coefficient
k third order radial distortion coefficient
L front nodal point of lens

line in the line sample coordinate system
l line number
l location of GRP in line direction in image space
M generic 3D point (in ECEF)
p
M rotation matrix (various)
M rotation matrix from the ellipsoid-tangential reference frame to the ECEF reference
ECEF
frame
M rotation matrix from the local vertical reference frame to the ellipsoid-tangential
ELL
reference frame.
M rotation matrix from the sensor reference frame to the gimbal reference frame
GIM
(gimbal angles).
M rotation matrix from the gimbal reference frame to the platform reference frame
PLA
(boresight angles).
M rotation matrix from scanner reference frame to sensor reference frame (scan
SEN
angles).
M rotation matrix from the platform reference frame to the local vertical reference
VER
frame (INS observations).
M rotation about the x-axis (roll)
ω
M rotation about the y-axis (pitch)
φ
M rotation about the z-axis (yaw)
κ
M the orientation matrix
o
mD Down in the North East Down (NED) Coordinate System, cf. Figure C.4. (“mZ” can
also be used to represent down in the North East Down (NED) Coordinate System)
mE East in the North East Down (NED) or North East Up Coordinate System, cf. Fig-
ure C.4.
mN North in the North East Down (NED) or North East Up Coordinate System, cf. Fig-
ure C.4.
N North in the North East Down (NED) or North East Up Coordinate System
P pitch in reference to the local-vertical coordinate system
P object point coordinate (ground space)
c
p , p lens decentring coefficients
1 2
p , p line and sample coordinates of a generic pixel in the image
l s
Q quadrature (imaginary) component of phase history data sample
c
Q generic point in the image
Q vector representing a generic point in the image in the slant plane
s
Q vector representing GRP in the slant plane (ARP as origin)
vector from ARP to GRP (in ECEF)
Q
R range
R ground range
G
R slant range
S
R′
range from front nodal point (L) to the point on the ground (A)
r radial distance on image from principal point to point of interest
r azimuth resolution
A
r vector from the ECEF origin to the GNSS antenna phase-centre in the ECEF refer-
ECEF
ence frame (GNSS observations)
r vector from the ECEF origin to the ground point in the ECEF reference frame.
EP
r vector from the sensor to the gimbal centre of rotation in the gimbal reference
GIM
frame
r vector from the GNSS antenna phase-centre to the INS in the platform reference
GPS
frame
r ground range resolution
GR
r vector from the INS to the gimbal centre of rotation in the platform reference frame.
INS
r range resolution
R
r vector from the scanner to the ground point in the scanner reference frame (range).
SCA
r slant range resolution
SR
row row in the row-column coordinate system
S antenna position vector (in ECEF)
S(t) antenna position vector (in ECEF) as function of time
S antenna velocity vector (in ECEF)
Y
S (t) antenna velocity vector (in ECEF) as function of time
Y
S Aperture Reference Point (ARP)
14 © ISO 2014 – All rights reserved

S antenna velocity vector at the ARP (first derivative of ARP)
Y0
s sample in the line-sample coordinate system; symbol has multiple meanings; mean-
ing of the symbol defined in context .
s adjustment for the range to account for distance from front nodal point to the lens;
symbol has multiple meanings; meaning of the symbol defined in context .
s location of GRP in sample direction in image space
T period of signal
T radar pulse width
t time
t round trip travel time
r
ˆ
unit vector in range direction in slant plane
U
R
ˆ
unit vector in azimuth direction in slant plane
U
...

SPÉCIFICATION ISO/TS
TECHNIQUE 19130-2
Première édition
2014-01-15
Information géographique —
Modèles de capteurs d’images de
géopositionnement —
Partie 2:
SAR, InSAR, lidar et sonar
Geographic information — Imagery sensor models for
geopositioning —
Part 2: SAR, InSAR, lidar and sonar
Numéro de référence
©
ISO 2014
DOCUMENT PROTÉGÉ PAR COPYRIGHT
© ISO 2014
Droits de reproduction réservés. Sauf indication contraire, aucune partie de cette publication ne peut être reproduite ni utilisée
sous quelque forme que ce soit et par aucun procédé, électronique ou mécanique, y compris la photocopie, l’affichage sur
l’internet ou sur un Intranet, sans autorisation écrite préalable. Les demandes d’autorisation peuvent être adressées à l’ISO à
l’adresse ci-après ou au comité membre de l’ISO dans le pays du demandeur.
ISO copyright office
Case postale 56 • CH-1211 Geneva 20
Tel. + 41 22 749 01 11
Fax + 41 22 749 09 47
E-mail [e-mail]
Web www.iso.org
Publié en Suisse
ii © ISO 2014 – Tous droits réservés

Sommaire Page
Avant-propos .iv
Introduction .v
1 Domaine d’application . 1
2 Conformité . 1
3 Références normatives . 1
4 Termes et définitions . 2
5 Symboles et abréviations .12
5.1 Symboles .12
5.2 Abréviations .17
5.3 Notation .18
6 Extensions de modèle de capteur .19
6.1 Introduction .19
6.2 SE_SensorModel .19
6.3 SE_Dynamics .20
6.4 SE_PlatformDynamics .20
7 Affinement du modèle physique de capteur SAR .21
7.1 Introduction .21
7.2 SE_SAROperation .22
8 SAR Interférométrique .22
8.1 Introduction .22
8.2 Géométrie InSAR .23
8.3 Fonctionnement du SAR interférométrique .25
9 Modèle physique de capteur lidar .26
9.1 Description du capteur .26
9.2 Informations requises pour géolocalisation.27
10 Modèle physique de capteur sonar .28
10.1 Description du capteur .28
10.2 Informations requises pour géolocalisation.32
11 Aérotriangulation .36
11.1 Introduction .36
11.2 SE_AerialTriangulation .37
11.3 SE_ATObservations .37
11.4 SE_ATOtherResults .38
11.5 SE_ATUnknowns .39
Annexe A (normative) Conformité et test .40
Annexe B (normative) Dictionnaire de données .42
Annexe C (informative) Profil de métadonnées de modèle de capteur de radar à synthèse
d’ouverture prenant en charge une géolocalisation précis .73
Annexe D (informative) Profil de métadonnées de modèle de capteur lidar prenant en charge une
géolocalisation précis .98
Annexe E (informative) Profil de métadonnées de modèle de capteur sonar prenant en charge une
géolocalisation précise .129
Bibliographie .151
Avant-propos
L’ISO (Organisation internationale de normalisation) est une fédération mondiale d’organismes
nationaux de normalisation (comités membres de l’ISO). L’élaboration des Normes internationales est
en général confiée aux comités techniques de l’ISO. Chaque comité membre intéressé par une étude
a le droit de faire partie du comité technique créé à cet effet. Les organisations internationales,
gouvernementales et non gouvernementales, en liaison avec l’ISO participent également aux travaux.
L’ISO collabore étroitement avec la Commission électrotechnique internationale (IEC) en ce qui concerne
la normalisation électrotechnique.
Les procédures utilisées pour élaborer le présent document et celles destinées à sa mise à jour sont
décrites dans les Directives ISO/IEC, Partie 1. Il convient, en particulier de prendre note des différents
critères d’approbation requis pour les différents types de documents ISO. Le présent document a été
rédigé conformément aux règles de rédaction données dans les Directives ISO/IEC, Partie 2 (voir www.
iso.org/directives).
L’attention est appelée sur le fait que certains des éléments du présent document peuvent faire l’objet de
droits de propriété intellectuelle ou de droits analogues. L’ISO ne saurait être tenue pour responsable
de ne pas avoir identifié de tels droits de propriété et averti de leur existence. Les détails concernant les
références aux droits de propriété intellectuelle ou autres droits analogues identifiés lors de l’élaboration
du document sont indiqués dans l’Introduction et/ou dans la liste des déclarations de brevets reçues par
l’ISO (voir www.iso.org/brevets).
Les appellations commerciales éventuellement mentionnées dans le présent document sont données
pour information, par souci de commodité, à l’intention des utilisateurs et ne sauraient constituer un
engagement.
Pour une explication de la signification des termes et expressions spécifiques de l’ISO liés à l’évaluation de
la conformité, ou pour toute information au sujet de l’adhésion de l’ISO aux principes de l’OMC concernant
les obstacles techniques au commerce (OTC), voir le lien suivant: Avant-propos — Informations
supplémentaires.
Le comité chargé de l’élaboration du présent document est l’ISO/TC 211, Information
géographique/Géomatique.
L’ISO/TS 19130 comprend les parties suivantes, présentées sous le titre général Information
géographique — Modèles de capteurs d’images pour la géolocalisation:
— Information géographique — Modèles de capteurs d’images pour la géolocalisation
— Partie 2: Information géographique — Modèles de capteurs d’images pour la géolocalisation — Partie 2:
SAR, InSAR, lidar et sonar
iv © ISO 2014 – Tous droits réservés

Introduction
La présente Spécification technique a pour but de spécifier les informations de géolocalisation qu’un
fournisseur de données d’imagerie doit fournir pour permettre à l’utilisateur de trouver la position
terrestre des données au moyen d’un modèle physique de capteur détaillé pour radar à synthèse
d’ouverture (Synthetic Aperture Radar - SAR), télédétection par laser (LIght Detection And Ranging -
lidar) et sonar (SOund Navigation And Ranging). L’objectif est de normaliser les descriptions des capteurs
et de spécifier les exigences minimales de métadonnées de géolocalisation pour les fournisseurs de
données et les systèmes de géolocalisation d’imagerie. Le terme «observation» dans ce document
s’entend au sens générique du mot, et non au sens donné dans l’ISO 19156.
De grandes quantités de données provenant de systèmes d’imagerie ont été acquises, traitées
et distribuées par des agences gouvernementales de cartographie et de télédétection et par des
fournisseurs de données commerciales. Afin que ces données soient utiles pour l’extraction d’information
géographique, un traitement supplémentaire des données est nécessaire. La géolocalisation, qui
détermine les coordonnées au sol d’un objet à partir des coordonnées d’image, constitue une étape
fondamentale du traitement. En raison de la diversité des types de capteur et de l’absence de modèle
commun de capteur standard, des données de producteurs différents peuvent contenir des informations
paramétriques différentes, ou être dépourvues des paramètres nécessaires à la description du capteur
qui génère les données ou des informations accessoires requises pour la géolocalisation et l’analyse des
données. Il arrive fréquemment qu’il faille élaborer un logiciel spécifique pour traiter les données en
provenance de chaque capteur ou producteur de données. Les standards de modèles de capteurs et de
métadonnées de géolocalisation permettent aux agences ou aux fournisseurs de développer des logiciels
globaux applicables aux données de plusieurs producteurs de données ou de plusieurs capteurs. Sur la
base de ces standards, des producteurs différents peuvent décrire les informations de géolocalisation
de leurs données de la même manière, favorisant ainsi l’interopérabilité des données entre les systèmes
d’application et facilitant l’échange de données.
La Partie 1 fournit un modèle de localisation et des métadonnées concernant tous les capteurs. Elle
comprend également des métadonnées spécifiques aux capteurs à balayage transversal, aux capteurs
en peigne et aux capteurs à trame, et certaines métadonnées pour les capteurs de radar à synthèse
d’ouverture (SAR). De plus, elle fournit les métadonnées de la fonction de géolocalisation par ajustement
fonctionnel, que cette fonction fasse partie d’un modèle de correspondance ou d’un modèle de
remplacement vrai. Elle fournit également un schéma pour ces éléments de métadonnées. Il était stipulé
dans les commentaires sur la Partie 1 que des métadonnées devaient être spécifiées pour d’autres
types de capteurs. La technologie de ces capteurs a maintenant atteint un stade de maturité suffisant
pour que la normalisation soit possible. La présente Spécification technique élargit la spécification de
l’ensemble d’éléments de métadonnées requis pour la géolocalisation en fournissant des modèles de
capteurs physiques pour le lidar et le sonar, et présente un ensemble plus détaillé d’éléments pour le SAR.
Elle définit également les métadonnées nécessaires à l’aérotriangulation des images de télédétection
aériennes et spatiales aéroportées et spatioportées. La présente Spécification technique fournit en
outre un schéma pour tous ces éléments de métadonnées.
SPÉCIFICATION TECHNIQUE ISO/TS 19130-2:2014(F)
Information géographique — Modèles de capteurs
d’images de géopositionnement —
Partie 2:
SAR, InSAR, lidar et sonar
1 Domaine d’application
La présente Spécification technique prend en charge l’exploitation des images de télédétection. Elle
spécifie les modèles de capteurs et les métadonnées pour la géolocalisation des images de télédétection
des capteurs radar à synthèse d’ouverture (SAR), radar interférométrique à synthèse d’ouverture
(Interferometric Synthetic Aperture Radar - InSAR), télédétection par laser (lidar) et sonar. Elle définit
également les métadonnées nécessaires à l’aérotriangulation des images aéroportées et spatioportées.
La présente Spécification technique donne les informations détaillées qui doivent être fournies pour
la description des capteurs de SAR, InSAR, lidar et sonar, ainsi que les informations physiques et
géométriques associées nécessaires à la construction rigoureuse d’un modèle physique de capteur.
Pour les cas où des informations de géolocalisation précises sont nécessaires, la présente Spécification
technique identifie les formules mathématiques permettant la construction rigoureuse de modèles
physiques de capteurs qui mettent en relation l’espace-image en deux dimensions et l’espace-sol en trois
dimensions en intégrant le calcul de l’erreur de propagation associée.
La présente Spécification technique ne précise ni comment les utilisateurs dérivent les données de
géolocalisation, ni le format ou le contenu des données qu’ils génèrent.
2 Conformité
La présente Spécification technique spécifie cinq classes de conformité. Il existe une classe de conformité
pour chaque type de capteur. Chaque ensemble d’informations de géolocalisation revendiquant une
conformité à la présente Spécification technique doit satisfaire aux exigences d’au moins une classe
de conformité comme spécifié dans le Tableau 1. Les exigences de chaque classe sont indiquées par la
présence d’un X dans les cases correspondant à tous les paragraphes de la suite de tests d’application
(application test suite - ATS) requise pour cette classe. Si l’exigence est conditionnelle, un C est inscrit
dans la case. Les conditions sont définies dans le modèle UML correspondant.
Tableau 1 — Classes de conformité
Paragraphe de la présente partie de l’ISO 19130
A.1.1 A.1.2 A.1.3 A.2 A.3 A.4 A.5 A.6
SAR X C X
InSAR X C X
Classe de
Lidar X X X X
conformité
Sonar X X X X
Aérotriangulation X C X
3 Références normatives
Les documents ci-après, dans leur intégralité ou non, sont des références normatives indispensables à
l’application du présent document. Pour les références datées, seule l’édition citée s’applique. Pour les
références non datées, la dernière édition du document de référence s’applique (y compris les éventuels
amendements).
ISO/TS 19103:2005, Information géographique — Langage de schéma conceptuel
ISO 19107:2003, Information géographique — Schéma spatial
ISO 19108:2002, Information géographique — Schéma temporel
ISO 19111:2007, Information géographique — Système de références spatiales par coordonnées
ISO 19115-1:2014, Information géographique — Métadonnées — Partie 1: Principes de base
ISO 19115-2:2009, Information géographique — Métadonnées — Partie 2: Extensions pour les images et les
matrices
ISO 19123:2005, Information géographique — Schéma de la géométrie et des fonctions de couverture
ISO 19157:2013, Information géographique — Qualité des données
ISO/TS 19130:2010, Information géographique — Modèles de capteurs d’images de géolocalisation
4 Termes et définitions
Pour les besoins du présent document, les termes et définitions suivants s’appliquent.
4.1
capteur actif
capteur (4.66) qui génère l’énergie qu’il utilise pour la détection
4.2
sonar actif
type de capteur actif (4.1) qui transmet des ondes sonores dans l’eau et reçoit les ondes renvoyées par
des objets se trouvant dans l’eau
4.3
paramètres ajustables du modèle
paramètres du modèle qui peuvent être affinés à l’aide d’informations supplémentaires disponibles,
telles que les points de contrôle au sol, en vue d’améliorer ou de renforcer les corrections de modélisation
[SOURCE: ISO/TS 19130:2010, 4.2]
4.4
ARP
point de référence d’ouverture
centre d’intégration
localisation en 3D du centre de l’antenne synthétique ou de l’intégration
Note 1 à l’article: Est généralement exprimée en coordonnées géocentriques à axes fixes (ECEF) en mètres.
[SOURCE: ISO/TS 19130:2010, 4.4]
4.5
enregistrement de zone
enregistrement instantané d’une image dans une trame (4.22) unique
4.6
attitude
orientation d’un corps, décrite par les angles entre les axes du système de coordonnées de ce corps et les
axes d’un système de coordonnées externe
[SOURCE: ISO 19116:2004, 4.2]
2 © ISO 2014 – Tous droits réservés

4.7
attribut
propriété dénommée d’une entité
[SOURCE: ISO/IEC 2382-17:1999, 17.02.12]
4.8
résolution azimutale
limite derésolution (4.60) dans le sens transversal
Note 1 à l’article: Est généralement mesurée en termes de réponse impulsionnelle du capteur (4.66) SAR et du
système de traitement. Est fonction de la taille de l’ouverture synthétique, ou à défaut du temps d’observation
(par exemple: ouverture plus grande - > temps d’observation plus long - > meilleure résolution).
[SOURCE: ISO/TS 19130:2010, 4.7]
4.9
largeur de faisceau
largeur angulaire utile du faisceau d’énergie électromagnétique
Note 1 à l’article: Pour le SAR, la largeur de faisceau est généralement mesurée en radians, et correspond à la
dimension angulaire entre les deux directions pour lesquelles la puissance est divisée par deux par rapport au
centre du faisceau (en dessous de 3 dB). Il s’agit d’une propriété de l’antenne. La puissance émise en dehors de cet
angle est trop faible pour donner un retour (4.62) utilisable.
Note 2 à l’article: Angle, mesuré dans un plan horizontal, entre les directions des deux côtés de l’axe auquel
l’intensité (4.37) d’un faisceau d’énergie décroît à une fraction spécifiée de sa valeur sur l’axe.
[SOURCE: ISO/TS 19130:2010, 4.8, modifié – Les notes 1 et 2 ont été ajoutées.]
4.10
rayonnement transversal
direction orthogonale au vecteur de vitesse (4.81) et parallèle au plan tangent à l’ellipsoïde
terrestre au point nadir de l’ARP (4.4)
[SOURCE: ISO/TS 19130:2010, 4.9]
4.11
image complexe
produit de premier niveau du traitement des données brutes (4.48) SAR «Phase History Data»
4.12
référentiel
paramètre ou ensemble de paramètres qui définit la position de l’origine, l’échelle et l’orientation d’un
système de coordonnées
[SOURCE: ISO 19111:2007, 4.14]
4.13
angle de dépression
angle vertical entre le plan horizontal de la plate-forme et la direction de visée oblique (4.56), généralement
mesuré à l’ARP (4.4)
Note 1 à l’article: Approximativement le complément de l’angle de prise de vue (4.42).
4.14
système mondial différentiel de navigation par satellite
amélioration du système mondial de localisation qui utilise le GNSS et le DGNSS pour diffuser la différence
entre les positions indiquées par les systèmes à satellites et les positions fixes connues
4.15
angle Doppler
angle entre le vecteur vitesse (4.81) et le vecteur distance (4.58)
[SOURCE: ISO/TS 19130:2010, 4.19]
4.16
décalage Doppler
changement de longueur d’onde dû au mouvement relatif de l’objet détecté et le détecteur
Note 1 à l’article: Dans le contexte du SAR, il s’agit du décalage de fréquence du signal radar dû au mouvement
relatif entre l’émetteur (4.79) et l’objet éclairé.
[SOURCE: ISO/TS 19130:2010, 4.20]
4.17
tirant d’eau
distance verticale dans chaque section d’un navire, entre la surface de l’eau et le bas de la quille
[SOURCE: IHO Hydrographic Dictionary, S-32, Fifth Edition]
4.18
abscisse
E
distance dans un système de coordonnées, vers l’est (positif) ou vers l’ouest (négatif) à partir d’une ligne
de référence Nord-Sud
[SOURCE: ISO 19111:2007, 4.16]
4.19
champ de vision
étendue angulaire totale sur laquelle le champ observé (FOV) (4.20) peut être positionné
Note 1 à l’article: Le champ de vision est la zone potentiellement visible par un système à un moment donné. Il
est déterminé par le FOV du système et par la gamme (4.54) de directions sur lesquelles le système peut s’aligner.
[SOURCE: Adapté de Manual of Photogrammetry]
4.20
champ de visée
FOV
région instantanée vue par un capteur (4.66), donné en mesure angulaire
Note 1 à l’article: Dans le cas aéroporté, il s’agirait d’une largeur de fauchée (4.75) pour un réseau linéaire, d’une
empreinte au sol pour un réseau zonal, et d’une largeur de fauchée pour un analyseur à balayage transversal.
[SOURCE: Manual of Photogrammetry]
4.21
premier retour
premier signal réfléchi détecté par un système d’imagerie 3D du type temps de vol (TOF), pour une
position d’échantillonnage donnée et impulsion émise donnée
[SOURCE: Adapté de ASTM E2544]
4.22
trame
données recueillies par le récepteur (4.59) suite à tous les retours (4.62) d’une seule impulsion
émise
Note 1 à l’article: Un échantillonnage complet de données 3D du monde produit par un lidar (4.40) prélevé à un
moment donné, à un endroit donné, et à une orientation donnée. Une trame lidar simple est également appelée
image-distance (4.54).
4 © ISO 2014 – Tous droits réservés

[SOURCE: Adapté de NISTIR 7117]
4.23
mode Geiger
mode de comptage de photons pour systèmes lidar (4.40), dans lequel le détecteur est configuré et
devient sensible aux photons individuels
Note 1 à l’article: Ces détecteurs existent sous forme de réseau et sont reliés avec des circuits électroniques.
Les circuits électroniques donnent une mesure qui correspond à l’instant auquel le courant a été produit, avec
pour résultat une mesure directe de temps de vol. Un lidar qui utilise cette technologie de détecteur éclaire en
règle générale une zone importante avec une seule impulsion. Les mesures directes de temps de vol sont ensuite
combinées aux données de localisation de plate-forme/attitude (4.6), avec les informations de pointage, afin de
produire un produit à trois dimensions de la zone d’intérêt éclairée. Un traitement supplémentaire est appliqué
afin d’éliminer le bruit présent dans les données pour produire un lot de données visuellement exploitable.
[SOURCE: Adapté d’Albota 2002]
4.24
système de coordonnées géodésique
système de coordonnées dans lequel la position est spécifiée par la latitude géodésique, la longitude
géodésique et (dans le cas tridimensionnel) la hauteur ellipsoïdale
[SOURCE: ISO 19111:2007, 4.18]
4.25
référentiel géodésique
référentiel (4.12) décrivant la relation entre un système de coordonnées à deux ou trois dimensions et
la Terre
Note 1 à l’article: Dans la plupart des cas, la référence géodésique comprend une description de l’ellipsoïde
(ISO/TS 19130:2010).
Note 2 à l’article: Ce terme et cette Spécification technique peuvent être applicables à d’autres corps célestes.
[SOURCE: ISO 19111:2007, 4.24, modifié – Les notes 1 et 2 ont été ajoutées.]
4.26
coordonnées géographiques
longitude, latitude et hauteur d’un point du terrain ou surélevé
Note 1 à l’article: Les coordonnées géographiques sont liées à un système de coordonnées de référence simple ou
composé. La profondeur («depth») est comptée positivement vers le bas par convention par rapport au zéro des
cartes marines (et non l’inverse pour la hauteur).
4.27
information géographique
information concernant un phénomène implicitement ou explicitement associé à une localisation relative
à la Terre
[SOURCE: ISO 19101:2002, 4.16]
4.28
géolocalisation
géolocalisation d’un objet à l’aide d’un modèle de capteur (4.68) physique ou d’un modèle de remplacement
vrai
[SOURCE: ISO/TS 19130:2010, 4.34]
4.29
angle de dépression
angle mesuré dans le plan vertical entre le plan tangent à la surface locale et la direction de visée
oblique (4.56)
Note 1 à l’article: Ceci est généralement mesuré au GRP et est le complément de l’angle d’incidence (4.35).
[SOURCE: ISO/TS 19130:2010, 4.39, modifié – La Note 1 à l’article a été ajoutée.]
4.30
hydrophone
composant du système sonar qui reçoit l’écho sonore et le convertit en signal électrique
4.31
houle
montée et descente oscillatoire d’un navire dues au soulèvement de l’ensemble de la coque par la mer
[SOURCE: IHO Hydrographic Dictionary, S-32, Fifth Edition]
4.32
fauchée hydrographique
bande ou couloir de fond balayé par la sonde multi-faisceau pendant que le navire hydrographique
poursuit sa route.
[SOURCE: IHO Hydrographic Dictionary, S-32, Fifth Edition]
4.33
coordonnées d’image
coordonnées par rapport au système de coordonnées cartésiennes d’une image
Note 1 à l’article: Les coordonnées d’image peuvent être en pixels ou dans une mesure de longueur (mesure
linéaire).
4.34
formation d’image
processus par lequel une image est générée à partir des données brutes (4.48) ou démodulées
recueillies dans un système SAR
[SOURCE: ISO/TS 19130:2010, 4.51]
4.35
angle d’incidence
angle mesuré dans le plan vertical entre le vecteur distance pour l’élément détecté par le capteur (4.66)
et la normale à la surface locale (normale au plan tangent)
Note 1 à l’article: C’est le complément de l’angle de dépression (4.29).
[SOURCE: ISO/TS 19130:2010, 4.57, modifié – La Note 1 à l’article a été ajoutée.]
4.36
champ de visée instantané
région instantanée vue par un seul élément de détecteur, mesurée dans l’espace angulaire
[SOURCE: Manual of Photogrammetry]
4.37
intensité
puissance par unité d’angle solide provenant d’un point source dans une direction spécifique
Note 1 à l’article: Ordinairement, pour le lidar (4.40), un étalonnage suffisant n’a pas été fait pour calculer
l’intensité absolue, et c’est donc l’intensité relative qui est normalement donnée. Dans les systèmes à mode linéaire
(4.41), cette valeur est habituellement donnée sous forme de nombre entier, issue d’une mise en correspondance
de la puissance de signal de retour (4.62) avec une valeur entière via une table de correspondance.
6 © ISO 2014 – Tous droits réservés

4.38
dernier retour
dernier signal réfléchi détecté par un système d’imagerie 3D du type temps de vol (TOF), pour une
position d’échantillonnage donnée et impulsion émise donnée
[SOURCE: Adapté de ASTM E2544]
4.39
repliement
déformation géométrique en imagerie SAR résultant de la combinaison des retours (4.62) de diffuseurs
caractérisés par des altitudes différentes au sein d’une même cellule de distance/Doppler
Note 1 à l’article: Cet effet fait «se coucher» les bâtiments sur le sol dans la direction du vecteur de vitesse (4.81) du
capteur (4.66), ce qui est similaire aux vues perspectives en imagerie projective.
4.40
lidar
télédétection par laser détection (light detection and ranging)
système constitué 1) d’une source de photons (souvent, mais pas nécessairement, un laser), 2) un système
de détection de photons, 3) un circuit de synchronisation, et 4) des composants optiques à la fois pour
la source et pour le récepteur (4.59) qui utilise la lumière laser émise pour mesurer des distances (4.54)
vers des objets solides, des gaz ou des particules dans l’atmosphère, et/ou leurs propriétés
Note 1 à l’article: Les lidars du type Temps de vol (TOF) utilisent des impulsions laser courtes, et enregistrent
le moment exact où chaque impulsion laser a été émise, et le moment où chaque retour réfléchi (4.62) a été
reçu, afin de calculer la/les distance(s) vers le(s) diffuseur(s) rencontré(s) par l’impulsion émise. Pour les lidars
topographiques (4.80), ces mesures de temps de vol sont ensuite combinées à des données précises d’emplacement
de plate-forme/attitude (4.6) avec les données de pointage, afin de produire un produit à trois dimensions de la
zone d’intérêt éclairée.
4.41
mode linéaire
système de lidar (4.40) dans lequel le photocourant de sortie est proportionnel à l’intensité (4.37)
incidente en optique d’entrée
Note 1 à l’article: Un système lidar qui emploie cette technologie utilise généralement des techniques de traitement
pour développer les mesures de temps de vol à partir de la forme d’onde complète réfléchie par les cibles dans
le domaine éclairé pertinent. Ces mesures de temps de vol sont ensuite combinées à des données précises
d’emplacement de plate-forme/attitude (4.6) avec les données de pointage, afin de produire un produit à trois
dimensions de la zone d’intérêt éclairée.
[SOURCE: Adapté de Aull et al., 2002]
4.42
angle de prise de vue
angle entre la verticale descendante à la plate-forme (4.50) et la direction de visée oblique (4.56),
généralement mesurée à l’ARP (4.4)
Note 1 à l’article: Approximativement le complément de l’angle de dépression (4.13).
4.43
niveau moyen de la mer
MSL
hauteur moyenne de la surface de la mer à une station d’observation des marées pour toutes les phases
de la marée sur une durée de 19 ans, normalement déterminée à partir de relevés horaires de hauteur
mesurée par rapport à un niveau de référence fixe prédéterminé
[SOURCE: IHO Hydrographic Dictionary, S-32, Fifth Edition]
4.44
sonar multi-faisceau
écho-sondeur à large fauchée (4.75) destiné à la cartographie et à la géodésie du fond marin utilisant le
principe multi-faisceau
Note 1 à l’article: Les profondeurs sont mesurées directement sous, et dans le sens transversal par rapport à, la
route du navire. La largeur de fauchée dépend du nombre de faisceaux et de leur ouverture.
[SOURCE: IHO Hydrographic Dictionary, S-32, Fifth Edition]
4.45
retours multiples
signaux multiples renvoyés et détectés pour une impulsion émise donnée, par exemple lors de la division
d’un faisceau laser éclairant des objets multiples séparés par une distance (4.54)
[SOURCE: Adapté de ASTM E2544]
4.46
objectif
élément optique qui reçoit de la lumière de l’objet et forme l’image initiale ou principale d’un système
optique
4.47
sonar passif
type de capteur passif (4.66) qui ne reçoit que des ondes sonores de sources externes et n’émet pas
d’ondes sonores
4.48
données brutes SAR
PHD
données démodulées
informations de signaux de retour (4.62) radar bruts après démodulation
Note 1 à l’article: Normalement stockées comme une série de lignes de distance (4.54), chacune contenant des
informations provenant d’une cellule de distance spécifique (4.55). On peut représenter les PHD sous forme d’un
tableau à cinq colonnes: signal en phase, signal en quadrature, distance (4.54), angle Doppler (4.15) et temps.
4.49
référentiel de plate-forme
référentiel local fixé à la plate-forme collectrice dans lequel sont définies les positions sur la plate-forme
d’acquisition
[SOURCE: ISO/TS 19130:2010, 4.65]
4.50
verticale descendante à la plate-forme
vers le bas par rapport au plan horizontal de la plate-forme
4.51
nuage de points
groupe de points de données dans l’espace en 3D
Note 1 à l’article: La distance entre les points est généralement non uniforme, donc les trois coordonnées
(cartésiennes ou sphériques) de chaque point doivent être spécifiquement codées.
4.52
centre de projection
centre de la perspective
point situé en trois dimensions par lequel tous les rayons entre les points-objets et les points-images
semblent passer géométriquement
Note 1 à l’article: Représenté par le point nodal arrière du système de lentilles imageur.
8 © ISO 2014 – Tous droits réservés

[SOURCE: ISO/TS 19130:2010, 4.62, modifié – La Note 1 à l’article a été ajoutée.]
4.53
fréquence de répétition des impulsions
nombre de fois où le système [par exemple, un lidar (4.40)] émet des impulsions sur une période donnée,
normalement exprimé en kilohertz (kHz)
4.54
distance/temps
distance entre l’antenne et un objet éclairé, synonyme de distance oblique
4.55
cellule de distance
groupe d’échos (4.62) radar ayant tous la même distance (4.54)
[SOURCE: ISO/TS 19130:2010, 4.69]
4.56
direction de distance
direction de visée oblique
direction du vecteur de distance (4.58)
Note 1 à l’article: Nominalement, la direction d’une antenne radar vers un objet, représentée par un vecteur de
l’ARP (4.4) vers le GRP pour le SAR.
[SOURCE: ISO/TS 19130:2010, 4.70, modifié – La Note 1 à l’article a été ajoutée.]
4.57
résolution en distance
limite de résolution (4.60) spatiale dans la direction de distance (4.56)
Note 1 à l’article: Pour un capteur (4.66) SAR, est généralement mesurée en termes de réponse impulsionnelle du
capteur et du système de traitement. Est fonction de la bande passante de l’impulsion.
[SOURCE: ISO/TS 19130:2010, 4.71]
4.58
vecteur distance
vecteur de l’antenne à un point de la scène
[SOURCE: ISO/TS 19130:2010, 4.72]
4.59
récepteur
matériel servant à détecter et enregistrer les signaux
Note 1 à l’article: Pour les systèmes lidar (4.40) et sonar, le récepteur détecte et enregistre les retours (4.62) de
l’impulsion réfléchie.
4.60
limite de résolution (d’un capteur)
plus petite différence entre les indications d’un capteur (4.66) pouvant être identifiée de manière
significative
[SOURCE: ISO/TS 19101-2:2008, 4.34]
4.61
résolution (d’image)
plus petite distance entre deux objets éclairés uniformément qui peuvent être distingués séparément
dans une image
4.62
retour
signal capté à partir d’une impulsion laser émise réfléchie par une zone d’intérêt éclairée
Note 1 à l’article: Il peut y avoir des retours multiples (4.45) pour une impulsion laser émise donnée.
4.63
scan
ensemble de trames (4.22) séquentielles acquises durant un seul cycle complet de radiomètre à balayage
mécanique représentant un trajet transversal aller-retour d’un côté du champ de vision (4.19) à l’autre
4.64
mode de balayage
mode SAR dans lequel le faisceau de l’antenne est orienté de manière à éclairer une fauchée (4.75) de
terrain à différents angles par rapport à la trajectoire de vol durant tout le processus de recueil
Note 1 à l’article: L’orientation de l’antenne permet également d’augmenter le temps de maintien, et offre la
possibilité de recueillir des bandes à des angles non parallèles à la direction de vol, et avec une meilleure limite de
résolution (4.60) qu’en mode Stripmap.
[SOURCE: ISO/TS 19130:2010, 4.77]
4.65
mode ScanSAR
cas particulier de mode Stripmap pour lequel plusieurs fauchées (4.75) sont acquises simultanément en
faisant varier électroniquement le pointage de l’antenne en élévation pendant l’acquisition
[SOURCE: ISO/TS 19130:2010, 4.78]
4.66
capteur
élément d’un système de mesure qui est directement soumis à l’action du phénomène, du corps ou de la
substance portant la grandeur à mesurer
[SOURCE: ISO/IEC GUIDE 99:2007, 3.8]
4.67
surenfoncement
abaissement de la hauteur au-dessus du fond d’un navire en marche par rapport à ce qu’elle serait si ce
navire était immobile, dû à la dépression locale de la surface de l’eau dans laquelle le bateau navigue
Note 1 à l’article: Le surenfoncement ne constitue pas une augmentation du déplacement.
Note 2 à l’article: Le surenfoncement est mesuré sous forme d’inclinaison angulaire par rapport au centre de
gravité du navire.
[SOURCE: IHO Hydrographic Dictionary, S-32, Fifth Edition]
4.68
modèle de capteur
description mathématique de la relation entre l’espace de l’objet en trois dimensions
et le plan en deux dimensions de l’image associée produite par le capteur (4.66)
[SOURCE: ISO/TS 19130:2010, 4.80]
10 © ISO 2014 – Tous droits réservés

4.69
sonar latéral
type de sonar qui émet une énergie acoustique à partir des côtés d’un poisson remorqué, créant ainsi
des faisceaux acoustiques perpendiculaires à l’axe du navire ou du poisson, qui balaie le fond marin, et
enregistre en continu les signaux de retour (4.62) pour générer une « image » du fond marin et de tout
autre objet
Note 1 à l’article: Le sonar latéral est utilisé pour l’imagerie des éléments et des cibles du fond marin, sur une vaste
gamme de profondeurs.
Note 2 à l’article: Ceci comprend les sonars latéraux à synthèse d’ouverture.
4.70
sonar à faisceau unique
type de sonar qui produit un faisceau sonar étroit directement sous le transducteur (4.78)/récepteur
(4.59) et reçoit un écho en retour (4.62) de l’objet le plus proche
Note 1 à l’article: Les sonars à faisceau unique sont couramment appelés échosondeurs à faisceau unique
(abréviation: SBES).
4.71
système de traitement de sonar
système qui traite les signaux du sonar pour déterminer la géolocalisation des objets détectés par les
capteurs (4.66) sonar
4.72
Sound Navigation And Ranging
sonar
capteur (4.66) qui utilise la technologie de télémétrie acoustique pour la détection
4.73
squat
effet qui fait qu’un navire en mouvement sur l’eau crée une zone de dépression sous son fond qui
augmente le tirant d’eau (4.17) réel (et donc abaisse le navire dans l’eau)
Note 1 à l’article: Cet effet est un résultat du principe de Bernoulli sur la dynamique des fluides. Le squat représente
l’augmentation du tirant d’eau réel.
Note 2 à l’article: Pour un navire en route, changement de niveau de la proue et de la poupe par rapport aux
conditions en eau calme dû à l’élévation et à la dépression du niveau de l’eau autour de la coque résultant du train
de vague à la proue et à la poupe.
[SOURCE: Implementation Specification – a Draught Information System for the St. Lawrence Seaway,
4.18, modifié – La Note 2 à l’article a été ajoutée.]
4.74
scannage en escalier
mode de scannage constitué d’une configuration en marche d’escalier
Note 1 à l’article: Ceci s’applique à l’émetteur-récepteur HARLIE, basé sur un élément optique holographique à
phase volumique.
4.75
fauchée
zone au sol à partir de laquelle les données de retour (4.62) sont acquises en fonctionnement
aéroporté en continu du lidar (4.40)
Note 1 à l’article: Une mission de cartographie type peut comprendre des fauchées adjacentes multiples, avec
un certain chevauchement, auquel cas l’opérateur éteint le laser pendant que l’avion s’oriente pour la prochaine
fauchée. Ce terme peut également être appelé Passage.
4.76
sonar à balayage
type de sonar doté de plusieurs transducteurs (4.78)/récepteurs (4.59) monté sur une perche qui est
utilisée parallèlement à la surface de l’eau et perpendiculairement à la direction dans laquelle se déplace
le navire
Note 1 à l’article: Le sondage à balayage est souvent appelé échosondage multibande (MCES).
4.77
segment de trames obtenu par balayage
ensemble de trames (4.22) séquentielles acquises durant un seul demi-cycle complet de radiomètre à
balayage mécanique représentant un trajet transversal à partir d’un côté du champ de vision (4.19)
4.78
transducteur
appareil qui convertit un type d’énergie en un autre
4.79
émetteur
composant d’un sonar qui convertit une impulsion électrique en onde sonore et émet l’onde dans l’eau
Note 1 à l’article: L’émetteur est également appelé projecteur en échosondage multi-faisceau.
4.80
lidar topographique
système lidar (4.40) qui permet de mesurer la topographie de la surface du terrain
Note 1 à l’article: S’emploie généralement pour un système lidar aéroporté.
4.81
vecteur vitesse
première dérivée du vecteur position de l’antenne
5 Symboles et abréviations
5.1 Symboles
A matrice de transformation affine 3D
a vecteur image
B bande passante de l’impulsion radar
b vecteur de translation affine 3D
C nombre de colonnes (échantillons) de l’image
C correction pour la conversion de rangées-colonnes en échantillons-lignes

C correction pour la conversion de rangées-colonnes en échantillons-lignes
s
c vitesse de la lumière dans le vide
c vitesse du son dans le milieu dans lequel le sonar fonctionne
s
col colonne dans le système de coordonnées rangée-colonne
D ouverture d’antenne du radar physique
12 © ISO 2014 – Tous droits réservés

d largeur de pi
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