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The red box is the flight path for Hail Mary 1.
The blue box is the flight path for Hail Mary 2.
Parallel ‘lawn mower’ grid 200 ft AGL 90% lateral and frontal overlap We set the overlap to 90% due to the bit depth not being enough 90-degree nadir lens Return-to-Home (RTH) = 25% battery life Maximum Altitude = 200ft AGL
Final Data Product Mapping Mission
Introduction
Over the course of the semester, my team and I have used Unmanned Aerial Systems, including models such as the DJI Mavic 2, Skydio 2+, and the DJI Matrice 300. We used these systems to capture data in the field. Additionally, we used various sensors for different missions. My team primarily used the Purdue University Student Garden and occasionally the William H. Daniel Turfgrass Research and Diagnostic Center as our operational location. At these locations, we performed a series of mapping missions. These missions included flights such as 3D Scans, Perimeter Scans, Crosshatch Scans, and more. The data collected, along with the images, includes the GPS coordinate system, time of mission, date the mission was completed on, camera settings, and flight data. This data can then be used for mapping, 3D models, and analysis.
Afterwards, I used online GIS software, such as ArcGIS Pro, ArcGIS Earth, and Drone2Map, to create highly detailed 2D and 3D maps that provide real-time insights. Throughout the semester, I learned how to organize my data, use the correct processing tools and techniques, and learned how to read the models created. In this final document, I used the data from each of our mapping missions and turned them into accurate and readable models.
Team Members
Column 1
Column 2
Column 3
Column 4
Isabella Avedician
Jacob Sieber
Joseph Kahi
Venkata Devapatla
There are no rows in this table
My team and I named all our mapping missions with the code name Hail Mary. In this document, there are Hail Mary 1, Hail Mary 2, Hail Mary 5, and Hail Mary 6. Hail Mary 3 and 4 were not mapping missions but Tower and 3D scans.
Processing Steps and Discussion
The first step in processing the datasets was to organize each mapping mission into separate data files, ensuring they remained accessible and readable. After this, the data was put into the Drone2Map software. I made sure to select Digital Surface Model, Digital Terrain Model, and Orthomosaic Models. After all these were selected, I began processing the data. After the processing stages were complete, a 2D map was generated.
After processing the data in Drone2Map, I transferred the results into ArcGIS Pro. In ArcGIS Pro, I was able to create five separate maps to view the data. These included a Digital Surface Model (DSM), a Digital Terrain Model (DTM), shaded versions of both DSM and DTM, and an Orthomosaic Map. A DSM creates a 3D representation of the Earth’s surface. In addition, it captures everything on Earth’s surface, like terrain and buildings. A DSM is vital for industries like emergency response, infrastructure design, and urban planning. A DTM creates a 3D digital representation of the Earth’s surface, but only shows the bare surface, removing any terrain and buildings. DTM is crucial for industries like engineering, construction, and mining. Furthermore, I created a shaded version of both the DSM and DTM maps by using a greyscale map that uses the shadow from the sun to create a 3D-like image, which reveals the landscape’s true shape and features. Finally, an Orthomosaic Map creates a geometrically accurate image of Earth’s surface by overlapping aerial photos together, correcting distortions and allowing for true measurements like elevation. This type of map is beneficial for surveying, monitoring, and management.
Under each mapping mission, you will find an image associated with the processing stage, processing time, total images, cell size, pixel depth, DSM and DTM value, as well as the coordinate projection system. All processing steps were the same except for the M300 Thermal Mapping Mission. The only difference for the M300 was that before processing, I selected "Fix Image Location for High Accuracy” due to using PPK and RTK, as well as selecting rolling shutter corrections and True Ortho.
Week 3 Skydio 2+:
Hail Mary 1:
Hail Mary 1 was a mapping mission taken from a Skydio 2+ located at the Purdue University Student Farm. The Pilot in Control (PIC) for this mission was Isabella Avedician, and the rest of the team were the VOs. The purpose of this mission was to complete a Lawnmower Perimeter 2D scan, at a maximum height of 200 ft AGL, 80% side and frontal overlap, with the lens 90 degrees straight down, or nadir. This flight took 5 minutes. Below is the flight path.
Figure 1. End of Processing Stage for Hail Mary 1
METADATA
Locations
Purdue University Student Farm 1491, Cherry Ln, West Lafayette, IN 47906
Date
09/11/2025
Vehicle
Skydio 2+
Sensor
Gimbal Nadir
Battery
1 lithium battery needed, had 5 back-up batteries
Approval # (LAANC/COA/Waiver)
LAANC due to proximity to Class D Airspace
There are no rows in this table
Flight Information
Table 22
Flight Number
1
Takeoff Time
1500
Landing Tine
1535
Altitude
200 ft AGL
Sensor Angle
Nadir (-90 degrees)
Overlap
80%
Side overlap
80%
There are no rows in this table
Ground Control
Table 23
Systems used (i.e., PPK, RTK, Aero points)
N/A
Coordinate System
GPS
There are no rows in this table
Weather
Table 24
Cloud Cover
Clear Sky
Wind Direction
190 True
Wind Speed
3 knots
Temperature
24 C
There are no rows in this table
Crew
Table 25
PIC
Isabella A
VO
Joseph K, Jacob S, Venky D
Submitter
All
There are no rows in this table
Figure 2. End of Processing Stage for Hail Mary 1
Total Images: 54 images
Total Processing time: 18 minutes and 24 seconds
Maps
Digital Surface Model
Figure 3. Hail Mary 1 DSM and Flight Lines
Table 26
Cell Size
X= 2.7212 cm, Y= 2.27212 cm
Pixel Depth
8 Bit
DSM Value
209.076 - 241.545
Coordinate Projection System
WGS 1984 UTM Zone 16N Transverse Mercator EGM96 Height (current Z)
There are no rows in this table
As you can see in this model, the color gradient in Figure 3 shows the height differences across the site. The brown and red tones represent higher elevations, while the lighter shades of green represent lower elevations. The flatter and darker green regions are the low vegetation and bare soil; areas with uneven colors are most likely garden plots and trees, and the bright green shading corresponds to the tree line and paths.
Shaded Digital Surface Model
Figure 4. Hail Mary 1 Shaded DSM
Table 27
Cell Size
X= 2.7212 cm, Y= 2.27212 cm
Pixel Depth
8 Bit
DSM Value
209.076 - 241.545
Shaded DSM Value
0-255
Coordinate Projection System
WGS 1984 UTM Zone 16N Transverse Mercator EGM96 Height (current Z)
There are no rows in this table
The shaded version of the DSM reveals more detail as to what the values of the DSM showed. As we can see, light green shows the bare ground; darker green reveals garden plots and plants, and brown/red shows the top of buildings, plants, and the tree line.
Digital Terrain Model
Figure 5. Hail Mary 1 DTM
Table 28
Cell Size
X= 13.6062 cm, Y=13.6062 cm
Pixel Depth
8 Bit
DTM Value
210.887 - 217.036
Coordinate Projection System
WGS 1984 UTM Zone 16N Transverse Mercator EGM96 Height (current Z)
There are no rows in this table
In this model, only the bare earth surface shows elevation values. Many of the sharper shapes from the DSM are now smoothed out, showing the slope of the land. It is much less defined in this model. The areas with higher ground are seen in the red/brown shades, while the lower ground is in the green shades. The white/grey patch likely represents a pile of material, which I can infer is soil.
Shaded Digital Terrain Model
Figure 6. Hail Mary 1 Shaded DTM
Table 29
Cell Size
X= 13.6062 cm, Y=13.6062 cm
Pixel Depth
8 Bit
DTM Value
210.887 - 217.036
Shaded DTM Value
0-255
Coordinate Projection System
WGS 1984 UTM Zone 16N Transverse Mercator EGM96 Height (current Z)
There are no rows in this table
Adding the hillshade layer applies to a shadow, which allows for a 3D visual effect that reveals more texture and structure. We can see the perimeter and detail of the Purdue University Student Farm much better in the shaded versions.
Orthomosaic Map
Figure 7. Hail Mary 1 Orthomosaic and Locator Map
Table 30
Cell Size
X= 2.7212 cm, Y= 2.7212 cm
Pixel Depth
8 Bit
Coordinate Projection System
WGS 1984 UTM Zone 16N Transverse Mercator EGM96 Height (current Z)
There are no rows in this table
In the orthomosaic map, we can see a highly detailed top-down view of the area. Areas in the other models that showed red/brown shades are now shown as the top of infrastructures, tree lines, and the top of vegetation. The lighter shades of green are now seen as the ground, soil, and vegetation.
Hail Mary 2:
Hail Mary 2 was a mapping mission taken from a Skydio 2+ located at the Purdue University Student Farm. The PIC for this mission was Venkata Devapatla, and the rest of the team were the VOs. The purpose of this mission was to complete a Crosshatch Perimeter 2D scan, at a maximum height of 60 to 80 ft AGL, 80% frontal overlap, and 90% side overlap with the lens 75 degrees straight down. This flight took 10 minutes.
Figure 8. Flight Path for Hail Mary 2
METADATA 2
Locations
Purdue University Student Farm 1491, Cherry Ln, West Lafayette, IN 47906
Date
09/11/2025
Vehicle
Skydio 2+
Sensor
Gimbal Nadir
Battery
1 lithium battery needed, had 5 back-up batteries
Approval # (LAANC/COA/Waiver)
LAANC due to proximity to Class D Airspace
There are no rows in this table
Flight Information
Table 32
Flight Number
1
Takeoff Time
1540
Landing Tine
1600
Altitude
60 to 80 ft AGL
Sensor Angle
75 degrees down
Overlap
80%
Side overlap
90%
There are no rows in this table
Ground Control
Table 33
Systems used (i.e., PPK, RTK, Aero points)
N/A
Coordinate System
GPS
There are no rows in this table
Weather
Table 34
Cloud Cover
Clear Sky
Wind Direction
190 True
Wind Speed
3 knots
Temperature
24 C
There are no rows in this table
Crew
Table 35
PIC
Venky
VO
Joseph K, Jacob S, Isabella A
Submitter
All
There are no rows in this table
Figure 9. End of Processing Stage for Hail Mary 2
Total images: 190 images
Processing time: 43 minutes and 49 seconds
Maps
Digital Surface Model
Figure 10. Hail Mary 2 DSM
Table 36
Cell Size
X= 1.1324 cm, Y= 1.1324 cm
Pixel Depth
32 Bit
DSM Value
190.286 - 235.720
Coordinate Projection System
WGS 1984 UTM Zone 16N Transverse Mercator EGM96 Height (current Z)
There are no rows in this table
Since this mapping mission was taken at a lower altitude and has more image overlaps, we have more precise and accurate photos. The elevation colors remain the same, brown and red representing higher elevation, while the green reveals lower. In the DSM map for Hail Mary 2, there are more brown and red shades shown. We can clearly see this at the top of the buildings, vegetation, and cars. The lower elevation is seen as the ground, soil, and vegetation.
Shaded Digital Surface Model
Figure 11. Hail Mary 2 Shaded DSM and Flight Lines
Table 37
Cell Size
X= 1.1324 cm, Y= 1.1324 cm
Pixel Depth
32 Bit
DSM Value
190.286 - 235.720
Shaded DSM Value
0-255
Coordinate Projection System
WGS 1984 UTM Zone 16N Transverse Mercator EGM96 Height (current Z)
There are no rows in this table
Again, the shaded versions reveal more detail as they create a shadow. In this model, you can also see the flight lines and the path the drone took. There is a lot more texture shown in this map, which reveals the vegetation planted. You can also see that the most correct area of detail is near the center, where the drone was flying.
Digital Terrain Model
Figure 12. Hail Mary 2 DTM
Table 38
Cell Size
X= 5.662 cm, Y=5.662 cm
Pixel Depth
32 Bit
DTM Value
218.464 - 221.318
Coordinate Projection System
WGS 1984 UTM Zone 16N Transverse Mercator EGM96 Height (current Z)
There are no rows in this table
The DTM model for Hail Mary 2 produced a ‘smoother’ map, blurring out the top of the buildings and vegetation. There seem to be whiter colors shown in this map, which represent the highest elevation values.
Shaded Digital Terrain Model
Figure 13. Hail Mary 2 Shaded DTM
Table 39
Cell Size
X= 5.662 cm, Y=5.662 cm
Pixel Depth
32 Bit
DTM Value
218.464 - 221.318
Shaded DTM Value
0-255
Coordinate Projection System
WGS 1984 UTM Zone 16N Transverse Mercator EGM96 Height (current Z)
There are no rows in this table
In the shaded DTM for Hail Mary 2, there are whiter colors shown than in Hail Mary 1. This can be due to the lower altitude flown and more image overlap by the drone when capturing the data.
Orthomosaic Map
Figure 14. Hail Mary 2 Orthomosaic Map
Table 40
Cell Size
X= 1.1324 cm, Y= 1.1324 cm
Pixel Depth
32 Bit
Coordinate Projection System
WGS 1984 UTM Zone 16N Transverse Mercator EGM96 Height (current Z)
There are no rows in this table
There seems to be more detail on this orthomosaic map than in Hail Mary 1. Again, the lower altitude allows for the drone to have more correct images. In addition, there were 136 more images taken in this mapping mission, which also allows for more overlap, which produces more correct models.
Week 4 Mavic 2 Pro Hail Mary 5
Hail Mary 5 was a mapping mission taken from a DJI Mavic 2 Pro at the Purdue University Student Farm. The flight path followed the same path as Hail Mary 1, referring to Figure 1. The PIC of the mission was Venkata Devapatla, and the rest of the team were the VOs. The purpose of this mission was to test and identify different methods for grid-based mappings and to compare the capabilities of Skydio 2+ to the DJI Mavic 2 Pro. Our plan for this mission was to perform a parallel “lawn mower” grid with 80 % lateral and frontal overlap, and with the gimbal angle 90 degrees (straight down).
METADATA 3
Locations
Purdue University Student Farm 1491, Cherry Ln, West Lafayette, IN 47906
Date
09/23/2025
Vehicle
DJI Mavic 2 Pro ID: B serial ID - 1581F1633J27001H1380
Sensor
Gimbal Nadir
Battery
4 Lithium Smart Batteries
Approval # (LAANC/COA/Waiver)
LAANC due to proximity to Class D Airspace
There are no rows in this table
Flight Information
Table 42
Flight Number
1
Takeoff Time
1530
Landing Tine
1639
Max Altitude
200 ft AGL
Sensor Angle
90 degrees nadir
Overlap
80%
Side overlap
80%
There are no rows in this table
Ground Control
Table 43
Systems used (i.e., PPK, RTK, Aero points)
N/A
Coordinate System
GPS
There are no rows in this table
Weather
Table 44
Cloud Cover
Clear Sky on METAR, cloudy on site
Wind Direction
190 True
Wind Speed
8-16 knots
Temperature
26 C
There are no rows in this table
Crew
Table 45
PIC
Venky
VO
Joseph K, Jacob S, Isabella A
Submitter
All
There are no rows in this table
Figure 15. End of Processing Stage for Hail Mary 5
Total Images Processed: 145 images
Total Processing Time: 1 hour 42 minutes 9 seconds
Maps
Digital Surface Model
Figure 16. Hail Mary 5 DSM
Table 46
Cell Size
X= 1.5571 cm, Y= 1.5571 cm
Pixel Depth
32 Bit
DSM Value
203.969 - 233.104
Coordinate Projection System
WGS 1984 UTM Zone 16N Transverse Mercator EGM96 Height (current Z)
There are no rows in this table
Like Hail Mary 1, Hail Mary 5 doesn’t show as much detail as Hail Mary 2. Since Hail Mary 1 and Hail Mary 5 were following the same flight path and altitude, many of the maps are similar. However, Hail Mary 5 was performed on a DJI Mavic 2 Pro. This map, however, shows more elevation values than the DSM map for Hail Mary 1. This can be due to Hail Mary 5 having 91 more image overlaps, which creates more correct detail.
Shaded Digital Surface Model
Figure 17. Hail Mary 5 Shaded DSM
Table 47
Cell Size
X= 1.5571 cm, Y= 1.5571 cm
Pixel Depth
32 Bit
DSM Value
203.969 - 233.104
Shaded DSM Value
0-255
Coordinate Projection System
WGS 1984 UTM Zone 16N Transverse Mercator EGM96 Height (current Z)
There are no rows in this table
This shaded DSM is like the shaded DSM map for Hail Mary 1. However, this map shows more defined elevation values for the infrastructure on site and the top of the vegetation.
Digital Terrain Model
Figure 18. Hail Mary 5 DTM
Table 48
Cell Size
X= 7.7755 cm, Y= 7.7855 cm
Pixel Depth
32 Bit
DTM Value
203.975 - 212.607
Coordinate Projection System
WGS 1984 UTM Zone 16N Transverse Mercator EGM96 Height (current Z)
There are no rows in this table
The elevation value in this map shifted a bit right when compared to the DTM in Hail Mary 1. Areas that were red in Hail Mary 1 are now seen as green and yellow in the lower left corner. In addition, there is much more detail on this map, and it shows that the right corner has the highest surface elevation.
Shaded Digital Terrain Model
Figure 19. Hail Mary 5 Shaded DTM
Table 49
Cell Size
X= 7.7755 cm, Y= 7.7855 cm
Pixel Depth
32 Bit
DTM Value
203.975 - 212.607
Shaded DTM Value
0-255
Coordinate Projection System
WGS 1984 UTM Zone 16N Transverse Mercator EGM96 Height (current Z)
There are no rows in this table
This map builds from the previous and adds more detail and furthers the analysis that the right corner has the highest elevation.
Orthomosaic Map
Figure 20. Hail Mary 5 Orthomosaic Map and Flight Lines
Table 50
Cell Size
X= 1.5571 cm, Y= 1.5571 cm
Pixel Depth
8 Bit
Coordinate Projection System
WGS 1984 UTM Zone 16N Transverse Mercator EGM96 Height (current Z)
There are no rows in this table
In this orthomosaic map, you can see the path that the drone took, correct areas of detail, and a 3D model of the area of operation. The orthomosaic map can be used to reference the other maps created and to clarify the elevation values and what they stand for.
Week 6 M300 H20T Hail Mary 6
Hail Mary 6 was a thermal mapping mission performed on the DJI Matrice 300 equipped with an H20T sensor. This mission was performed at the Purdue University Student Farm. The PIC was Dr. Hupy and Jacob Sieber, the Sensor Operator (SO) was Venkata Devapatla, and the rest of the team as the VOs. This mission was to create a mapping mission with thermal sensors and understand the fundamentals of ground control. In this mission, we used a GNSS that gathered static data. The parameters of the mission were as follows:
METADATA 4
Purdue University Student Farm
Purdue University Student Farm 1491, Cherry Ln, West Lafayette, IN 47906
Date
09/30/2025
Vehicle
DJI Matrice 300 RTK
Sensor
DJI Zenmuse H20T
Battery
2 Lithium batteries needed, 2 spares
Approval # (LAANC/COA/Waiver)
LAANC due to proximity to Class D Airspace
There are no rows in this table
Flight Information
Table 52
Flight Number
1
Takeoff Time
1500
Landing Tine
1518
Altitude
200 ft AGL
Sensor Angle
-90 degrees
Overlap
80%
Side overlap
90%
There are no rows in this table
Ground Control
Table 53
Systems used (i.e., PPK, RTK, Aero points)
GNSS
Coordinate System
GPS
There are no rows in this table
Weather
Table 54
Cloud Cover
Clear Sky
Wind Direction
50 degrees True North
Wind Speed
9 knots
Temperature
29.44 C
There are no rows in this table
Crew
Table 55
PIC
Dr. Hupy and Jacob S
SO
Venky D
VO
Joseph K, Jacob S, Isabella A
Submitter
All
There are no rows in this table
Figure 21. End of Processing Stage for Hail Mary 6
Total Image: 662 Images
Total Processing Time: 1 hour 32 minutes and 29 seconds
Maps
Digital Surface Model
Figure 22. Hail Mary 6 DSM
Table 56
Cell Size
X= 4.9991 cm, Y= 4.9991 cm
Pixel Depth
32 Bit
DSM Value
173.085 - 202.000
Coordinate Projection System
WGS 1984 UTM Zone 16N Transverse Mercator EGM96 Height (current Z)
There are no rows in this table
The DJI M300 produces cleaner, smoother, and more exact models than most UAS models. This is due to higher sensor optics, the use of PPK and RTK, the use of a GNSS, and pro-grade mapping reliability. The elevation color representation is the same as the models before; however, the change in elevation values isn’t as large as the earlier. Instead, most of the buildings are still revealed in a green shade instead of red, and the tree line now shows the highest level of elevation.
Shaded Digital Surface Model
Figure 23. Hail Mary 6 Shaded DSM and Flight Lines
Table 57
Cell Size
X= 4.9991 cm, Y= 4.9991 cm
Pixel Depth
32 Bit
DSM Value
173.085 - 202.000
Shaded DSM Value
0-255
Coordinate Projection System
WGS 1984 UTM Zone 16N Transverse Mercator EGM96 Height (current Z)
There are no rows in this table
This map shows the flight path that the M300 took when conducting the mapping mission. In addition, it shows more detailed imagery of the area of operation due to the hillshade layering.
Digital Terrain Model
Figure 24. Hail Mary 6 DTM
Table 58
Cell Size
X= 24.9957 cm, Y=24.9957 cm
Pixel Depth
32 Bit
DTM Value
174.603 - 180.434
Coordinate Projection System
WGS 1984 UTM Zone 16N Transverse Mercator EGM96 Height (current Z)
There are no rows in this table
This DTM model is much different than the others. Instead of the lower right corner having the highest surface elevation value, the tree line now does. This could be due to the higher accuracy of the M300, the different flight path, and much more image overlap.
Shaded Digital Terrain Model
Figure 25. Hail Mary 6 Shaded DTM
Table 59
Cell Size
X= 24.9957 cm, Y=24.9957 cm
Pixel Depth
32 Bit
DTM Value
174.603 - 180.434
Shaded DTM Value
0-255
Coordinate Projection System
WGS 1984 UTM Zone 16N Transverse Mercator EGM96 Height (current Z)
There are no rows in this table
The shaded DTM for Hail Mary 6 shows more detailed imagery of the elevation value, revealing whiter areas of color. This stands for the highest elevation on the map.
Orthomosaic Map
Figure 26. Hail Mary 6 Orthomosaic Map
Table 60
Cell Size
X= 4.9991 cm, Y= 4.9991 cm
Pixel Depth
23 Bit
Coordinate Projection System
WGS 1984 UTM Zone 16N Transverse Mercator EGM96 Height (current Z)
There are no rows in this table
Finally, the orthomosaic map was produced in thermal imagery. This shows the heat signatures coming off the buildings, soil, roads, and tree lines. Areas that are yellow/orange colors have more heat than purple areas.
Conclusion
By layering geospatial and geographic data, Geographic Information Systems software provides a framework to understand our world spatially. Turning location data into readable insights, enabling visualization, and revealing complex patterns and understanding relationships are just a few things GIS software is capable of. It is equally important to be able to interpret this data. Throughout this semester, my team and I have learned how to take raw data collected from Unmanned Aerial Systems and turn them into readable and interpretable maps and 3D models. We learned how to use the drones in diverse ways and different settings to meet our mission goals and how to organize our data to prepare for processing. In addition, we learned about different GIS software, how to use it, manipulate it, and interpret it. Finally, we used the raw data collected earlier in the semester, applied our skills and knowledge learned to process and use our data.
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