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Sample records for position-adaptive uav radar

  1. Coupled sensor/platform control design for low-level chemical detection with position-adaptive micro-UAVs

    Science.gov (United States)

    Goodwin, Thomas; Carr, Ryan; Mitra, Atindra K.; Selmic, Rastko R.

    2009-05-01

    We discuss the development of Position-Adaptive Sensors [1] for purposes for detecting embedded chemical substances in challenging environments. This concept is a generalization of patented Position-Adaptive Radar Concepts developed at AFRL for challenging conditions such as urban environments. For purposes of investigating the detection of chemical substances using multiple MAV (Micro-UAV) platforms, we have designed and implemented an experimental testbed with sample structures such as wooden carts that contain controlled leakage points. Under this general concept, some of the members of a MAV swarm can serve as external position-adaptive "transmitters" by blowing air over the cart and some of the members of a MAV swarm can serve as external position-adaptive "receivers" that are equipped with chemical or biological (chem/bio) sensors that function as "electronic noses". The objective can be defined as improving the particle count of chem/bio concentrations that impinge on a MAV-based position-adaptive sensor that surrounds a chemical repository, such as a cart, via the development of intelligent position-adaptive control algorithms. The overall effect is to improve the detection and false-alarm statistics of the overall system. Within the major sections of this paper, we discuss a number of different aspects of developing our initial MAV-Based Sensor Testbed. This testbed includes blowers to simulate position-adaptive excitations and a MAV from Draganfly Innovations Inc. with stable design modifications to accommodate our chem/bio sensor boom design. We include details with respect to several critical phases of the development effort including development of the wireless sensor network and experimental apparatus, development of the stable sensor boom for the MAV, integration of chem/bio sensors and sensor node onto the MAV and boom, development of position-adaptive control algorithms and initial tests at IDCAST (Institute for the Development and

  2. UAV-based Radar Sounding of Antarctic Ice

    Science.gov (United States)

    Leuschen, Carl; Yan, Jie-Bang; Mahmood, Ali; Rodriguez-Morales, Fernando; Hale, Rick; Camps-Raga, Bruno; Metz, Lynsey; Wang, Zongbo; Paden, John; Bowman, Alec; Keshmiri, Shahriar; Gogineni, Sivaprasad

    2014-05-01

    We developed a compact radar for use on a small UAV to conduct measurements over the ice sheets in Greenland and Antarctica. It operates at center frequencies of 14 and 35 MHz with bandwidths of 1 MHz and 4 MHz, respectively. The radar weighs about 2 kgs and is housed in a box with dimensions of 20.3 cm x 15.2 cm x 13.2 cm. It transmits a signal power of 100 W at a pulse repletion frequency of 10 kHz and requires average power of about 20 W. The antennas for operating the radar are integrated into the wings and airframe of a small UAV with a wingspan of 5.3 m. We selected the frequencies of 14 and 35 MHz based on previous successful soundings of temperate ice in Alaska with a 12.5 MHz impulse radar [Arcone, 2002] and temperate glaciers in Patagonia with a 30 MHz monocycle radar [Blindow et al., 2012]. We developed the radar-equipped UAV to perform surveys over a 2-D grid, which allows us to synthesize a large two-dimensional aperture and obtain fine resolution in both the along- and cross-track directions. Low-frequency, high-sensitivity radars with 2-D aperture synthesis capability are needed to overcome the surface and volume scatter that masks weak echoes from the ice-bed interface of fast-flowing glaciers. We collected data with the radar-equipped UAV on sub-glacial ice near Lake Whillans at both 14 and 35 MHz. We acquired data to evaluate the concept of 2-D aperture synthesis and successfully demonstrated the first successful sounding of ice with a radar on an UAV. We are planning to build multiple radar-equipped UAVs for collecting fine-resolution data near the grounding lines of fast-flowing glaciers. In this presentation we will provide a brief overview of the radar and UAV, as well as present results obtained at both 14 and 35 MHz. Arcone, S. 2002. Airborne-radar stratigraphy and electrical structure of temperate firn: Bagley Ice Field, Alaska, U.S.A. Journal of Glaciology, 48, 317-334. Blindow, N., C. Salat, and G. Casassa. 2012. Airborne GPR sounding of

  3. Radar sensing via a Micro-UAV-borne system

    Science.gov (United States)

    Catapano, Ilaria; Ludeno, Giovanni; Gennarelli, Gianluca; Soldovieri, Francesco; Rodi Vetrella, Amedeo; Fasano, Giancarmine

    2017-04-01

    In recent years, the miniaturization of flight control systems and payloads has contributed to a fast and widespread diffusion of micro-UAV (Unmanned Aircraft Vehicle). While micro-UAV can be a powerful tool in several civil applications such as environmental monitoring and surveillance, unleashing their full potential for societal benefits requires augmenting their sensing capability beyond the realm of active/passive optical sensors [1]. In this frame, radar systems are drawing attention since they allow performing missions in all-weather and day/night conditions and, thanks to the microwave ability to penetrate opaque media, they enable the detection and localization not only of surface objects but also of sub-surface/hidden targets. However, micro-UAV-borne radar imaging represents still a new frontier, since it is much more than a matter of technology miniaturization or payload installation, which can take advantage of the newly developed ultralight systems. Indeed, micro-UAV-borne radar imaging entails scientific challenges in terms of electromagnetic modeling and knowledge of flight dynamics and control. As a consequence, despite Synthetic Aperture Radar (SAR) imaging is a traditional remote sensing tool, its adaptation to micro-UAV is an open issue and so far only few case studies concerning the integration of SAR and UAV technologies have been reported worldwide [2]. In addition, only early results concerning subsurface imaging by means of an UAV-mounted radar are available [3]. As a contribution to radar imaging via autonomous micro-UAV, this communication presents a proof-of-concept experiment. This experiment represents the first step towards the development of a general methodological approach that exploits expertise about (sub-)surface imaging and aerospace systems with the aim to provide high-resolution images of the surveyed scene. In details, at the conference, we will present the results of a flight campaign carried out by using a single radar

  4. UAV-Borne Profiling Radar for Forest Research

    Directory of Open Access Journals (Sweden)

    Yuwei Chen

    2017-01-01

    Full Text Available Microwave Radar is an attractive solution for forest mapping and inventories because microwave signals penetrates into the forest canopy and the backscattering signal can provide information regarding the whole forest structure. Satellite-borne and airborne imaging radars have been used in forest resources mapping for many decades. However, their accuracy with respect to the main forest inventory attributes substantially varies depending on the wavelength and techniques used in the estimation. Systems providing canopy backscatter as a function of canopy height are, practically speaking, missing. Therefore, there is a need for a radar system that would enable the scientific community to better understand the radar backscatter response from the forest canopy. Consequently, we undertook a research study to develop an unmanned aerial vehicle (UAV-borne profiling (i.e., waveform radar that could be used to improve the understanding of the radar backscatter response for forestry mapping and inventories. A frequency modulation continuous waveform (FMCW profiling radar, termed FGI-Tomoradar, was introduced, designed and tested. One goal is the total weight of the whole system is less than 7 kg, including the radar system and georeferencing system, with centimetre-level positioning accuracy. Achieving this weight goal would enable the FGI-Tomoradar system to be installed on the Mini-UAV platform. The prototype system had all four linear polarization measuring capabilities, with bistatic configuration in Ku-band. In system performance tests in this study, FGI-Tomoradar was mounted on a manned helicopter together with a Riegl VQ-480-U laser scanner and tested in several flight campaigns performed at the Evo site, Finland. Airborne laser scanning data was simultaneously collected to investigate the differences and similarities of the outputs for the same target area for better understanding the penetration of the microwave signal into the forest canopy

  5. Feasibility of Using Synthetic Aperture Radar to Aid UAV Navigation.

    Science.gov (United States)

    Nitti, Davide O; Bovenga, Fabio; Chiaradia, Maria T; Greco, Mario; Pinelli, Gianpaolo

    2015-07-28

    This study explores the potential of Synthetic Aperture Radar (SAR) to aid Unmanned Aerial Vehicle (UAV) navigation when Inertial Navigation System (INS) measurements are not accurate enough to eliminate drifts from a planned trajectory. This problem can affect medium-altitude long-endurance (MALE) UAV class, which permits heavy and wide payloads (as required by SAR) and flights for thousands of kilometres accumulating large drifts. The basic idea is to infer position and attitude of an aerial platform by inspecting both amplitude and phase of SAR images acquired onboard. For the amplitude-based approach, the system navigation corrections are obtained by matching the actual coordinates of ground landmarks with those automatically extracted from the SAR image. When the use of SAR amplitude is unfeasible, the phase content can be exploited through SAR interferometry by using a reference Digital Terrain Model (DTM). A feasibility analysis was carried out to derive system requirements by exploring both radiometric and geometric parameters of the acquisition setting. We showed that MALE UAV, specific commercial navigation sensors and SAR systems, typical landmark position accuracy and classes, and available DTMs lead to estimated UAV coordinates with errors bounded within ±12 m, thus making feasible the proposed SAR-based backup system.

  6. Feasibility of Using Synthetic Aperture Radar to Aid UAV Navigation

    Directory of Open Access Journals (Sweden)

    Davide O. Nitti

    2015-07-01

    Full Text Available This study explores the potential of Synthetic Aperture Radar (SAR to aid Unmanned Aerial Vehicle (UAV navigation when Inertial Navigation System (INS measurements are not accurate enough to eliminate drifts from a planned trajectory. This problem can affect medium-altitude long-endurance (MALE UAV class, which permits heavy and wide payloads (as required by SAR and flights for thousands of kilometres accumulating large drifts. The basic idea is to infer position and attitude of an aerial platform by inspecting both amplitude and phase of SAR images acquired onboard. For the amplitude-based approach, the system navigation corrections are obtained by matching the actual coordinates of ground landmarks with those automatically extracted from the SAR image. When the use of SAR amplitude is unfeasible, the phase content can be exploited through SAR interferometry by using a reference Digital Terrain Model (DTM. A feasibility analysis was carried out to derive system requirements by exploring both radiometric and geometric parameters of the acquisition setting. We showed that MALE UAV, specific commercial navigation sensors and SAR systems, typical landmark position accuracy and classes, and available DTMs lead to estimated UAV coordinates with errors bounded within ±12 m, thus making feasible the proposed SAR-based backup system.

  7. Shigaraki UAV-Radar Experiment (ShUREX): overview of the campaign with some preliminary results

    Science.gov (United States)

    Kantha, Lakshmi; Lawrence, Dale; Luce, Hubert; Hashiguchi, Hiroyuki; Tsuda, Toshitaka; Wilson, Richard; Mixa, Tyler; Yabuki, Masanori

    2017-12-01

    The Shigaraki unmanned aerial vehicle (UAV)-Radar Experiment (ShUREX) is an international (USA-Japan-France) observational campaign, whose overarching goal is to demonstrate the utility of small, lightweight, inexpensive, autonomous UAVs in probing and monitoring the lower troposphere and to promote synergistic use of UAVs and very high frequency (VHF) radars. The 2-week campaign lasting from June 1 to June 14, 2015, was carried out at the Middle and Upper Atmosphere (MU) Observatory in Shigaraki, Japan. During the campaign, the DataHawk UAV, developed at the University of Colorado, Boulder, and equipped with high-frequency response cold wire and pitot tube sensors (as well as an iMET radiosonde), was flown near and over the VHF-band MU radar. Measurements in the atmospheric column in the immediate vicinity of the radar were obtained. Simultaneous and continuous operation of the radar in range imaging mode enabled fine-scale structures in the atmosphere to be visualized by the radar. It also permitted the UAV to be commanded to sample interesting structures, guided in near real time by the radar images. This overview provides a description of the ShUREX campaign and some interesting but preliminary results of the very first simultaneous and intensive probing of turbulent structures by UAVs and the MU radar. The campaign demonstrated the validity and utility of the radar range imaging technique in obtaining very high vertical resolution ( 20 m) images of echo power in the atmospheric column, which display evolving fine-scale atmospheric structures in unprecedented detail. The campaign also permitted for the very first time the evaluation of the consistency of turbulent kinetic energy dissipation rates in turbulent structures inferred from the spectral broadening of the backscattered radar signal and direct, in situ measurements by the high-frequency response velocity sensor on the UAV. The data also enabled other turbulence parameters such as the temperature

  8. Radar Micro-Doppler classification of Mini-UAVs

    NARCIS (Netherlands)

    Harmanny, R.L.A.; Prémel-Cabic, G.; Wit, J.J.M.

    2015-01-01

    The radar micro-Doppler signature of a target depends on its micro-motion, i.e., the motion of parts of a target relative to the motion of the target as a whole. These micro-motions are very characteristic considering different target classes, e.g., the slow pendulum-like motion of a bird’s wings

  9. Comparisons between high-resolution profiles of squared refractive index gradient M2 measured by the Middle and Upper Atmosphere Radar and unmanned aerial vehicles (UAVs during the Shigaraki UAV-Radar Experiment 2015 campaign

    Directory of Open Access Journals (Sweden)

    H. Luce

    2017-03-01

    Full Text Available New comparisons between the square of the generalized potential refractive index gradient M2, estimated from the very high-frequency (VHF Middle and Upper Atmosphere (MU Radar, located at Shigaraki, Japan, and unmanned aerial vehicle (UAV measurements are presented. These comparisons were performed at unprecedented temporal and range resolutions (1–4 min and  ∼  20 m, respectively in the altitude range  ∼  1.27–4.5 km from simultaneous and nearly collocated measurements made during the ShUREX (Shigaraki UAV-Radar Experiment 2015 campaign. Seven consecutive UAV flights made during daytime on 7 June 2015 were used for this purpose. The MU Radar was operated in range imaging mode for improving the range resolution at vertical incidence (typically a few tens of meters. The proportionality of the radar echo power to M2 is reported for the first time at such high time and range resolutions for stratified conditions for which Fresnel scatter or a reflection mechanism is expected. In more complex features obtained for a range of turbulent layers generated by shear instabilities or associated with convective cloud cells, M2 estimated from UAV data does not reproduce observed radar echo power profiles. Proposed interpretations of this discrepancy are presented.

  10. A High Resolution, Light-Weight, Synthetic Aperture Radar for UAV Application

    International Nuclear Information System (INIS)

    Doerry, A.W.; Hensley, W.H.; Stence, J.; Tsunoda, S.I.; Pace, F.; Walker, B.C.; Woodring, M.

    1999-06-01

    (U) Sandia National Laboratories in collaboration with General Atomics (GA) has designed and built a high resolution, light-weight, Ku-band Synthetic Aperture Radar (SAR) known as ''Lynx''. Although Lynx can be operated on a wide variety of manned and unmanned platforms, its design is optimized for use on medium altitude Unmanned Aerial Vehicles (UAVS). In particular, it can be operated on the Predator, I-GNAT, and Prowler II platforms manufactured by GA. (U) The radar production weight is less than 120 lb and operates within a 3 GHz band from 15.2 GHz to 18.2 GHz with a peak output power of 320 W. Operating range is resolution and mode dependent but can exceed 45 km in adverse weather (4 mm/hr rain). Lynx has operator selectable resolution and is capable of 0.1 m resolution in spotlight mode and 0.3 m resolution in strip map mode, over substantial depression angles (5 to 60 deg) and squint angles (broadside and ±45 deg). Real-time Motion Compensation is implemented to allow high-quality image formation even during vehicle turns and other maneuvers

  11. Prototyping a GNSS-Based Passive Radar for UAVs: An Instrument to Classify the Water Content Feature of Lands

    Directory of Open Access Journals (Sweden)

    Micaela Troglia Gamba

    2015-11-01

    Full Text Available Global Navigation Satellite Systems (GNSS broadcast signals for positioning and navigation, which can be also employed for remote sensing applications. Indeed, the satellites of any GNSS can be seen as synchronized sources of electromagnetic radiation, and specific processing of the signals reflected back from the ground can be used to estimate the geophysical properties of the Earth’s surface. Several experiments have successfully demonstrated GNSS-reflectometry (GNSS-R, whereas new applications are continuously emerging and are presently under development, either from static or dynamic platforms. GNSS-R can be implemented at a low cost, primarily if small devices are mounted on-board unmanned aerial vehicles (UAVs, which today can be equipped with several types of sensors for environmental monitoring. So far, many instruments for GNSS-R have followed the GNSS bistatic radar architecture and consisted of custom GNSS receivers, often requiring a personal computer and bulky systems to store large amounts of data. This paper presents the development of a GNSS-based sensor for UAVs and small manned aircraft, used to classify lands according to their soil water content. The paper provides details on the design of the major hardware and software components, as well as the description of the results obtained through field tests.

  12. Radar Micro-Doppler Mini-UAV Classification using Spectrograms and Cepstrograms

    NARCIS (Netherlands)

    Harmanny, R.I.A.; Wit, J.J.M. de; Prémel-Cabic, G.

    2015-01-01

    The radar micro-Doppler signature of a target is determined by parts of the target moving or rotating in addition to the main body motion. The relative motion of these parts is characteristic for different classes of targets, e.g. the flapping motion of a bird’s wings versus the spinning of

  13. Remote sensing systems – Platforms and sensors: Aerial, satellites, UAVs, optical, radar, and LiDAR: Chapter 1

    Science.gov (United States)

    Panda, Sudhanshu S.; Rao, Mahesh N.; Thenkabail, Prasad S.; Fitzerald, James E.

    2015-01-01

    The American Society of Photogrammetry and Remote Sensing defined remote sensing as the measurement or acquisition of information of some property of an object or phenomenon, by a recording device that is not in physical or intimate contact with the object or phenomenon under study (Colwell et al., 1983). Environmental Systems Research Institute (ESRI) in its geographic information system (GIS) dictionary defines remote sensing as “collecting and interpreting information about the environment and the surface of the earth from a distance, primarily by sensing radiation that is naturally emitted or reflected by the earth’s surface or from the atmosphere, or by sending signals transmitted from a device and reflected back to it (ESRI, 2014).” The usual source of passive remote sensing data is the measurement of reflected or transmitted electromagnetic radiation (EMR) from the sun across the electromagnetic spectrum (EMS); this can also include acoustic or sound energy, gravity, or the magnetic field from or of the objects under consideration. In this context, the simple act of reading this text is considered remote sensing. In this case, the eye acts as a sensor and senses the light reflected from the object to obtain information about the object. It is the same technology used by a handheld camera to take a photograph of a person or a distant scenic view. Active remote sensing, however, involves sending a pulse of energy and then measuring the returned energy through a sensor (e.g., Radio Detection and Ranging [RADAR], Light Detection and Ranging [LiDAR]). Thermal sensors measure emitted energy by different objects. Thus, in general, passive remote sensing involves the measurement of solar energy reflected from the Earth’s surface, while active remote sensing involves synthetic (man-made) energy pulsed at the environment and the return signals are measured and recorded.

  14. The Status of the ACRF Millimeter Wave Cloud Radars (MMCRs), the Path Forward for Future MMCR Upgrades, the Concept of 3D Volume Imaging Radar and the UAV Radar

    Energy Technology Data Exchange (ETDEWEB)

    P Kollias; MA Miller; KB Widener; RT Marchand; TP Ackerman

    2005-12-30

    The United States (U.S.) Department of Energy (DOE) Atmospheric Radiation Measurement (ARM) Climate Research Facility (ACRF) operates millimeter wavelength cloud radars (MMCRs) in several climatological regimes. The MMCRs, are the primary observing tool for quantifying the properties of nearly all radiatively important clouds over the ACRF sites. The first MMCR was installed at the ACRF Southern Great Plains (SGP) site nine years ago and its original design can be traced to the early 90s. Since then, several MMCRs have been deployed at the ACRF sites, while no significant hardware upgrades have been performed. Recently, a two-stage upgrade (first C-40 Digital Signal Processors [DSP]-based, and later the PC-Integrated Radar AcQuisition System [PIRAQ-III] digital receiver) of the MMCR signal-processing units was completed. Our future MMCR related goals are: 1) to have a cloud radar system that continues to have high reliability and uptime and 2) to suggest potential improvements that will address increased sensitivity needs, superior sampling and low cost maintenance of the MMCRs. The Traveling Wave Tube (TWT) technology, the frequency (35-GHz), the radio frequency (RF) layout, antenna, the calibration and radar control procedure and the environmental enclosure of the MMCR remain assets for our ability to detect the profile of hydrometeors at all heights in the troposphere at the ACRF sites.

  15. SAR system development for UAV multicopter platforms

    OpenAIRE

    Escartin Martínez, Antonio

    2015-01-01

    SAR system development for UAV multicopter platforms This thesis describes the optimization of a synthetic aperture radar (SAR) at X-band and its integration into an unmanned aerial vehicle (UAV) of type octocopter. For such optimization the SAR system functionality was extended from singlepol to fulpol and it has been optimized at hardware level in order to improve its quality against noise figure. After its integration into the octocopter platform, its features has been used in order to ...

  16. A Stepped Frequency CW SAR for Lightweight UAV Operation

    National Research Council Canada - National Science Library

    Morrison, Keith

    2005-01-01

    A stepped-frequency continuous wave (SF-CW) synthetic aperture radar (SAR), with frequency-agile waveforms and real-time intelligent signal processing algorithms, is proposed for operation from a lightweight UAV platform...

  17. Spurious RF signals emitted by mini-UAVs

    Science.gov (United States)

    Schleijpen, Ric (H. M. A.); Voogt, Vincent; Zwamborn, Peter; van den Oever, Jaap

    2016-10-01

    This paper presents experimental work on the detection of spurious RF emissions of mini Unmanned Aerial Vehicles (mini-UAV). Many recent events have shown that mini-UAVs can be considered as a potential threat for civil security. For this reason the detection of mini-UAVs has become of interest to the sensor community. The detection, classification and identification chain can take advantage of different sensor technologies. Apart from the signatures used by radar and electro-optical sensor systems, the UAV also emits RF signals. These RF signatures can be split in intentional signals for communication with the operator and un-intentional RF signals emitted by the UAV. These unintentional or spurious RF emissions are very weak but could be used to discriminate potential UAV detections from false alarms. The goal of this research was to assess the potential of exploiting spurious emissions in the classification and identification chain of mini-UAVs. It was already known that spurious signals are very weak, but the focus was on the question whether the emission pattern could be correlated to the behaviour of the UAV. In this paper experimental examples of spurious RF emission for different types of mini-UAVs and their correlation with the electronic circuits in the UAVs will be shown

  18. Remote sensing with laser spectrum radar

    Science.gov (United States)

    Wang, Tianhe; Zhou, Tao; Jia, Xiaodong

    2016-10-01

    The unmanned airborne (UAV) laser spectrum radar has played a leading role in remote sensing because the transmitter and the receiver are together at laser spectrum radar. The advantages of the integrated transceiver laser spectrum radar is that it can be used in the oil and gas pipeline leak detection patrol line which needs the non-contact reflective detection. The UAV laser spectrum radar can patrol the line and specially detect the swept the area are now in no man's land because most of the oil and gas pipelines are in no man's land. It can save labor costs compared to the manned aircraft and ensure the safety of the pilots. The UAV laser spectrum radar can be also applied in the post disaster relief which detects the gas composition before the firefighters entering the scene of the rescue.

  19. Synthesis of Control Algorithm for a Leaderheaded UAVs Group

    Directory of Open Access Journals (Sweden)

    I. O. Samodov

    2015-01-01

    Full Text Available Currently, a defense sphere uses unmanned aerial vehicles (UAVs. UAVs have several advantages over manned aircrafts such as small size, reduced combat losses of personnel, etc. In addition, in threat environment, it is necessary to arrange both bringing together distant from each other UAVs in a group and their undetected in radar fields compact flying in terms of the joint flight security.However, the task to control a UAVs group is much more difficult than to control a single UAV, since it is necessary not only to control the aircraft, but also take into account the relative position of objects in the group.To solve this problem two ways are possible: using a network exchange between members of the group on the "everyone with everyone" principle and organizing the leader-headed flight.The aim of the article is to develop and study a possible option of the UAVs group control with arranging a leader-headed flight to provide the undetected in radar fields compact flying in terms of the joint flight security.The article develops a universal algorithm to control leader-headed group, based on a new modification of the statistical theory of optimal control. It studies effectiveness of the algorithm. While solving this task, a flight of seven UAVs was simulated in the horizontal plane in a rectangular coordinate system. Control time, linear errors of desired alignment of UAV, and control errors with respect to angular coordinates are used as measures of merit.The study results of the algorithm to control a leader-headed group of UAVs confirmed that it is possible to fulfill tasks of flying free-of-collision group of UAVs with essentially reduced computational costs.

  20. Multimodal UAV detection: study of various intrusion scenarios

    Science.gov (United States)

    Hengy, Sebastien; Laurenzis, Martin; Schertzer, Stéphane; Hommes, Alexander; Kloeppel, Franck; Shoykhetbrod, Alex; Geibig, Thomas; Johannes, Winfried; Rassy, Oussama; Christnacher, Frank

    2017-10-01

    Small unmanned aerial vehicles (UAVs) are becoming increasingly popular and affordable the last years for professional and private consumer market, with varied capacities and performances. Recent events showed that illicit or hostile uses constitute an emergent, quickly evolutionary threat. Recent developments in UAV technologies tend to bring autonomous, highly agile and capable unmanned aerial vehicles to the market. These UAVs can be used for spying operations as well as for transporting illicit or hazardous material (smuggling, flying improvised explosive devices). The scenario of interest concerns the protection of sensitive zones against the potential threat constituted by small drones. In the recent past, field trials were carried out to investigate the detection and tracking of multiple UAV flying at low altitude. Here, we present results which were achieved using a heterogeneous sensor network consisting of acoustic antennas, small FMCW RADAR systems and optical sensors. While acoustics and RADAR was applied to monitor a wide azimuthal area (360°), optical sensors were used for sequentially identification. The localization results have been compared to the ground truth data to estimate the efficiency of each detection system. Seven-microphone acoustic arrays allow single source localization. The mean azimuth and elevation estimation error has been measured equal to 1.5 and -2.5 degrees respectively. The FMCW radar allows tracking of multiple UAVs by estimating their range, azimuth and motion speed. Both technologies can be linked to the electro-optical system for final identification of the detected object.

  1. Robust UAV Mission Planning

    NARCIS (Netherlands)

    Evers, L.; Dollevoet, T.; Barros, A.I.; Monsuur, H.

    2014-01-01

    Unmanned Aerial Vehicles (UAVs) can provide significant contributions to information gathering in military missions. UAVs can be used to capture both full motion video and still imagery of specific target locations within the area of interest. In order to improve the effectiveness of a

  2. Robust UAV mission planning

    NARCIS (Netherlands)

    Evers, L.; Dollevoet, T.; Barros, A.I.; Monsuur, H.

    2011-01-01

    Unmanned Areal Vehicles (UAVs) can provide significant contributions to information gathering in military missions. UAVs can be used to capture both full motion video and still imagery of specific target locations within the area of interest. In order to improve the effectiveness of a reconnaissance

  3. Robust UAV Mission Planning

    NARCIS (Netherlands)

    Evers, L.; Dollevoet, T; Barros, A.I.; Monsuur, H.

    2011-01-01

    Unmanned Aerial Vehicles (UAVs) can provide significant contributions to information gathering in military missions. UAVs can be used to capture both full motion video and still imagery of specific target locations within the area of interest. In order to improve the effectiveness of a

  4. Robust UAV Mission Planning

    NARCIS (Netherlands)

    L. Evers (Lanah); T.A.B. Dollevoet (Twan); A.I. Barros (Ana); H. Monsuur (Herman)

    2011-01-01

    textabstractUnmanned Areal Vehicles (UAVs) can provide significant contributions to information gathering in military missions. UAVs can be used to capture both full motion video and still imagery of specific target locations within the area of interest. In order to improve the effectiveness of a

  5. UAV Delivery Monitoring System

    Directory of Open Access Journals (Sweden)

    San Khin Thida

    2018-01-01

    Full Text Available UAV-based delivery systems are increasingly being used in the logistics field, particularly to achieve faster last-mile delivery. This study develops a UAV delivery system that manages delivery order assignments, autonomous flight operation, real time control for UAV flights, and delivery status tracking. To manage the delivery item assignments, we apply the concurrent scheduler approach with a genetic algorithm. The present paper describes real time flight data based on a micro air vehicle communication protocol (MAVLink. It also presents the detailed hardware components used for the field tests. Finally, we provide UAV component analysis to choose the suitable components for delivery in terms of battery capacity, flight time, payload weight and motor thrust ratio.

  6. Sensor-Oriented Path Planning for Multiregion Surveillance with a Single Lightweight UAV SAR.

    Science.gov (United States)

    Li, Jincheng; Chen, Jie; Wang, Pengbo; Li, Chunsheng

    2018-02-11

    In the surveillance of interested regions by unmanned aerial vehicle (UAV), system performance relies greatly on the motion control strategy of the UAV and the operation characteristics of the onboard sensors. This paper investigates the 2D path planning problem for the lightweight UAV synthetic aperture radar (SAR) system in an environment of multiple regions of interest (ROIs), the sizes of which are comparable to the radar swath width. Taking into account the special requirements of the SAR system on the motion of the platform, we model path planning for UAV SAR as a constrained multiobjective optimization problem (MOP). Based on the fact that the UAV route can be designed in the map image, an image-based path planner is proposed in this paper. First, the neighboring ROIs are merged by the morphological operation. Then, the parts of routes for data collection of the ROIs can be located according to the geometric features of the ROIs and the observation geometry of UAV SAR. Lastly, the route segments for ROIs surveillance are connected by a path planning algorithm named the sampling-based sparse A* search (SSAS) algorithm. Simulation experiments in real scenarios demonstrate that the proposed sensor-oriented path planner can improve the reconnaissance performance of lightweight UAV SAR greatly compared with the conventional zigzag path planner.

  7. Sensor-Oriented Path Planning for Multiregion Surveillance with a Single Lightweight UAV SAR

    Science.gov (United States)

    Li, Jincheng; Chen, Jie; Wang, Pengbo; Li, Chunsheng

    2018-01-01

    In the surveillance of interested regions by unmanned aerial vehicle (UAV), system performance relies greatly on the motion control strategy of the UAV and the operation characteristics of the onboard sensors. This paper investigates the 2D path planning problem for the lightweight UAV synthetic aperture radar (SAR) system in an environment of multiple regions of interest (ROIs), the sizes of which are comparable to the radar swath width. Taking into account the special requirements of the SAR system on the motion of the platform, we model path planning for UAV SAR as a constrained multiobjective optimization problem (MOP). Based on the fact that the UAV route can be designed in the map image, an image-based path planner is proposed in this paper. First, the neighboring ROIs are merged by the morphological operation. Then, the parts of routes for data collection of the ROIs can be located according to the geometric features of the ROIs and the observation geometry of UAV SAR. Lastly, the route segments for ROIs surveillance are connected by a path planning algorithm named the sampling-based sparse A* search (SSAS) algorithm. Simulation experiments in real scenarios demonstrate that the proposed sensor-oriented path planner can improve the reconnaissance performance of lightweight UAV SAR greatly compared with the conventional zigzag path planner. PMID:29439447

  8. Aeromagnetic Compensation for UAVs

    Science.gov (United States)

    Naprstek, T.; Lee, M. D.

    2017-12-01

    Aeromagnetic data is one of the most widely collected types of data in exploration geophysics. With the continuing prevalence of unmanned air vehicles (UAVs) in everyday life there is a strong push for aeromagnetic data collection using UAVs. However, apart from the many political and legal barriers to overcome in the development of UAVs as aeromagnetic data collection platforms, there are also significant scientific hurdles, primary of which is magnetic compensation. This is a well-established process in manned aircraft achieved through a combination of platform magnetic de-noising and compensation routines. However, not all of this protocol can be directly applied to UAVs due to fundamental differences in the platforms, most notably the decrease in scale causing magnetometers to be significantly closer to the avionics. As such, the methodology must be suitably adjusted. The National Research Council of Canada has collaborated with Aeromagnetic Solutions Incorporated to develop a standardized approach to de-noising and compensating UAVs, which is accomplished through a series of static and dynamic experiments. On the ground, small static tests are conducted on individual components to determine their magnetization. If they are highly magnetic, they are removed, demagnetized, or characterized such that they can be accounted for in the compensation. Dynamic tests can include measuring specific components as they are powered on and off to assess their potential effect on airborne data. The UAV is then flown, and a modified compensation routine is applied. These modifications include utilizing onboard autopilot current sensors as additional terms in the compensation algorithm. This process has been applied with success to fixed-wing and rotary-wing platforms, with both a standard manned-aircraft magnetometer, as well as a new atomic magnetometer, much smaller in scale.

  9. Introduction to UAV systems

    CERN Document Server

    Fahlstrom, Paul

    2012-01-01

    Unmanned aerial vehicles (UAVs) have been widely adopted in the military world over the last decade and the success of these military applications is increasingly driving efforts to establish unmanned aircraft in non-military roles. Introduction to UAV Systems, 4th edition provides a comprehensive introduction to all of the elements of a complete Unmanned Aircraft System (UAS). It addresses the air vehicle, mission planning and control, several types of mission payloads, data links and how they interact with mission performance, and launch and recovery concepts. This

  10. Miniature UAVs : An overview

    NARCIS (Netherlands)

    Weimar, P.W.L.; Kerkkamp, J.S.F.; Wiel, R.A.N.; Meiller, P.P.; Bos, J.G.H.

    2014-01-01

    With this book TNO provides an overview of topics related to Miniature Unmanned Aerial Vehicles (MUAVs). Both novices and experts may find this publication valuable. The Netherlands Organisation for Applied Scientific Research TNO conducts research on UAVs and MUAVs, see for example [1], on the

  11. Online UAV Mission Planning

    NARCIS (Netherlands)

    Evers, L.; Barros, A.I.; Monsuur, H.; Wagelmans, A.P.M.

    2014-01-01

    Unmanned Aerial Vehicles (UAVs) have become an essential asset for military and law enforcement operations. In particular their use for surveillance and reconnaissance tasks has been growing due to the quick developments in the areal systems themselves, sensor technology, and image processing

  12. Micro-Doppler extraction of a small UAV in a non-line-of-sight urban scenario

    Science.gov (United States)

    Gustavsson, Magnus; Andersson, Åsa; Johansson, Tommy; Jonsson, Rolf; Karlsson, Nils; Nilsson, Stefan

    2017-05-01

    The appearance of small UAVs on the commercial market poses a real threat to both civilian safety and to military operations. In open terrain a radar can detect and track even small UAVs at long distances. In an urban environment with limited line-of-sight and strong static and non-static background, this capability can be severely reduced. The radar cross section of these UAVs are normally small compared to the background. However, the rotors of the UAVs produce a characteristic micro-Doppler signature that can be exploited for detection and classification. In this paper, we investigate in an experimental set-up whether it is possible in the radar non-line-of-sight to retrieve the micro-Doppler signature of the UAV rotors. This is done by exploring up to three multipath bounces in the measured signal. The measurements were made with a semi-monostatic single receiver-transmitter radar system operating at X-band in a pulsed single frequency mode. The radar response of the UAV, with plastic and metallic rotors, was measured at several positions inside a 4 m wide corridor with metallic walls. In this paper, data from one line-of-sight and two non-line-ofsight positions are presented. Results show that we are able to detect the micro-Doppler of the rotors and to retrieve the number of revolutions per minute, for both rotor types. Free space Finite-Difference Time-Domain calculations have also been performed on a CAD-model of the UAV rotor to determine the optimal choice of polarization and the short-time Fourier transform filter length.

  13. Evapotranspiration from UAV Images

    DEFF Research Database (Denmark)

    Nielsen, Helene Hoffmann Munk

    and is thus of importance in both hydrological, agricultural and atmospheric sciences. Still today, accurate measurements of ET are not achieved easily. The state-of the-art method to measure ET, the eddy covariance method, is associated with uncertainties and its footprint, though at the order of around 1...... hectare, varies much with the atmospheric stability and wind conditions. Indirect measurements of ET are obtained with satellite imagery, as a residual of the surface energy balance. Satellite images provide spatially distributed measurements, however high resolution satellite products provide footprints...... of measurements and thus new understandings of ET and its inferred parameters such as crop water stress and heat fluxes in the surface energy balance. However, UAV data collection is a new measuring method and the lightweight sensors are novel instrumentations. Workflows for processing UAV data, and the data...

  14. RECONNAISSANCE MICRO UAV SYSTEM

    Directory of Open Access Journals (Sweden)

    Petr Gabrlik

    2015-12-01

    Full Text Available This paper describes the design and implementation of the Uranus UAV. This quad-rotor flying robot was created to extend the abilities of the hitherto developed with airborne missions. The first part deals with the mathematical model of the robot. Next, the control system is designed, and the proposed hardware as well as the implemented software solution are presented. For integration into the robotic system, a new communication protocol was created and is described here too.

  15. VISION BASED OBSTACLE DETECTION IN UAV IMAGING

    Directory of Open Access Journals (Sweden)

    S. Badrloo

    2017-08-01

    Full Text Available Detecting and preventing incidence with obstacles is crucial in UAV navigation and control. Most of the common obstacle detection techniques are currently sensor-based. Small UAVs are not able to carry obstacle detection sensors such as radar; therefore, vision-based methods are considered, which can be divided into stereo-based and mono-based techniques. Mono-based methods are classified into two groups: Foreground-background separation, and brain-inspired methods. Brain-inspired methods are highly efficient in obstacle detection; hence, this research aims to detect obstacles using brain-inspired techniques, which try to enlarge the obstacle by approaching it. A recent research in this field, has concentrated on matching the SIFT points along with, SIFT size-ratio factor and area-ratio of convex hulls in two consecutive frames to detect obstacles. This method is not able to distinguish between near and far obstacles or the obstacles in complex environment, and is sensitive to wrong matched points. In order to solve the above mentioned problems, this research calculates the dist-ratio of matched points. Then, each and every point is investigated for Distinguishing between far and close obstacles. The results demonstrated the high efficiency of the proposed method in complex environments.

  16. Towards a Biosynthetic UAV

    Science.gov (United States)

    Block, Eli; Byemerwa, Jovita; Dispenza, Ross; Doughty, Benjamin; Gillyard, KaNesha; Godbole, Poorwa; Gonzales-Wright, Jeanette; Hull, Ian; Kannappan, Jotthe; Levine, Alexander; hide

    2014-01-01

    We are currently working on a series of projects towards the construction of a fully biological unmanned aerial vehicle (UAV) for use in scientific and humanitarian missions. The prospect of a biologically-produced UAV presents numerous advantages over the current manufacturing paradigm. First, a foundational architecture built by cells allows for construction or repair in locations where it would be difficult to bring traditional tools of production. Second, a major limitation of current research with UAVs is the size and high power consumption of analytical instruments, which require bulky electrical components and large fuselages to support their weight. By moving these functions into cells with biosensing capabilities - for example, a series of cells engineered to report GFP, green fluorescent protein, when conditions exceed a certain threshold concentration of a compound of interest, enabling their detection post-flight - these problems of scale can be avoided. To this end, we are working to engineer cells to synthesize cellulose acetate as a novel bioplastic, characterize biological methods of waterproofing the material, and program this material's systemic biodegradation. In addition, we aim to use an "amberless" system to prevent horizontal gene transfer from live cells on the material to microorganisms in the flight environment.

  17. Research for new UAV capabilities

    Energy Technology Data Exchange (ETDEWEB)

    Canavan, G.H.; Leadabrand, R.

    1996-07-01

    This paper discusses research for new Unmanned Aerial Vehicles (UAV) capabilities. Findings indicate that UAV performance could be greatly enhanced by modest research. Improved sensors and communications enhance near term cost effectiveness. Improved engines, platforms, and stealth improve long term effectiveness.

  18. Dragon Drone UAV System

    Science.gov (United States)

    2003-09-02

    TYPE N/A 3. DATES COVERED - 4. TITLE AND SUBTITLE Dragon Drone UAV System 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER...ABSTRACT unclassified c. THIS PAGE unclassified Standard Form 298 (Rev. 8-98) Prescribed by ANSI Std Z39-18 A E R O S Y S T E M S BAI’s Dragon Drone ...the hundreds. BAI’s Dragon Drone system is the result of combining new ideas and emerging technologies with the in-depth knowl- edge gained from real

  19. Quantum radar

    CERN Document Server

    Lanzagorta, Marco

    2011-01-01

    This book offers a concise review of quantum radar theory. Our approach is pedagogical, making emphasis on the physics behind the operation of a hypothetical quantum radar. We concentrate our discussion on the two major models proposed to date: interferometric quantum radar and quantum illumination. In addition, this book offers some new results, including an analytical study of quantum interferometry in the X-band radar region with a variety of atmospheric conditions, a derivation of a quantum radar equation, and a discussion of quantum radar jamming.This book assumes the reader is familiar w

  20. Integration and Validation of Avian Radars (IVAR)

    Science.gov (United States)

    2011-07-01

    TrackViewer Workstation UAV Unmanned Aerial Vehicle USDA United States Department of Agriculture USFWS United States Fish & Wildlife Service...hovering above water, with the hope that they are feeding on fish below. Many marine radars in fact have a “bird” setting on the setup and installation...the current position (yellow blob ) of the target (in this case, a flock of Mallards), while a straight line of blue blobs denoting returns from the

  1. Radar Chart

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — The Radar Chart collection is an archived product of summarized radar data. The geographic coverage is the 48 contiguous states of the United States. These hourly...

  2. Optical and acoustical UAV detection

    Science.gov (United States)

    Christnacher, Frank; Hengy, Sébastien; Laurenzis, Martin; Matwyschuk, Alexis; Naz, Pierre; Schertzer, Stéphane; Schmitt, Gwenael

    2016-10-01

    Recent world events have highlighted that the proliferation of UAVs is bringing with it a new and rapidly increasing threat for national defense and security agencies. Whilst many of the reported UAV incidents seem to indicate that there was no terrorist intent behind them, it is not unreasonable to assume that it may not be long before UAV platforms are regularly employed by terrorists or other criminal organizations. The flight characteristics of many of these mini- and micro-platforms present challenges for current systems which have been optimized over time to defend against the traditional air-breathing airborne platforms. A lot of programs to identify cost-effective measures for the detection, classification, tracking and neutralization have begun in the recent past. In this paper, lSL shows how the performance of a UAV detection and tracking concept based on acousto-optical technology can be powerfully increased through active imaging.

  3. Radar Fundamentals, Presentation

    OpenAIRE

    Jenn, David

    2008-01-01

    Topics include: introduction, radar functions, antennas basics, radar range equation, system parameters, electromagnetic waves, scattering mechanisms, radar cross section and stealth, and sample radar systems.

  4. The Way Ahead For Maritime UAVS

    National Research Council Canada - National Science Library

    Pearson , II, F. C

    2006-01-01

    .... There is an overarching USN plan for UAVs, but I propose an emphasis should be placed on the close range or tactical UAVs that will directly complement battle space management, increase situational...

  5. Collaborative UAV Exploration of Hostile Environments

    National Research Council Canada - National Science Library

    Luotsinen, Linus J; Gonzalez, Avelino J; Boeloeni, Ladislau

    2004-01-01

    .... UAVs can be lost or significantly damaged during the exploration process. Although employing multiple UAVs can increase the chance of success, their efficiency depends on the collaboration strategies used...

  6. Radar equations for modern radar

    CERN Document Server

    Barton, David K

    2012-01-01

    Based on the classic Radar Range-Performance Analysis from 1980, this practical volume extends that work to ensure applicability of radar equations to the design and analysis of modern radars. This unique book helps you identify what information on the radar and its environment is needed to predict detection range. Moreover, it provides equations and data to improve the accuracy of range calculations. You find detailed information on propagation effects, methods of range calculation in environments that include clutter, jamming and thermal noise, as well as loss factors that reduce radar perfo

  7. UAV Swarm Operational Risk Assessment System

    Science.gov (United States)

    2015-09-01

    are detected, clear monitoring is required to track and identify the possible intentions of inbound UAVs. And when a target is identified, enough...armed UAVs (Davis et al. 2014). Although manufacturers in the U.S. and Israel dominate the global UAV market (approximately 75 percent share between

  8. Social Radar

    Science.gov (United States)

    2012-01-01

    RTA HFM-201/RSM PAPER 3 - 1 © 2012 The MITRE Corporation. All Rights Reserved. Social Radar Barry Costa and John Boiney MITRE Corporation...defenders require an integrated set of capabilities that we refer to as a “ social radar.” Such a system would support strategic- to operational-level...situation awareness, alerting, course of action analysis, and measures of effectiveness for each action undertaken. Success of a social radar

  9. Thrust sensing for small UAVs

    Science.gov (United States)

    Marchman, Christopher Scott

    Unmanned aerial vehicles (UAVs) have become prevalent in both military and civilian applications. UAVs have many size categories from large-scale aircraft to micro air vehicles. The performance, health, and efficiency for UAVs of smaller sizes can be difficult to assess and few associated instrumentation systems have been developed. Thrust measurements on the ground can characterize systems especially when combined with simultaneous motor power measurements. This thesis demonstrates the use of strain measurements to measure the thrust produced by motor/propeller combinations for such small UAVs. A full-bridge Wheatstone circuit and electrical resistance strain gauges were used in conjunction with constant-stress cantilever beams for static tests and dynamic wind tunnel tests. An associated instrumentation module monitored power from the electric motor. Monitoring the thrust data over time can provide insights into optimal propeller and motor selection and early detection of problems such as component failure. The approach provides a system for laboratory or field measurements that can be scaled for a wide range of small UAVs.

  10. Planetary Radar

    Science.gov (United States)

    Neish, Catherine D.; Carter, Lynn M.

    2015-01-01

    This chapter describes the principles of planetary radar, and the primary scientific discoveries that have been made using this technique. The chapter starts by describing the different types of radar systems and how they are used to acquire images and accurate topography of planetary surfaces and probe their subsurface structure. It then explains how these products can be used to understand the properties of the target being investigated. Several examples of discoveries made with planetary radar are then summarized, covering solar system objects from Mercury to Saturn. Finally, opportunities for future discoveries in planetary radar are outlined and discussed.

  11. Recce and UAV: mass memory an enabling technology for merger

    Science.gov (United States)

    Hall, Walter J., Jr.

    1996-11-01

    In the era of Declining Defense Dollars, the cost of sophisticated aircraft and highly trained personnel has heightened interest in Unmanned Air Vehicles (UAVs). The obvious lure is the lower vehicle cost (no crew station and crew support systems) and reduced needs for highly skilled air crews. Reconnaissance (commonly called recce) aircraft and their missions are among the commonly sighted applications for UAVs. Today's UAV recce aircraft (such as the Predator) are the genesis of much more sophisticated UAVs of the future. The evolution of the UAV will not be constrained to recce aircraft, but the recce mission will be significant for UAVs. The recce hole has historically been that of a battlefield data collector for post mission review and planning. In the electronic battlefield of the future, that role will be expanded. Envisioned mission for future recce aircraft include real-time scout, target location and fire coordination, battle damage assessment, and large area surveillance. Associated with many of these new roles is the need to store or assess much higher volumes of data. The higher volume data requirements are the result of higher resolution sensors (the Advanced Helicopter Pilotage infrared sensor has a data rate of near 1.2 Gigabits per second) and multi-sensor applications (the Multi-Sensor Aided Targeting program considered infrared, TV, and radar). The evolution of the UAV recce role, and associated increased data storage needs (from higher data rates and increased coverage requirements), requires the development of new data storage equipment. One solution to the increased storage needs is solid-state memory. As solid-state memories become faster, smaller, and cheaper they will enable the UAV recce mission capability to expand. Because of the speed of the memory, it will be possible to buffer and assess (identify the existence of targets or other points of interest) data before committing to consumption of limited storage assets. Faster memory

  12. Roving UAV IED Interdiction System

    Science.gov (United States)

    2011-03-01

    UAVs (Raven, Wasp, and Puma) do not advertise any payload capability, the Tier I operators that Team Bravo contacted claimed small payload...www.ncca.navy.mil/services/inflation.cfm (accessed February 2011). Net Resources International. "Javelin Anti- Armour Missile." Army-Technology.com. 2011. http

  13. Characterization of UAV Performance and Development of a Formation Flight Controller for Multiple Small UAVS

    National Research Council Canada - National Science Library

    McCarthy, Patrick A

    2006-01-01

    ... (UAV). One area of particular interest is using multiple small UAVs cooperatively to improve mission efficiency, as well as perform missions that couldn't be performed using vehicles independently...

  14. UAV State Estimation Modeling Techniques in AHRS

    Science.gov (United States)

    Razali, Shikin; Zhahir, Amzari

    2017-11-01

    Autonomous unmanned aerial vehicle (UAV) system is depending on state estimation feedback to control flight operation. Estimation on the correct state improves navigation accuracy and achieves flight mission safely. One of the sensors configuration used in UAV state is Attitude Heading and Reference System (AHRS) with application of Extended Kalman Filter (EKF) or feedback controller. The results of these two different techniques in estimating UAV states in AHRS configuration are displayed through position and attitude graphs.

  15. Design of UAV (Diseño de un UAV)

    OpenAIRE

    Sacristán Estévez, José María

    2016-01-01

    En este proyecto se ha diseñado un dron, un vehículo aéreo no tripulado (UAV en sus siglas inglesas). El propósito de este proyecto es empezar el diseño desde cero hasta poder vender el dron y que sea rentable. Han sido calculados los parámetros necesarios para comenzar el diseño. Se ha comprobado si todas las partes del UAV son capaces de resistir un impacto contra el suelo durante su uso, y se ha buscado la forma más óptima de conseguir los materiales, así de cómo fabricar ciertas partes y ...

  16. Object Georeferencing in UAV-Based SAR Terrain Images

    Directory of Open Access Journals (Sweden)

    Łabowski Michał

    2016-12-01

    Full Text Available Synthetic aperture radars (SAR allow to obtain high resolution terrain images comparable with the resolution of optical methods. Radar imaging is independent on the weather conditions and the daylight. The process of analysis of the SAR images consists primarily of identifying of interesting objects. The ability to determine their geographical coordinates can increase usability of the solution from a user point of view. The paper presents a georeferencing method of the radar terrain images. The presented images were obtained from the SAR system installed on board an Unmanned Aerial Vehicle (UAV. The system was developed within a project under acronym WATSAR realized by the Military University of Technology and WB Electronics S.A. The source of the navigation data was an INS/GNSS system integrated by the Kalman filter with a feed-backward correction loop. The paper presents the terrain images obtained during flight tests and results of selected objects georeferencing with an assessment of the accuracy of the method.

  17. Weather Radar Stations

    Data.gov (United States)

    Department of Homeland Security — These data represent Next-Generation Radar (NEXRAD) and Terminal Doppler Weather Radar (TDWR) weather radar stations within the US. The NEXRAD radar stations are...

  18. UAV PHOTOGRAMMETRY: BLOCK TRIANGULATION COMPARISONS

    Directory of Open Access Journals (Sweden)

    R. Gini

    2013-08-01

    Full Text Available UAVs systems represent a flexible technology able to collect a big amount of high resolution information, both for metric and interpretation uses. In the frame of experimental tests carried out at Dept. ICA of Politecnico di Milano to validate vector-sensor systems and to assess metric accuracies of images acquired by UAVs, a block of photos taken by a fixed wing system is triangulated with several software. The test field is a rural area included in an Italian Park ("Parco Adda Nord", useful to study flight and imagery performances on buildings, roads, cultivated and uncultivated vegetation. The UAV SenseFly, equipped with a camera Canon Ixus 220HS, flew autonomously over the area at a height of 130 m yielding a block of 49 images divided in 5 strips. Sixteen pre-signalized Ground Control Points, surveyed in the area through GPS (NRTK survey, allowed the referencing of the block and accuracy analyses. Approximate values for exterior orientation parameters (positions and attitudes were recorded by the flight control system. The block was processed with several software: Erdas-LPS, EyeDEA (Univ. of Parma, Agisoft Photoscan, Pix4UAV, in assisted or automatic way. Results comparisons are given in terms of differences among digital surface models, differences in orientation parameters and accuracies, when available. Moreover, image and ground point coordinates obtained by the various software were independently used as initial values in a comparative adjustment made by scientific in-house software, which can apply constraints to evaluate the effectiveness of different methods of point extraction and accuracies on ground check points.

  19. GNSS Software Receiver for UAVs

    DEFF Research Database (Denmark)

    Olesen, Daniel Madelung; Jakobsen, Jakob; von Benzon, Hans-Henrik

    2016-01-01

    This paper describes the current activities of GPS/GNSS Software receiver development at DTU Space. GNSS Software receivers have received a great deal of attention in the last two decades and numerous implementations have already been presented. DTU Space has just recently started development of ...... of our own GNSS software-receiver targeted for mini UAV applications, and we will in in this paper present our current progress and briefly discuss the benefits of Software Receivers in relation to our research interests....

  20. Determination of UAV position using high accuracy navigation platform

    Directory of Open Access Journals (Sweden)

    Ireneusz Kubicki

    2016-07-01

    Full Text Available The choice of navigation system for mini UAV is very important because of its application and exploitation, particularly when the installed on it a synthetic aperture radar requires highly precise information about an object’s position. The presented exemplary solution of such a system draws attention to the possible problems associated with the use of appropriate technology, sensors, and devices or with a complete navigation system. The position and spatial orientation errors of the measurement platform influence on the obtained SAR imaging. Both, turbulences and maneuvers performed during flight cause the changes in the position of the airborne object resulting in deterioration or lack of images from SAR. Consequently, it is necessary to perform operations for reducing or eliminating the impact of the sensors’ errors on the UAV position accuracy. You need to look for compromise solutions between newer better technologies and in the field of software. Keywords: navigation systems, unmanned aerial vehicles, sensors integration

  1. General principles of passive radar signature reducing – stealth technology and its applications

    Directory of Open Access Journals (Sweden)

    Alexandru Marius PANAIT

    2010-03-01

    Full Text Available The paper presents passive radar signature reducing principles and technologies and discusses the ways to implement stealthy characteristics in general vehicle design. Stealth is a major requirement to all current-generation military vehicle designs and also a strong selling point for various aircraft and UAVs.

  2. Bistatic radar

    CERN Document Server

    Willis, Nick

    2004-01-01

    Annotation his book is a major extension of a chapter on bistatic radar written by the author for the Radar Handbook, 2nd edition, edited by Merrill Skolnik. It provides a history of bistatic systems that points out to potential designers the applications that have worked and the dead-ends not worth pursuing. The text reviews the basic concepts and definitions, and explains the mathematical development of relationships, such as geometry, Ovals of Cassini, dynamic range, isorange and isodoppler contours, target doppler, and clutter doppler spread.Key Features * All development and analysis are

  3. UAV based hydromorphological mapping of a river reach to improve hydrodynamic numerical models

    Science.gov (United States)

    Lükő, Gabriella; Baranya, Sándor; Rüther, Nils

    2017-04-01

    Unmanned Aerial Vehicles (UAVs) are increasingly used in the field of engineering surveys. In river engineering, or in general, water resources engineering, UAV based measurements have a huge potential. For instance, indirect measurements of the flow discharge using e.g. large-scale particle image velocimetry (LSPIV), particle tracking velocimetry (PTV), space-time image velocimetry (STIV) or radars became a real alternative for direct flow measurements. Besides flow detection, topographic surveys are also essential for river flow studies as the channel and floodplain geometry is the primary steering feature of the flow. UAVs can play an important role in this field, too. The widely used laser based topographic survey method (LIDAR) can be deployed on UAVs, moreover, the application of the Structure from Motion (SfM) method, which is based on images taken by UAVs, might be an even more cost-efficient alternative to reveal the geometry of distinct objects in the river or on the floodplain. The goal of this study is to demonstrate the utilization of photogrammetry and videogrammetry from airborne footage to provide geometry and flow data for a hydrodynamic numerical simulation of a 2 km long river reach in Albania. First, the geometry of the river is revealed from photogrammetry using the SfM method. Second, a more detailed view of the channel bed at low water level is taken. Using the fine resolution images, a Matlab based code, BASEGrain, developed by the ETH in Zürich, will be applied to determine the grain size characteristics of the river bed. This information will be essential to define the hydraulic roughness in the numerical model. Third, flow mapping is performed using UAV measurements and LSPIV method to quantitatively asses the flow field at the free surface and to estimate the discharge in the river. All data collection and analysis will be carried out using a simple, low-cost UAV, moreover, for all the data processing, open source, freely available

  4. Radio Channel Modelling for UAV Communication over Cellular Networks

    DEFF Research Database (Denmark)

    Amorim, Rafhael Medeiros de; Nguyen, Huan Cong; Mogensen, Preben Elgaard

    2017-01-01

    a commercial UAV. Our results show that path loss exponents decrease as the UAV moves up, approximating freespace propagation for horizontal ranges up to tens of kilometers at UAV heights around 100m. Our findings support the need of heightdependent parameters for describing the propagation channel for UAVs...

  5. Mini UAV as an improvised air threat

    NARCIS (Netherlands)

    Kraker, K.J. de; Wiel, R.A.N. van de

    2013-01-01

    The use of UAVs for military and law enforcement purposes is increasing dramatically. Simultaneously, possible opponents are also developing UAV capabilities that they may deploy for their purposes. For example, a terrorist may deploy a commercially available model airplane or multicopter with an

  6. Landing spot selection for UAV emergency landing

    NARCIS (Netherlands)

    Eendebak, P.T.; Eekeren, A.W.M. van; Hollander, R.J.M. den

    2013-01-01

    We present a robust method for landing zone selection using obstacle detection to be used for UAV emergency landings. The method is simple enough to allow real-time implementation on a UAV system. The method is able to detect objects in the presence of camera movement and motion parallax. Using the

  7. SLIC superpixels for object delineation UAV data

    NARCIS (Netherlands)

    Crommelinck, Sophie Charlotte; Bennett, R.M.; Gerke, Markus; Koeva, M.N.; Yang, M.Y.; Vosselman, G.; Stachniss, C.; Förstner, W.; Schneider, J.

    2017-01-01

    Unmanned aerial vehicles (UAV) are increasingly investigated with regard to their potential to create and update (cadastral) maps. UAVs provide a flexible and low-cost platform for high-resolution data, from which object outlines can be accurately delineated. This delineation could be automated with

  8. Persistent Aerial Tracking system for UAVs

    KAUST Repository

    Mueller, Matthias

    2016-12-19

    In this paper, we propose a persistent, robust and autonomous object tracking system for unmanned aerial vehicles (UAVs) called Persistent Aerial Tracking (PAT). A computer vision and control strategy is applied to a diverse set of moving objects (e.g. humans, animals, cars, boats, etc.) integrating multiple UAVs with a stabilized RGB camera. A novel strategy is employed to successfully track objects over a long period, by ‘handing over the camera’ from one UAV to another. We evaluate several state-of-the-art trackers on the VIVID aerial video dataset and additional sequences that are specifically tailored to low altitude UAV target tracking. Based on the evaluation, we select the leading tracker and improve upon it by optimizing for both speed and performance, integrate the complete system into an off-the-shelf UAV, and obtain promising results showing the robustness of our solution in real-world aerial scenarios.

  9. Persistent Aerial Tracking system for UAVs

    KAUST Repository

    Mueller, Matthias; Sharma, Gopal; Smith, Neil; Ghanem, Bernard

    2016-01-01

    In this paper, we propose a persistent, robust and autonomous object tracking system for unmanned aerial vehicles (UAVs) called Persistent Aerial Tracking (PAT). A computer vision and control strategy is applied to a diverse set of moving objects (e.g. humans, animals, cars, boats, etc.) integrating multiple UAVs with a stabilized RGB camera. A novel strategy is employed to successfully track objects over a long period, by ‘handing over the camera’ from one UAV to another. We evaluate several state-of-the-art trackers on the VIVID aerial video dataset and additional sequences that are specifically tailored to low altitude UAV target tracking. Based on the evaluation, we select the leading tracker and improve upon it by optimizing for both speed and performance, integrate the complete system into an off-the-shelf UAV, and obtain promising results showing the robustness of our solution in real-world aerial scenarios.

  10. Use of UAVs for Remote Measurement of Vegetation Canopy Variables

    Science.gov (United States)

    Rango, A.; Laliberte, A.; Herrick, J.; Steele, C.; Bestelmeyer, B.; Chopping, M. J.

    2006-12-01

    parallel routes for investigation: one which emphasizes utilization of the most technically advanced passive and active space and aircraft sensors (e.g., LIDAR, radar, Hyperion, ASTER, QuickBird follow-on) for modeling research, and a second which emphasizes minimization of costs and maximization of simplicity for monitoring purposes utilizing inexpensive sensors such as digital cameras on UAVs for arid and semiarid rangelands. The use of UAVs will provide management agencies a way to assess various vegetation canopy variables for a very reasonable cost.

  11. Generación de trayectorias y toma de decisiones para uavs

    Directory of Open Access Journals (Sweden)

    Gonzalo Pajares

    2008-01-01

    Full Text Available Resumen: La generación de trayectorias y la replanificación de las mismas en entornos hostiles para UAVs (Unmanned Aerial Vehicles es una disciplina en auge. Los entornos hostiles se caracterizan por la presencia de amenazas, modeladas aquí como radares. Inicialmente se planifica una ruta. Si en vuelo surgen nuevas amenazas, la ruta inicial se replanifica. En ambos casos las rutas se obtienen mediante el algoritmo A*. Ante una replanificación el UAV toma una decisión sobre si continuar por la ruta inicial o por la replanificada. La teoría de la decisión multiatributo proporciona en este caso el mecanismo adecuado. Palabras clave: Unmanned Aerial Vehicles, plan de vuelo, replanificación, toma de decisiones, teoría de la utilidad, amenazas, riesgo

  12. Performance test and verification of an off-the-shelf automated avian radar tracking system.

    Science.gov (United States)

    May, Roel; Steinheim, Yngve; Kvaløy, Pål; Vang, Roald; Hanssen, Frank

    2017-08-01

    Microwave radar is an important tool for observation of birds in flight and represents a tremendous increase in observation capability in terms of amount of surveillance space that can be covered at relatively low cost. Based on off-the-shelf radar hardware, automated radar tracking systems have been developed for monitoring avian movements. However, radar used as an observation instrument in biological research has its limitations that are important to be aware of when analyzing recorded radar data. This article describes a method for exploring the detection capabilities of a dedicated short-range avian radar system used inside the operational Smøla wind-power plant. The purpose of the testing described was to find the maximum detection range for various sized birds, while controlling for the effects of flight tortuosity, flight orientation relative to the radar and ground clutter. The method was to use a dedicated test target in form of a remotely controlled unmanned aerial vehicle (UAV) with calibrated radar cross section (RCS), which enabled the design of virtually any test flight pattern within the area of interest. The UAV had a detection probability of 0.5 within a range of 2,340 m from the radar. The detection performance obtained by the RCS-calibrated test target (-11 dBm 2 , 0.08 m 2 RCS) was then extrapolated to find the corresponding performance of differently sized birds. Detection range depends on system sensitivity, the environment within which the radar is placed and the spatial distribution of birds. The avian radar under study enables continuous monitoring of bird activity within a maximum range up to 2 km dependent on the size of the birds in question. While small bird species may be detected up to 0.5-1 km, larger species may be detected up to 1.5-2 km distance from the radar.

  13. EMERGENCY RADIATION SURVEY DEVICE ONBOARD THE UAV

    Directory of Open Access Journals (Sweden)

    S. Bogatov

    2013-08-01

    Full Text Available Radiation survey device (RSD on the base of unmanned aerial vehicle (UAV was developed as an equipment of rescue forces for radiation situation reconnaissance in case of emergency. RSD is multi range radiometer with spectrometer functions capable to work within gamma ray fields of dose rate 10–7 – 10–1 Sievert per hour. UAV md4-1000 (Microdrones GmbH, Germany was selected as the RSD carrier as a reliable vehicle with appropriate properties. Short description of RSD, UAV and developed software features as well as sensitivity assessments for different radiation sources are presented.

  14. Low complexity video encoding for UAV inspection

    DEFF Research Database (Denmark)

    Søgaard, Jacob; Zhang, Ruo; Forchhammer, Søren

    2016-01-01

    In this work we present several methods for fast integer motion estimation of videos recorded aboard an Unmanned Aerial Vehicle (UAV). Different from related work, the field depth is not considered to be consistent. The novel methods designed for low complexity MV prediction in H.264/AVC and anal......In this work we present several methods for fast integer motion estimation of videos recorded aboard an Unmanned Aerial Vehicle (UAV). Different from related work, the field depth is not considered to be consistent. The novel methods designed for low complexity MV prediction in H.264/AVC...... for UAV infrared (IR) video are also provided....

  15. Commercial UAV operations in civil airspace

    Science.gov (United States)

    Newcome, Laurence R.

    2000-11-01

    The Federal Aviation Administration is often portrayed as the major impediment to unmanned aerial vehicle expansion into civil government and commercial markets. This paper describes one company's record for successfully negotiating the FAA regulations and obtaining authorizations for several types of UAVs to fly commercial reconnaissance missions in civil airspace. The process and criteria for obtaining such authorizations are described. The mishap records of the Pioneer, Predator and Hunter UAVs are examined in regard to their impact on FAA rule making. The paper concludes with a discussion of the true impediments to UAV penetration of commercial markets to date.

  16. Air Force UAVs: The Secret History

    Science.gov (United States)

    2010-07-01

    iA Mitchell Institute Study i Air Force UAVs The Secret History A Mitchell Institute Study July 2010 By Thomas P. Ehrhard Report Documentation Page...DATES COVERED 00-00-2010 to 00-00-2010 4. TITLE AND SUBTITLE Air Force UAVs The Secret History 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c...opening phases of Operation Enduring Freedom in Afghanistan. By Thomas P. Ehrhard a miTchEll insTiTuTE sTudy July 2010 Air Force UAVs The Secret History

  17. RADAR PPI Scope Overlay

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — RADAR PPI Scope Overlays are used to position a RADAR image over a station at the correct resolution. The archive maintains several different RADAR resolution types,...

  18. Experimental and rendering-based investigation of laser radar cross sections of small unmanned aerial vehicles

    Science.gov (United States)

    Laurenzis, Martin; Bacher, Emmanuel; Christnacher, Frank

    2017-12-01

    Laser imaging systems are prominent candidates for detection and tracking of small unmanned aerial vehicles (UAVs) in current and future security scenarios. Laser reflection characteristics for laser imaging (e.g., laser gated viewing) of small UAVs are investigated to determine their laser radar cross section (LRCS) by analyzing the intensity distribution of laser reflection in high resolution images. For the first time, LRCSs are determined in a combined experimental and computational approaches by high resolution laser gated viewing and three-dimensional rendering. An optimized simple surface model is calculated taking into account diffuse and specular reflectance properties based on the Oren-Nayar and the Cook-Torrance reflectance models, respectively.

  19. Distributed Flight Controls for UAVs, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — Two novel flight control actuation concepts for UAV applications are proposed for research and development, both of which incorporate shape memory alloy (SMA) wires...

  20. UAV Mission Planning: From Robust to Agile

    NARCIS (Netherlands)

    Evers, L.; Barros, A.I.; Monsuur, H.; Wagelmans, A.

    2015-01-01

    Unmanned Aerial Vehicles (UAVs) are important assets for information gathering in Intelligence Surveillance and Reconnaissance (ISR) missions. Depending on the uncertainty in the planning parameters, the complexity of the mission and its constraints and requirements, different planning methods might

  1. Standing "the Watches" with Armed UAVs

    National Research Council Canada - National Science Library

    McCulloch, Francis

    2002-01-01

    This paper addresses the additional Options available to the operational commander in charge of conducting 'presence and monitoring' missions with the introduction of an armed capability on Unmanned Aerial Vehicles (UAVs...

  2. Battery Health Management System for Electric UAVs

    Data.gov (United States)

    National Aeronautics and Space Administration — In summary, this paper lays out a novel battery health management technique for application onboard an electric UAV. This technique is also applicable to other...

  3. Aerial photogrammetry procedure optimized for micro uav

    Directory of Open Access Journals (Sweden)

    T. Anai

    2014-06-01

    Full Text Available This paper proposes the automatic aerial photogrammetry procedure optimized for Micro UAV that has ability of autonomous flight. The most important goal of our proposed method is the reducing the processing cost for fully automatic reconstruction of DSM from a large amount of image obtained from Micro UAV. For this goal, we have developed automatic corresponding point generation procedure using feature point tracking algorithm considering position and attitude information, which obtained from onboard GPS-IMU integrated on Micro UAV. In addition, we have developed the automatic exterior orientation and registration procedure from the automatic generated corresponding points on each image and position and attitude information from Micro UAV. Moreover, in order to reconstruct precise DSM, we have developed the area base matching process which considering edge information. In this paper, we describe processing flow of our automatic aerial photogrammetry. Moreover, the accuracy assessment is also described. Furthermore, some application of automatic reconstruction of DSM will be desired.

  4. Cycloidal Propulsion for UAV VTOL Applications

    National Research Council Canada - National Science Library

    Boschma, James

    1998-01-01

    .... This propulsion concept holds significant promise for adaptation to UAV VTOL operations. Thrust levels demonstrated were substantially higher than achievable by the best screw type propellers, and approximately equal to those of high end helicopters...

  5. Advances in bistatic radar

    CERN Document Server

    Willis, Nick

    2007-01-01

    Advances in Bistatic Radar updates and extends bistatic and multistatic radar developments since publication of Willis' Bistatic Radar in 1991. New and recently declassified military applications are documented. Civil applications are detailed including commercial and scientific systems. Leading radar engineers provide expertise to each of these applications. Advances in Bistatic Radar consists of two major sections: Bistatic/Multistatic Radar Systems and Bistatic Clutter and Signal Processing. Starting with a history update, the first section documents the early and now declassified military

  6. A Benchmark and Simulator for UAV Tracking

    KAUST Repository

    Mueller, Matthias; Smith, Neil; Ghanem, Bernard

    2016-01-01

    In this paper, we propose a new aerial video dataset and benchmark for low altitude UAV target tracking, as well as, a photorealistic UAV simulator that can be coupled with tracking methods. Our benchmark provides the first evaluation of many state-of-the-art and popular trackers on 123 new and fully annotated HD video sequences captured from a low-altitude aerial perspective. Among the compared trackers, we determine which ones are the most suitable for UAV tracking both in terms of tracking accuracy and run-time. The simulator can be used to evaluate tracking algorithms in real-time scenarios before they are deployed on a UAV “in the field”, as well as, generate synthetic but photo-realistic tracking datasets with automatic ground truth annotations to easily extend existing real-world datasets. Both the benchmark and simulator are made publicly available to the vision community on our website to further research in the area of object tracking from UAVs. (https://ivul.kaust.edu.sa/Pages/pub-benchmark-simulator-uav.aspx.). © Springer International Publishing AG 2016.

  7. A Benchmark and Simulator for UAV Tracking

    KAUST Repository

    Mueller, Matthias

    2016-09-16

    In this paper, we propose a new aerial video dataset and benchmark for low altitude UAV target tracking, as well as, a photorealistic UAV simulator that can be coupled with tracking methods. Our benchmark provides the first evaluation of many state-of-the-art and popular trackers on 123 new and fully annotated HD video sequences captured from a low-altitude aerial perspective. Among the compared trackers, we determine which ones are the most suitable for UAV tracking both in terms of tracking accuracy and run-time. The simulator can be used to evaluate tracking algorithms in real-time scenarios before they are deployed on a UAV “in the field”, as well as, generate synthetic but photo-realistic tracking datasets with automatic ground truth annotations to easily extend existing real-world datasets. Both the benchmark and simulator are made publicly available to the vision community on our website to further research in the area of object tracking from UAVs. (https://ivul.kaust.edu.sa/Pages/pub-benchmark-simulator-uav.aspx.). © Springer International Publishing AG 2016.

  8. Development of Cloud-Based UAV Monitoring and Management System.

    Science.gov (United States)

    Itkin, Mason; Kim, Mihui; Park, Younghee

    2016-11-15

    Unmanned aerial vehicles (UAVs) are an emerging technology with the potential to revolutionize commercial industries and the public domain outside of the military. UAVs would be able to speed up rescue and recovery operations from natural disasters and can be used for autonomous delivery systems (e.g., Amazon Prime Air). An increase in the number of active UAV systems in dense urban areas is attributed to an influx of UAV hobbyists and commercial multi-UAV systems. As airspace for UAV flight becomes more limited, it is important to monitor and manage many UAV systems using modern collision avoidance techniques. In this paper, we propose a cloud-based web application that provides real-time flight monitoring and management for UAVs. For each connected UAV, detailed UAV sensor readings from the accelerometer, GPS sensor, ultrasonic sensor and visual position cameras are provided along with status reports from the smaller internal components of UAVs (i.e., motor and battery). The dynamic map overlay visualizes active flight paths and current UAV locations, allowing the user to monitor all aircrafts easily. Our system detects and prevents potential collisions by automatically adjusting UAV flight paths and then alerting users to the change. We develop our proposed system and demonstrate its feasibility and performances through simulation.

  9. Development of Cloud-Based UAV Monitoring and Management System

    Directory of Open Access Journals (Sweden)

    Mason Itkin

    2016-11-01

    Full Text Available Unmanned aerial vehicles (UAVs are an emerging technology with the potential to revolutionize commercial industries and the public domain outside of the military. UAVs would be able to speed up rescue and recovery operations from natural disasters and can be used for autonomous delivery systems (e.g., Amazon Prime Air. An increase in the number of active UAV systems in dense urban areas is attributed to an influx of UAV hobbyists and commercial multi-UAV systems. As airspace for UAV flight becomes more limited, it is important to monitor and manage many UAV systems using modern collision avoidance techniques. In this paper, we propose a cloud-based web application that provides real-time flight monitoring and management for UAVs. For each connected UAV, detailed UAV sensor readings from the accelerometer, GPS sensor, ultrasonic sensor and visual position cameras are provided along with status reports from the smaller internal components of UAVs (i.e., motor and battery. The dynamic map overlay visualizes active flight paths and current UAV locations, allowing the user to monitor all aircrafts easily. Our system detects and prevents potential collisions by automatically adjusting UAV flight paths and then alerting users to the change. We develop our proposed system and demonstrate its feasibility and performances through simulation.

  10. Development of Cloud-Based UAV Monitoring and Management System

    Science.gov (United States)

    Itkin, Mason; Kim, Mihui; Park, Younghee

    2016-01-01

    Unmanned aerial vehicles (UAVs) are an emerging technology with the potential to revolutionize commercial industries and the public domain outside of the military. UAVs would be able to speed up rescue and recovery operations from natural disasters and can be used for autonomous delivery systems (e.g., Amazon Prime Air). An increase in the number of active UAV systems in dense urban areas is attributed to an influx of UAV hobbyists and commercial multi-UAV systems. As airspace for UAV flight becomes more limited, it is important to monitor and manage many UAV systems using modern collision avoidance techniques. In this paper, we propose a cloud-based web application that provides real-time flight monitoring and management for UAVs. For each connected UAV, detailed UAV sensor readings from the accelerometer, GPS sensor, ultrasonic sensor and visual position cameras are provided along with status reports from the smaller internal components of UAVs (i.e., motor and battery). The dynamic map overlay visualizes active flight paths and current UAV locations, allowing the user to monitor all aircrafts easily. Our system detects and prevents potential collisions by automatically adjusting UAV flight paths and then alerting users to the change. We develop our proposed system and demonstrate its feasibility and performances through simulation. PMID:27854267

  11. A Survey of Channel Modeling for UAV Communications

    KAUST Repository

    Khuwaja, Aziz Altaf; Chen, Yunfei; Zhao, Nan; Alouini, Mohamed-Slim; Dobbins, Paul

    2018-01-01

    Unmanned aerial vehicles (UAVs) have gained great interest for rapid deployment in both civil and military applications. UAV communication has its own distinctive channel characteristics compared with widely used cellular and satellite systems. Thus, accurate channel characterization is crucial for the performance optimization and design of efficient UAV communication systems. However, several challenges exist in UAV channel modeling. For example, propagation characteristics of UAV channels are still less explored for spatial and temporal variations in non-stationary channels. Also, airframe shadowing has not yet been investigated for small size rotary UAVs. This paper provides an extensive survey on the measurement campaigns launched for UAV channel modeling using low altitude platforms and discusses various channel characterization efforts. We also review the contemporary perspective of UAV channel modeling approaches and outline some future research challenges in this domain.

  12. Review of the current state of UAV regulations

    NARCIS (Netherlands)

    Stöcker, Elvira Claudia; Bennett, Rohan; Nex, Francesco; Gerke, Markus; Zevenbergen, Jaap

    2017-01-01

    UAVs-unmanned aerial vehicles-facilitate data acquisition at temporal and spatial scales that still remain unachievable for traditional remote sensing platforms. However, current legal frameworks that regulate UAVs present significant barriers to research and development. To highlight the

  13. Evaluation and development of unmanned aircraft (UAV) for UDOT needs.

    Science.gov (United States)

    2012-05-01

    This research involved the use of high-resolution aerial photography obtained from Unmanned Aerial Vehicles (UAV) to aid UDOT in monitoring and documenting State Roadway structures and associated issues. Using geo-referenced UAV high resolution aeria...

  14. RAVEN-2: Around-The-World UAV Project

    National Research Council Canada - National Science Library

    Burleigh, Chris

    2003-01-01

    The Raven around-the-world UAV project is part of an on-going effort to build up a significant European capability in the design, construction and operation of large UAVs and manned reconnaissance aircraft...

  15. A Survey of Channel Modeling for UAV Communications

    KAUST Repository

    Khuwaja, Aziz Altaf

    2018-01-23

    Unmanned aerial vehicles (UAVs) have gained great interest for rapid deployment in both civil and military applications. UAV communication has its own distinctive channel characteristics compared with widely used cellular and satellite systems. Thus, accurate channel characterization is crucial for the performance optimization and design of efficient UAV communication systems. However, several challenges exist in UAV channel modeling. For example, propagation characteristics of UAV channels are still less explored for spatial and temporal variations in non-stationary channels. Also, airframe shadowing has not yet been investigated for small size rotary UAVs. This paper provides an extensive survey on the measurement campaigns launched for UAV channel modeling using low altitude platforms and discusses various channel characterization efforts. We also review the contemporary perspective of UAV channel modeling approaches and outline some future research challenges in this domain.

  16. From random process to chaotic behavior in swarms of UAVs

    OpenAIRE

    Rosalie , Martin; Danoy , Grégoire; Chaumette , Serge; Bouvry , Pascal

    2016-01-01

    International audience; Unmanned Aerial Vehicles (UAVs) applications have seen an important increase in the last decade for both military and civilian applications ranging from fire and high seas rescue to military surveillance and target detection. While this technology is now mature for a single UAV, new methods are needed to operate UAVs in swarms, also referred to as fleets. This work focuses on the mobility management of one single autonomous swarm of UAVs which mission is to cover a giv...

  17. Radar and Lidar Radar DEM

    Science.gov (United States)

    Liskovich, Diana; Simard, Marc

    2011-01-01

    Using radar and lidar data, the aim is to improve 3D rendering of terrain, including digital elevation models (DEM) and estimates of vegetation height and biomass in a variety of forest types and terrains. The 3D mapping of vegetation structure and the analysis are useful to determine the role of forest in climate change (carbon cycle), in providing habitat and as a provider of socio-economic services. This in turn will lead to potential for development of more effective land-use management. The first part of the project was to characterize the Shuttle Radar Topography Mission DEM error with respect to ICESat/GLAS point estimates of elevation. We investigated potential trends with latitude, canopy height, signal to noise ratio (SNR), number of LiDAR waveform peaks, and maximum peak width. Scatter plots were produced for each variable and were fitted with 1st and 2nd degree polynomials. Higher order trends were visually inspected through filtering with a mean and median filter. We also assessed trends in the DEM error variance. Finally, a map showing how DEM error was geographically distributed globally was created.

  18. Spurious RF signals emitted by mini-UAVs

    NARCIS (Netherlands)

    Schleijpen, R.; Voogt, V.; Zwamborn, P.; Oever, J. van den

    2016-01-01

    This paper presents experimental work on the detection of spurious RF emissions of mini Unmanned Aerial Vehicles (mini-UAV). Many recent events have shown that mini-UAVs can be considered as a potential threat for civil security. For this reason the detection of mini-UAVs has become of interest to

  19. Diverse Planning for UAV Control and Remote Sensing

    Directory of Open Access Journals (Sweden)

    Jan Tožička

    2016-12-01

    Full Text Available Unmanned aerial vehicles (UAVs are suited to various remote sensing missions, such as measuring air quality. The conventional method of UAV control is by human operators. Such an approach is limited by the ability of cooperation among the operators controlling larger fleets of UAVs in a shared area. The remedy for this is to increase autonomy of the UAVs in planning their trajectories by considering other UAVs and their plans. To provide such improvement in autonomy, we need better algorithms for generating alternative trajectory variants that the UAV coordination algorithms can utilize. In this article, we define a novel family of multi-UAV sensing problems, solving task allocation of huge number of tasks (tens of thousands to a group of configurable UAVs with non-zero weight of equipped sensors (comprising the air quality measurement as well together with two base-line solvers. To solve the problem efficiently, we use an algorithm for diverse trajectory generation and integrate it with a solver for the multi-UAV coordination problem. Finally, we experimentally evaluate the multi-UAV sensing problem solver. The evaluation is done on synthetic and real-world-inspired benchmarks in a multi-UAV simulator. Results show that diverse planning is a valuable method for remote sensing applications containing multiple UAVs.

  20. Minimum redundancy MIMO radars

    OpenAIRE

    Chen, Chun-Yang; Vaidyanathan, P. P.

    2008-01-01

    The multiple-input multiple-output (MIMO) radar concept has drawn considerable attention recently. In the traditional single-input multiple-output (SIMO) radar system, the transmitter emits scaled versions of a single waveform. However, in the MIMO radar system, the transmitter transmits independent waveforms. It has been shown that the MIMO radar can be used to improve system performance. Most of the MIMO radar research so far has focused on the uniform array. However, i...

  1. UAV Trajectory Modeling Using Neural Networks

    Science.gov (United States)

    Xue, Min

    2017-01-01

    Large amount of small Unmanned Aerial Vehicles (sUAVs) are projected to operate in the near future. Potential sUAV applications include, but not limited to, search and rescue, inspection and surveillance, aerial photography and video, precision agriculture, and parcel delivery. sUAVs are expected to operate in the uncontrolled Class G airspace, which is at or below 500 feet above ground level (AGL), where many static and dynamic constraints exist, such as ground properties and terrains, restricted areas, various winds, manned helicopters, and conflict avoidance among sUAVs. How to enable safe, efficient, and massive sUAV operations at the low altitude airspace remains a great challenge. NASA's Unmanned aircraft system Traffic Management (UTM) research initiative works on establishing infrastructure and developing policies, requirement, and rules to enable safe and efficient sUAVs' operations. To achieve this goal, it is important to gain insights of future UTM traffic operations through simulations, where the accurate trajectory model plays an extremely important role. On the other hand, like what happens in current aviation development, trajectory modeling should also serve as the foundation for any advanced concepts and tools in UTM. Accurate models of sUAV dynamics and control systems are very important considering the requirement of the meter level precision in UTM operations. The vehicle dynamics are relatively easy to derive and model, however, vehicle control systems remain unknown as they are usually kept by manufactures as a part of intellectual properties. That brings challenges to trajectory modeling for sUAVs. How to model the vehicle's trajectories with unknown control system? This work proposes to use a neural network to model a vehicle's trajectory. The neural network is first trained to learn the vehicle's responses at numerous conditions. Once being fully trained, given current vehicle states, winds, and desired future trajectory, the neural

  2. Multiple UAV Cooperation for Wildfire Monitoring

    Science.gov (United States)

    Lin, Zhongjie

    Wildfires have been a major factor in the development and management of the world's forest. An accurate assessment of wildfire status is imperative for fire management. This thesis is dedicated to the topic of utilizing multiple unmanned aerial vehicles (UAVs) to cooperatively monitor a large-scale wildfire. This is achieved through wildfire spreading situation estimation based on on-line measurements and wise cooperation strategy to ensure efficiency. First, based on the understanding of the physical characteristics of the wildfire propagation behavior, a wildfire model and a Kalman filter-based method are proposed to estimate the wildfire rate of spread and the fire front contour profile. With the enormous on-line measurements from on-board sensors of UAVs, the proposed method allows a wildfire monitoring mission to benefit from on-line information updating, increased flexibility, and accurate estimation. An independent wildfire simulator is utilized to verify the effectiveness of the proposed method. Second, based on the filter analysis, wildfire spreading situation and vehicle dynamics, the influence of different cooperation strategies of UAVs to the overall mission performance is studied. The multi-UAV cooperation problem is formulated in a distributed network. A consensus-based method is proposed to help address the problem. The optimal cooperation strategy of UAVs is obtained through mathematical analysis. The derived optimal cooperation strategy is then verified in an independent fire simulation environment to verify its effectiveness.

  3. Automatic UAV Image Geo-Registration by Matching UAV Images to Georeferenced Image Data

    Directory of Open Access Journals (Sweden)

    Xiangyu Zhuo

    2017-04-01

    Full Text Available Recent years have witnessed the fast development of UAVs (unmanned aerial vehicles. As an alternative to traditional image acquisition methods, UAVs bridge the gap between terrestrial and airborne photogrammetry and enable flexible acquisition of high resolution images. However, the georeferencing accuracy of UAVs is still limited by the low-performance on-board GNSS and INS. This paper investigates automatic geo-registration of an individual UAV image or UAV image blocks by matching the UAV image(s with a previously taken georeferenced image, such as an individual aerial or satellite image with a height map attached or an aerial orthophoto with a DSM (digital surface model attached. As the biggest challenge for matching UAV and aerial images is in the large differences in scale and rotation, we propose a novel feature matching method for nadir or slightly tilted images. The method is comprised of a dense feature detection scheme, a one-to-many matching strategy and a global geometric verification scheme. The proposed method is able to find thousands of valid matches in cases where SIFT and ASIFT fail. Those matches can be used to geo-register the whole UAV image block towards the reference image data. When the reference images offer high georeferencing accuracy, the UAV images can also be geolocalized in a global coordinate system. A series of experiments involving different scenarios was conducted to validate the proposed method. The results demonstrate that our approach achieves not only decimeter-level registration accuracy, but also comparable global accuracy as the reference images.

  4. Automatic Reverse Engineering of Private Flight Control Protocols of UAVs

    Directory of Open Access Journals (Sweden)

    Ran Ji

    2017-01-01

    Full Text Available The increasing use of civil unmanned aerial vehicles (UAVs has the potential to threaten public safety and privacy. Therefore, airspace administrators urgently need an effective method to regulate UAVs. Understanding the meaning and format of UAV flight control commands by automatic protocol reverse-engineering techniques is highly beneficial to UAV regulation. To improve our understanding of the meaning and format of UAV flight control commands, this paper proposes a method to automatically analyze the private flight control protocols of UAVs. First, we classify flight control commands collected from a binary network trace into clusters; then, we analyze the meaning of flight control commands by the accumulated error of each cluster; next, we extract the binary format of commands and infer field semantics in these commands; and finally, we infer the location of the check field in command and the generator polynomial matrix. The proposed approach is validated via experiments on a widely used consumer UAV.

  5. Transmission Tower Environment Monitoring Using UAV

    International Nuclear Information System (INIS)

    Redzuwan, Redia Mohd; Din, Norashidah Md; Baharuddin, Mohd Zafri; Mustafa, Intan Shafinaz; Omar, Rohayu Che'

    2013-01-01

    Power utility engineers used to conduct ground survey to collect topographic data. Therefore, they can get detailed and accurate information, but these techniques take a lot of labors and expenses, and spending times for the surveying. An attractive solution to the ground survey is using images taken using Unmanned Aerial Vehicle (UAV). Images captured from UAV can be collected quickly and efficiently over the same area covered in the land survey, in a fraction of the time. The purpose of this research is to mosaic the large numbers of spectral images together into a region wide panoramic image which allows experts to analyze the data for transmission tower monitoring purposes.

  6. Common Operating Picture: UAV Security Study

    Science.gov (United States)

    2004-01-01

    This initial communication security study is a top-level assessment of basic security issues related to the operation of Unmanned Aerial Vehicles (UAVs) in the National Airspace System (NAS). Security considerations will include information relating to the use of International Civil Aviation Organization (ICAO) Aeronautical Telecommunications Network (ATN) protocols and applications identifying their maturity, as well as the use of IPV4 and a version of mobile IPV6. The purpose of this assessment is to provide an initial analysis of the security implications of introducing UAVs into the NAS.

  7. Classical Photogrammetry and Uav - Selected Ascpects

    Science.gov (United States)

    Mikrut, S.

    2016-06-01

    The UAV technology seems to be highly future-oriented due to its low costs as compared to traditional aerial images taken from classical photogrammetry aircrafts. The AGH University of Science and Technology in Cracow - Department of Geoinformation, Photogrammetry and Environmental Remote Sensing focuses mainly on geometry and radiometry of recorded images. Various scientific research centres all over the world have been conducting the relevant research for years. The paper presents selected aspects of processing digital images made with the UAV technology. It provides on a practical example a comparison between a digital image taken from an airborne (classical) height, and the one made from an UAV level. In his research the author of the paper is trying to find an answer to the question: to what extent does the UAV technology diverge today from classical photogrammetry, and what are the advantages and disadvantages of both methods? The flight plan was made over the Tokarnia Village Museum (more than 0.5 km2) for two separate flights: the first was made by an UAV - System FT-03A built by FlyTech Solution Ltd. The second was made with the use of a classical photogrammetric Cesna aircraft furnished with an airborne photogrammetric camera (Ultra Cam Eagle). Both sets of photographs were taken with pixel size of about 3 cm, in order to have reliable data allowing for both systems to be compared. The project has made aerotriangulation independently for the two flights. The DTM was generated automatically, and the last step was the generation of an orthophoto. The geometry of images was checked under the process of aerotriangulation. To compare the accuracy of these two flights, control and check points were used. RMSE were calculated. The radiometry was checked by a visual method and using the author's own algorithm for feature extraction (to define edges with subpixel accuracy). After initial pre-processing of data, the images were put together, and shown side by side

  8. Adaptive radar resource management

    CERN Document Server

    Moo, Peter

    2015-01-01

    Radar Resource Management (RRM) is vital for optimizing the performance of modern phased array radars, which are the primary sensor for aircraft, ships, and land platforms. Adaptive Radar Resource Management gives an introduction to radar resource management (RRM), presenting a clear overview of different approaches and techniques, making it very suitable for radar practitioners and researchers in industry and universities. Coverage includes: RRM's role in optimizing the performance of modern phased array radars The advantages of adaptivity in implementing RRMThe role that modelling and

  9. Radar and ARPA manual

    CERN Document Server

    Bole, A G

    2013-01-01

    Radar and ARPA Manual focuses on the theoretical and practical aspects of electronic navigation. The manual first discusses basic radar principles, including principles of range and bearing measurements and picture orientation and presentation. The text then looks at the operational principles of radar systems. Function of units; aerial, receiver, and display principles; transmitter principles; and sitting of units on board ships are discussed. The book also describes target detection, Automatic Radar Plotting Aids (ARPA), and operational controls of radar systems, and then discusses radar plo

  10. Radar Weather Observation

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Radar Weather Observation is a set of archived historical manuscripts stored on microfiche. The primary source of these radar weather observations manuscript records...

  11. ISTEF Laser Radar Program

    National Research Council Canada - National Science Library

    Stryjewski, John

    1998-01-01

    The BMDO Innovative Science and Technology Experimentation Facility (BMDO/ISTEF) laser radar program is engaged in an ongoing program to develop and demonstrate advanced laser radar concepts for Ballistic Missile Defense (BMD...

  12. Weather Radar Impact Zones

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — These data represent an inventory of the national impacts of wind turbine interference with NEXRAD radar stations. This inventory was developed by the NOAA Radar...

  13. Novel radar techniques and applications

    CERN Document Server

    Klemm, Richard; Lombardo, Pierfrancesco; Nickel, Ulrich

    2017-01-01

    Novel Radar Techniques and Applications presents the state-of-the-art in advanced radar, with emphasis on ongoing novel research and development and contributions from an international team of leading radar experts. This volume covers: Real aperture array radar; Imaging radar and Passive and multistatic radar.

  14. Principles of modern radar systems

    CERN Document Server

    Carpentier, Michel H

    1988-01-01

    Introduction to random functions ; signal and noise : the ideal receiver ; performance of radar systems equipped with ideal receivers ; analysis of the operating principles of some types of radar ; behavior of real targets, fluctuation of targets ; angle measurement using radar ; data processing of radar information, radar coverage ; applications to electronic scanning antennas to radar ; introduction to Hilbert spaces.

  15. The Way Ahead For Maritime UAVS

    Science.gov (United States)

    2006-10-23

    of possible contract winners including Scan Eagle, Silver Fox, Wasp, Coyote and the USMC Tier I winner Dragon Eye. Technical data for these UAVs are...Neptune’s engine and avionics are placed above the waterline and the airframe is sealed for flotation as well as providing corrosion/water intrusion

  16. Baseline and Multimodal UAV GCS Interface Design

    Science.gov (United States)

    2013-07-01

    complete a computerized version of the NASA - TLX assessment of perceived mental workload. 2.3 Results The baseline condition ran smoothly and with...System MALE Medium-altitude, Long-endurance NASA - TLX NASA Task Load Index SA Situation Awareness TDT Tucker Davis Technologies UAV Uninhabited Aerial

  17. Interactive Cadastral Boundary Delineation from Uav Data

    Science.gov (United States)

    Crommelinck, S.; Höfle, B.; Koeva, M. N.; Yang, M. Y.; Vosselman, G.

    2018-05-01

    Unmanned aerial vehicles (UAV) are evolving as an alternative tool to acquire land tenure data. UAVs can capture geospatial data at high quality and resolution in a cost-effective, transparent and flexible manner, from which visible land parcel boundaries, i.e., cadastral boundaries are delineable. This delineation is to no extent automated, even though physical objects automatically retrievable through image analysis methods mark a large portion of cadastral boundaries. This study proposes (i) a methodology that automatically extracts and processes candidate cadastral boundary features from UAV data, and (ii) a procedure for a subsequent interactive delineation. Part (i) consists of two state-of-the-art computer vision methods, namely gPb contour detection and SLIC superpixels, as well as a classification part assigning costs to each outline according to local boundary knowledge. Part (ii) allows a user-guided delineation by calculating least-cost paths along previously extracted and weighted lines. The approach is tested on visible road outlines in two UAV datasets from Germany. Results show that all roads can be delineated comprehensively. Compared to manual delineation, the number of clicks per 100 m is reduced by up to 86 %, while obtaining a similar localization quality. The approach shows promising results to reduce the effort of manual delineation that is currently employed for indirect (cadastral) surveying.

  18. UAV Robust Strategy Control Based on MAS

    Directory of Open Access Journals (Sweden)

    Jian Han

    2014-01-01

    Full Text Available A novel multiagent system (MAS has been proposed to integrate individual UAV (unmanned aerial vehicle to form a UAV team which can accomplish complex missions with better efficiency and effect. The MAS based UAV team control is more able to conquer dynamic situations and enhance the performance of any single UAV. In this paper, the MAS proposed and established combines the reacting and thinking abilities to be an initiative and autonomous hybrid system which can solve missions involving coordinated flight and cooperative operation. The MAS uses BDI model to support its logical perception and to classify the different missions; then the missions will be allocated by utilizing auction mechanism after analyzing dynamic parameters. Prim potential algorithm, particle swarm algorithm, and reallocation mechanism are proposed to realize the rational decomposing and optimal allocation in order to reach the maximum profit. After simulation, the MAS has been proved to be able to promote the success ratio and raise the robustness, while realizing feasibility of coordinated flight and optimality of cooperative mission.

  19. Critical infrastructure monitoring using UAV imagery

    Science.gov (United States)

    Maltezos, Evangelos; Skitsas, Michael; Charalambous, Elisavet; Koutras, Nikolaos; Bliziotis, Dimitris; Themistocleous, Kyriacos

    2016-08-01

    The constant technological evolution in Computer Vision enabled the development of new techniques which in conjunction with the use of Unmanned Aerial Vehicles (UAVs) may extract high quality photogrammetric products for several applications. Dense Image Matching (DIM) is a Computer Vision technique that can generate a dense 3D point cloud of an area or object. The use of UAV systems and DIM techniques is not only a flexible and attractive solution to produce accurate and high qualitative photogrammetric results but also is a major contribution to cost effectiveness. In this context, this study aims to highlight the benefits of the use of the UAVs in critical infrastructure monitoring applying DIM. A Multi-View Stereo (MVS) approach using multiple images (RGB digital aerial and oblique images), to fully cover the area of interest, is implemented. The application area is an Olympic venue in Attica, Greece, at an area of 400 acres. The results of our study indicate that the UAV+DIM approach respond very well to the increasingly greater demands for accurate and cost effective applications when provided with, a 3D point cloud and orthomosaic.

  20. Software Radar Technology

    Directory of Open Access Journals (Sweden)

    Tang Jun

    2015-08-01

    Full Text Available In this paper, the definition and the key features of Software Radar, which is a new concept, are proposed and discussed. We consider the development of modern radar system technology to be divided into three stages: Digital Radar, Software radar and Intelligent Radar, and the second stage is just commencing now. A Software Radar system should be a combination of various modern digital modular components conformed to certain software and hardware standards. Moreover, a software radar system with an open system architecture supporting to decouple application software and low level hardware would be easy to adopt "user requirements-oriented" developing methodology instead of traditional "specific function-oriented" developing methodology. Compared with traditional Digital Radar, Software Radar system can be easily reconfigured and scaled up or down to adapt to the changes of requirements and technologies. A demonstration Software Radar signal processing system, RadarLab 2.0, which has been developed by Tsinghua University, is introduced in this paper and the suggestions for the future development of Software Radar in China are also given in the conclusion.

  1. Understanding radar systems

    CERN Document Server

    Kingsley, Simon

    1999-01-01

    What is radar? What systems are currently in use? How do they work? This book provides engineers and scientists with answers to these critical questions, focusing on actual radar systems in use today. It is a perfect resource for those just entering the field, or as a quick refresher for experienced practitioners. The book leads readers through the specialized language and calculations that comprise the complex world of radar engineering as seen in dozens of state-of-the-art radar systems. An easy to read, wide ranging guide to the world of modern radar systems.

  2. Pulse Doppler radar

    CERN Document Server

    Alabaster, Clive

    2012-01-01

    This book is a practitioner's guide to all aspects of pulse Doppler radar. It concentrates on airborne military radar systems since they are the most used, most complex, and most interesting of the pulse Doppler radars; however, ground-based and non-military systems are also included. It covers the fundamental science, signal processing, hardware issues, systems design and case studies of typical systems. It will be a useful resource for engineers of all types (hardware, software and systems), academics, post-graduate students, scientists in radar and radar electronic warfare sectors and milit

  3. Teaching UAVs to Race Using UE4Sim

    KAUST Repository

    Mueller, Matthias

    2017-08-19

    Automating the navigation of unmanned aerial vehicles (UAVs) in diverse scenarios has gained much attention in the recent years. However, teaching UAVs to fly in challenging environments remains an unsolved problem, mainly due to the lack of data for training. In this paper, we develop a photo-realistic simulator that can afford the generation of large amounts of training data (both images rendered from the UAV camera and its controls) to teach a UAV to autonomously race through challenging tracks. We train a deep neural network to predict UAV controls from raw image data for the task of autonomous UAV racing. Training is done through imitation learning enabled by data augmentation to allow for the correction of navigation mistakes. Extensive experiments demonstrate that our trained network (when sufficient data augmentation is used) outperforms state-of-the-art methods and flies more consistently than many human pilots.

  4. Teaching UAVs to Race Using UE4Sim

    KAUST Repository

    Mueller, Matthias; Casser, Vincent; Smith, Neil; Michels, Dominik L.; Ghanem, Bernard

    2017-01-01

    Automating the navigation of unmanned aerial vehicles (UAVs) in diverse scenarios has gained much attention in the recent years. However, teaching UAVs to fly in challenging environments remains an unsolved problem, mainly due to the lack of data for training. In this paper, we develop a photo-realistic simulator that can afford the generation of large amounts of training data (both images rendered from the UAV camera and its controls) to teach a UAV to autonomously race through challenging tracks. We train a deep neural network to predict UAV controls from raw image data for the task of autonomous UAV racing. Training is done through imitation learning enabled by data augmentation to allow for the correction of navigation mistakes. Extensive experiments demonstrate that our trained network (when sufficient data augmentation is used) outperforms state-of-the-art methods and flies more consistently than many human pilots.

  5. Coherent Doppler Laser Radar: Technology Development and Applications

    Science.gov (United States)

    Kavaya, Michael J.; Arnold, James E. (Technical Monitor)

    2000-01-01

    headwind minimization. In addition to the airborne and space platforms, a coherent Doppler laser radar system in an unmanned aerial vehicle (UAV) could provide battlefield weather and target identification.

  6. Uav-Based 3d Urban Environment Monitoring

    Science.gov (United States)

    Boonpook, Wuttichai; Tan, Yumin; Liu, Huaqing; Zhao, Binbin; He, Lingfeng

    2018-04-01

    Unmanned Aerial Vehicle (UAV) based remote sensing can be used to make three-dimensions (3D) mapping with great flexibility, besides the ability to provide high resolution images. In this paper we propose a quick-change detection method on UAV images by combining altitude from Digital Surface Model (DSM) and texture analysis from images. Cases of UAV images with and without georeferencing are both considered. Research results show that the accuracy of change detection can be enhanced with georeferencing procedure, and the accuracy and precision of change detection on UAV images which are collected both vertically and obliquely but without georeferencing also have a good performance.

  7. Assessing UAVs in Monitoring Crop Evapotranspiration within a Heterogeneous Soil

    Science.gov (United States)

    Rouze, G.; Neely, H.; Morgan, C.; Kustas, W. P.; McKee, L.; Prueger, J. H.; Cope, D.; Yang, C.; Thomasson, A.; Jung, J.

    2017-12-01

    Airborne and satellite remote sensing methods have been developed to provide ET estimates across entire management fields. However, airborne-based ET is not particularly cost-effective and satellite-based ET provides insufficient spatial/temporal information. ET estimations through remote sensing are also problematic where soils are highly variable within a given management field. Unlike airborne/satellite-based ET, Unmanned Aerial Vehicle (UAV)-based ET has the potential to increase the spatial and temporal detail of these measurements, particularly within a heterogeneous soil landscape. However, it is unclear to what extent UAVs can model ET. The overall goal of this project was to assess the capability of UAVs in modeling ET across a heterogeneous landscape. Within a 20-ha irrigated cotton field in Central Texas, low-altitude UAV surveys were conducted throughout the growing season over two soil types. UAVs were equipped with thermal and multispectral cameras to obtain canopy temperature and NDVI, respectively. UAV data were supplemented simultaneously with ground-truth measurements such as Leaf Area Index (LAI) and plant height. Both remote sensing and ground-truth parameters were used to model ET using a Two-Source Energy Balance (TSEB) model. UAV-based estimations of ET and other energy balance components were validated against energy balance measurements obtained from nearby eddy covariance towers that were installed within each soil type. UAV-based ET fluxes were also compared with airborne and satellite (Landsat 8)-based ET fluxes collected near the time of the UAV survey.

  8. Next Generation UAV Based Spectral Systems for Environmental Monitoring

    Data.gov (United States)

    National Aeronautics and Space Administration — At present, UAVs used in environmental monitoring mostly collect low spectral resolution imagery, capable of retrieving canopy greenness or properties related water...

  9. Air Force UAV’s: The Secret History

    Science.gov (United States)

    2010-07-01

    iA Mitchell Institute Study i Air Force UAVs The Secret History A Mitchell Institute Study July 2010 By Thomas P. Ehrhard Report Documentation Page...DATES COVERED 00-00-2010 to 00-00-2010 4. TITLE AND SUBTITLE Air Force UAVs The Secret History 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c... The Secret History 2 Air Force UAVs: The Secret History2 air Force uaVs: The secret history Has any airplane in the past decade captured the public

  10. The optimal design of UAV wing structure

    Science.gov (United States)

    Długosz, Adam; Klimek, Wiktor

    2018-01-01

    The paper presents an optimal design of UAV wing, made of composite materials. The aim of the optimization is to improve strength and stiffness together with reduction of the weight of the structure. Three different types of functionals, which depend on stress, stiffness and the total mass are defined. The paper presents an application of the in-house implementation of the evolutionary multi-objective algorithm in optimization of the UAV wing structure. Values of the functionals are calculated on the basis of results obtained from numerical simulations. Numerical FEM model, consisting of different composite materials is created. Adequacy of the numerical model is verified by results obtained from the experiment, performed on a tensile testing machine. Examples of multi-objective optimization by means of Pareto-optimal set of solutions are presented.

  11. A proposed UAV for indoor patient care.

    Science.gov (United States)

    Todd, Catherine; Watfa, Mohamed; El Mouden, Yassine; Sahir, Sana; Ali, Afrah; Niavarani, Ali; Lutfi, Aoun; Copiaco, Abigail; Agarwal, Vaibhavi; Afsari, Kiyan; Johnathon, Chris; Okafor, Onyeka; Ayad, Marina

    2015-09-10

    Indoor flight, obstacle avoidance and client-server communication of an Unmanned Aerial Vehicle (UAV) raises several unique research challenges. This paper examines current methods and associated technologies adapted within the literature toward autonomous UAV flight, for consideration in a proposed system for indoor healthcare administration with a quadcopter. We introduce Healthbuddy, a unique research initiative towards overcoming challenges associated with indoor navigation, collision detection and avoidance, stability, wireless drone-server communications and automated decision support for patient care in a GPS-denied environment. To address the identified research deficits, a drone-based solution is presented. The solution is preliminary as we develop and refine the suggested algorithms and hardware system to achieve the research objectives.

  12. Vision based systems for UAV applications

    CERN Document Server

    Kuś, Zygmunt

    2013-01-01

    This monograph is motivated by a significant number of vision based algorithms for Unmanned Aerial Vehicles (UAV) that were developed during research and development projects. Vision information is utilized in various applications like visual surveillance, aim systems, recognition systems, collision-avoidance systems and navigation. This book presents practical applications, examples and recent challenges in these mentioned application fields. The aim of the book is to create a valuable source of information for researchers and constructors of solutions utilizing vision from UAV. Scientists, researchers and graduate students involved in computer vision, image processing, data fusion, control algorithms, mechanics, data mining, navigation and IC can find many valuable, useful and practical suggestions and solutions. The latest challenges for vision based systems are also presented.

  13. Technologies Advance UAVs for Science, Military

    Science.gov (United States)

    2010-01-01

    A Space Act Agreement with Goddard Space Flight Center and West Virginia University enabled Aurora Flight Sciences Corporation, of Manassas, Virginia, to develop cost-effective composite manufacturing capabilities and open a facility in West Virginia. The company now employs 160 workers at the plant, tasked with crafting airframe components for the Global Hawk unmanned aerial vehicle (UAV) program. While one third of the company's workforce focuses on Global Hawk production, the rest of the company develops advanced UAV technologies that are redefining traditional approaches to unmanned aviation. Since the company's founding, Aurora s cutting-edge work has been supported with funding from NASA's Small Business Innovation Research (SBIR) and Small Business Technology Transfer (STTR) programs.

  14. CFD Analysis of UAV Flying Wing

    Directory of Open Access Journals (Sweden)

    Vasile PRISACARIU

    2016-09-01

    Full Text Available Numerical methods for solving equations describing the evolution of 3D fluid experienced a significant development closely related to the progress of information systems. Today, especially in the field of fluid mechanics, numerical simulations allow the study of gas-thermodynamic confirmed by experimental techniques in wind tunnel conditions and actual flight tests for modeling complex aircraft. The article shows a case of numerical analysis of the lifting surface on the UAV type flying wing.

  15. Coastal areas mapping using UAV photogrammetry

    Science.gov (United States)

    Nikolakopoulos, Konstantinos G.; Kozarski, Dimitrios; Kogkas, Stefanos

    2017-10-01

    The coastal areas in the Patras Gulf suffer degradation due to the sea action and other natural and human-induced causes. Changes in beaches, ports, and other man made constructions need to be assessed, both after severe events and on a regular basis, to build models that can predict the evolution in the future. Thus, reliable spatial data acquisition is a critical process for the identification of the coastline and the broader coastal zones for geologists and other scientists involved in the study of coastal morphology. High resolution satellite data, airphotos and airborne Lidar provided in the past the necessary data for the coastline monitoring. High-resolution digital surface models (DSMs) and orthophoto maps had become a necessity in order to map with accuracy all the variations in costal environments. Recently, unmanned aerial vehicles (UAV) photogrammetry offers an alternative solution to the acquisition of high accuracy spatial data along the coastline. This paper presents the use of UAV to map the coastline in Rio area Western Greece. Multiple photogrammetric aerial campaigns were performed. A small commercial UAV (DJI Phantom 3 Advance) was used to acquire thousands of images with spatial resolutions better than 5 cm. Different photogrammetric software's were used to orientate the images, extract point clouds, build a digital surface model and produce orthoimage mosaics. In order to achieve the best positional accuracy signalised ground control points were measured with a differential GNSS receiver. The results of this coastal monitoring programme proved that UAVs can replace many of the conventional surveys, with considerable gains in the cost of the data acquisition and without any loss in the accuracy.

  16. Multi-UAV Doppler Information Fusion for Target Tracking Based on Distributed High Degrees Information Filters

    Directory of Open Access Journals (Sweden)

    Hamza Benzerrouk

    2018-03-01

    Full Text Available Multi-Unmanned Aerial Vehicle (UAV Doppler-based target tracking has not been widely investigated, specifically when using modern nonlinear information filters. A high-degree Gauss–Hermite information filter, as well as a seventh-degree cubature information filter (CIF, is developed to improve the fifth-degree and third-degree CIFs proposed in the most recent related literature. These algorithms are applied to maneuvering target tracking based on Radar Doppler range/range rate signals. To achieve this purpose, different measurement models such as range-only, range rate, and bearing-only tracking are used in the simulations. In this paper, the mobile sensor target tracking problem is addressed and solved by a higher-degree class of quadrature information filters (HQIFs. A centralized fusion architecture based on distributed information filtering is proposed, and yielded excellent results. Three high dynamic UAVs are simulated with synchronized Doppler measurement broadcasted in parallel channels to the control center for global information fusion. Interesting results are obtained, with the superiority of certain classes of higher-degree quadrature information filters.

  17. Prognostics Applied to Electric Propulsion UAV

    Science.gov (United States)

    Goebel, Kai; Saha, Bhaskar

    2013-01-01

    Health management plays an important role in operations of UAV. If there is equipment malfunction on critical components, safe operation of the UAV might possibly be compromised. A technology with particular promise in this arena is equipment prognostics. This technology provides a state assessment of the health of components of interest and, if a degraded state has been found, it estimates how long it will take before the equipment will reach a failure threshold, conditional on assumptions about future operating conditions and future environmental conditions. This chapter explores the technical underpinnings of how to perform prognostics and shows an implementation on the propulsion of an electric UAV. A particle filter is shown as the method of choice in performing state assessment and predicting future degradation. The method is then applied to the batteries that provide power to the propeller motors. An accurate run-time battery life prediction algorithm is of critical importance to ensure the safe operation of the vehicle if one wants to maximize in-air time. Current reliability based techniques turn out to be insufficient to manage the use of such batteries where loads vary frequently in uncertain environments.

  18. UAV Based Agricultural Planning and Landslide Monitoring

    Directory of Open Access Journals (Sweden)

    Servet Yaprak

    2017-12-01

    Full Text Available The use of Unmanned Aerial Vehicle (UAV tools has become widespread in map production, land surveying, landslide, erosion monitoring, monitoring of agricultural activities, aerial crop surveying, forest fire detection and monitoring operations. In this study, GEO 2 UAV manufactured by TEKNOMER equipped with SONY A6000 camera has been used. The flight plan have been performed with 100 m altitude, with 80% longitudinal and 60% side overlapping. Ground Control Points (GCPs have been observed with Topcon and Trimble GNSS geodetic receivers. Recorded GNSS signals have been processed with LGO V.8.4 software to get sensitive location information. 985 photos have been taken for the 344 hectares the agricultural area. 291 photos have been taken for 50 hectares the landslide area. All photos were processed by PIX4D software. For the agricultural area, 25 GCPs and for the landslide area, 8 GCPs have been included in the evaluation. 3D images were produced with pixel matching algorithms. As a result, the RMS evaluation was obtained as ±0.054 m for the agricultural area and as ±0.018 m for the landslide area. UAV images have indisputable contributions to the management of catastrophes such as landslides and earthquakes, and it is impossible to make terrestrial measurements in areas where disaster impact continues.

  19. UAV magnetometry in mineral exploration and infrastructure detection

    Science.gov (United States)

    Braun, A.; Parvar, K.; Burns, M.

    2015-12-01

    Magnetic surveys are critical tools in mineral exploration and UAVs have the potential to carry magnetometers. UAV surveys can offer higher spatial resolution than traditional airborne surveys, and higher coverage than terrestrial surveys. However, the main advantage is their ability to sense the magnetic field in 3-D, while most airborne or terrestrial surveys are restricted to 2-D acquisition. This study compares UAV magnetic data from two different UAVs (JIB drone, DJI Phantom 2) and three different magnetometers (GEM GSPM35, Honeywell HMR2300, GEM GST-19). The first UAV survey was conducted using a JIB UAV with a GSPM35 flying at 10-15 m above ground. The survey's goal was to detect intrusive Rhyolite bodies for primary mineral exploration. The survey resulted in a better understanding of the validity/resolution of UAV data and led to improved knowledge about the geological structures in the area. The results further drove the design of a following terrestrial survey. Comparing the UAV data with an available airborne survey (upward continued to 250 m) reveals that the UAV data has superior spatial resolution, but exhibits a higher noise level. The magnetic anomalies related to the Rhyolite intrusions is about 109 nT and translates into an estimated depth of approximately 110 meters. The second survey was conducted using an in-house developed UAV magnetometer system equipped with a DJI Phantom 2 and a Honeywell HMR2300 fluxgate magnetometer. By flying the sensor in different altitudes, the vertical and horizontal gradients can be derived leading to full 3-D magnetic data volumes which can provide improved constraints for source depth/geometry characterization. We demonstrate that a buried steam pipeline was detectable with the UAV magnetometer system and compare the resulting data with a terrestrial survey using a GEM GST-19 Proton Precession Magnetometer.

  20. Phased-array radar design application of radar fundamentals

    CERN Document Server

    Jeffrey, Thomas

    2009-01-01

    Phased-Array Radar Design is a text-reference designed for electrical engineering graduate students in colleges and universities as well as for corporate in-house training programs for radar design engineers, especially systems engineers and analysts who would like to gain hands-on, practical knowledge and skills in radar design fundamentals, advanced radar concepts, trade-offs for radar design and radar performance analysis.

  1. Doppler radar physiological sensing

    CERN Document Server

    Lubecke, Victor M; Droitcour, Amy D; Park, Byung-Kwon; Singh, Aditya

    2016-01-01

    Presents a comprehensive description of the theory and practical implementation of Doppler radar-based physiological monitoring. This book includes an overview of current physiological monitoring techniques and explains the fundamental technology used in remote non-contact monitoring methods. Basic radio wave propagation and radar principles are introduced along with the fundamentals of physiological motion and measurement. Specific design and implementation considerations for physiological monitoring radar systems are then discussed in detail. The authors address current research and commercial development of Doppler radar based physiological monitoring for healthcare and other applications.

  2. Radar Signature Calculation Facility

    Data.gov (United States)

    Federal Laboratory Consortium — FUNCTION: The calculation, analysis, and visualization of the spatially extended radar signatures of complex objects such as ships in a sea multipath environment and...

  3. A system of UAV application in indoor environment

    DEFF Research Database (Denmark)

    Khosiawan, Yohanes; Nielsen, Izabela Ewa

    2016-01-01

    In recent years, there has been an increased demand in the use of multiple unmanned aerial vehicles (UAVs) in indoor environments such as material handling task in a manufacturing environment and plant/environment monitoring task in a greenhouse. However, there is a lack of work reported on this ......In recent years, there has been an increased demand in the use of multiple unmanned aerial vehicles (UAVs) in indoor environments such as material handling task in a manufacturing environment and plant/environment monitoring task in a greenhouse. However, there is a lack of work reported...... on this topic. This paper presents a detailed study on several UAV systems and UAV scheduling systems. It is followed by a proposed system of UAV application in indoor environment, which comprises components of UAV system addressed in detail; focused on scheduler as the heart of operations. Consequently, system...... architecture of UAV scheduling system is presented and the framework of scheduler component is included. Scheduler component works in a phased manner to provide a systematic abstraction and achieve an efficient computation time. This study serves as a reference guide for UAV application in indoor environment....

  4. Vision-IMU based collaborative control of a blind UAV

    NARCIS (Netherlands)

    Hoogervorst, R.; Stramigioli, Stefano; Wopereis, Han Willem; Fumagalli, Matteo

    2015-01-01

    Position estimation of UAVs is usually done using onboard sensors such as GPS and camera. However, in certain practical situations, the measurements of both the GPS and the onboard camera of the UAV might not always be available or reliable. This paper investigates the possibility to overcome

  5. Volumetric calculation using low cost unmanned aerial vehicle (UAV) approach

    Science.gov (United States)

    Rahman, A. A. Ab; Maulud, K. N. Abdul; Mohd, F. A.; Jaafar, O.; Tahar, K. N.

    2017-12-01

    Unmanned Aerial Vehicles (UAV) technology has evolved dramatically in the 21st century. It is used by both military and general public for recreational purposes and mapping work. Operating cost for UAV is much cheaper compared to that of normal aircraft and it does not require a large work space. The UAV systems have similar functions with the LIDAR and satellite images technologies. These systems require a huge cost, labour and time consumption to produce elevation and dimension data. Measurement of difficult objects such as water tank can also be done by using UAV. The purpose of this paper is to show the capability of UAV to compute the volume of water tank based on a different number of images and control points. The results were compared with the actual volume of the tank to validate the measurement. In this study, the image acquisition was done using Phantom 3 Professional, which is a low cost UAV. The analysis in this study is based on different volume computations using two and four control points with variety set of UAV images. The results show that more images will provide a better quality measurement. With 95 images and four GCP, the error percentage to the actual volume is about 5%. Four controls are enough to get good results but more images are needed, estimated about 115 until 220 images. All in all, it can be concluded that the low cost UAV has a potential to be used for volume of water and dimension measurement.

  6. Radar Plan Position Indicator Scope

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Radar Plan Position Indicator Scope is the collection of weather radar imagery for the period prior to the beginning of the Next Generation Radar (NEXRAD) system...

  7. Combined radar and telemetry system

    Energy Technology Data Exchange (ETDEWEB)

    Rodenbeck, Christopher T.; Young, Derek; Chou, Tina; Hsieh, Lung-Hwa; Conover, Kurt; Heintzleman, Richard

    2017-08-01

    A combined radar and telemetry system is described. The combined radar and telemetry system includes a processing unit that executes instructions, where the instructions define a radar waveform and a telemetry waveform. The processor outputs a digital baseband signal based upon the instructions, where the digital baseband signal is based upon the radar waveform and the telemetry waveform. A radar and telemetry circuit transmits, simultaneously, a radar signal and telemetry signal based upon the digital baseband signal.

  8. UNMANNED AIRCRAFT VEHICLE (UAV IN THE ROMANIAN AIRSPACE. AN OVERVIEW

    Directory of Open Access Journals (Sweden)

    Vasile PRISACARIU

    2014-04-01

    Full Text Available For the last decade the unmanned aircraft vehicle (UAV field has evolved in terms of the sub-branches established in the aerospace industry. At national level the UAV market is still in its infancy but acknowledges an upward trend in the implementation and use of UAVs in civilian and military missions. The achievements of the past decade confirms that Romanian specialists are able to conceive, design and build UAVs at a technological and operational level comparable to the one achieved by large international producers creating the prerequisites of developing a sub-sector for the national aeronautic industry. The current article aims at providing an overview of all activities related to the conception, manufacturing, testing, improving, operating UAVs as these activities evolved within the national airspace filed with brief references to the missions and legislation in this area.

  9. Weed detection by UAV with camera guided landing sequence

    DEFF Research Database (Denmark)

    Dyrmann, Mads

    UAVs gain more and more currency in agriculture, as they allow for inspection of even remote areas of farmland. Measurements of weed occurrence in fields is one branch of this growing field of research. A problem with UAVs is that they have a limited energy capacity: Consequently, after a short...... flight, they must return to the farm to charge. By installing a landing platform in the field it is possible to have charging facilities close to the area where the UAV is used, providing greater opportunity for autonomous flight in distant fields. A landing platform in the field will also allow...... for greater computing capacity, whereby collected images can be processed and appropriate actions can be taken. The present study uses an entry level UAV with a Pixhawk controller and a GPS specified with an accuracy of 2.5m, meaning that the GPS alone is not sufficient to coordinate the UAV landing. Using...

  10. Energy-Efficient Power Allocation for UAV Cognitive Radio Systems

    KAUST Repository

    Sboui, Lokman

    2018-02-12

    We study the deployment of unmanned aerial vehicles (UAV) based cognitive system in an area covered by the primary network (PN). An UAV shares the spectrum of the PN and aims to maximize its energy efficiency (EE) by optimizing the transmit power. We focus on the case where the UAV simultaneously communicates with the ground receiver (G), under interference limitation, and with another relaying UAV (A), with a minimal required rate. We analytically develop the power allocation framework that maximizes the EE subject to power budget, interference, and minimal rate constraints. In the numerical results, we show that the minimal rate may cause a transmission outage at low power budget values. We also highlighted the existence of optimal altitudes given the UAV location with respect to the different other terminals.

  11. Flocking of quad-rotor UAVs with fuzzy control.

    Science.gov (United States)

    Mao, Xiang; Zhang, Hongbin; Wang, Yanhui

    2018-03-01

    This paper investigates the flocking problem of quad-rotor UAVs. Considering the actual situations, we derived a new simplified quad-rotor UAV model which is more reasonable. Based on the model, the T-S fuzzy model of attitude dynamic equation and the corresponding T-S fuzzy feedback controller are discussed. By introducing a double-loop control construction, we adjust its attitude to realize the position control. Then a flocking algorithm is proposed to achieve the flocking of the quad-rotor UAVs. Compared with the flocking algorithm of the mass point model, we dealt with the collision problem of the quad-rotor UAVs. In order to improve the airspace utilization, a more compact configuration called quasi e-lattice is constructed to guarantee the compact flight of the quad-rotor UAVs. Finally, numerical simulations are provided to illustrate the effectiveness of the obtained theoretical results. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

  12. Energy-Efficient Power Allocation for UAV Cognitive Radio Systems

    KAUST Repository

    Sboui, Lokman; Ghazzai, Hakim; Rezki, Zouheir; Alouini, Mohamed-Slim

    2018-01-01

    We study the deployment of unmanned aerial vehicles (UAV) based cognitive system in an area covered by the primary network (PN). An UAV shares the spectrum of the PN and aims to maximize its energy efficiency (EE) by optimizing the transmit power. We focus on the case where the UAV simultaneously communicates with the ground receiver (G), under interference limitation, and with another relaying UAV (A), with a minimal required rate. We analytically develop the power allocation framework that maximizes the EE subject to power budget, interference, and minimal rate constraints. In the numerical results, we show that the minimal rate may cause a transmission outage at low power budget values. We also highlighted the existence of optimal altitudes given the UAV location with respect to the different other terminals.

  13. Aspects of Radar Polarimetry

    OpenAIRE

    LÜNEBURG, Ernst

    2002-01-01

    This contribution is a tutorial introduction to the phenomenological theory of radar polarimetry for the coherent scatter case emphasizing monostatic backscattering and forward scattering (transmission). Characteristic similarities and differences between radar polarimetry and optical polarimetry and the role of linear and antilinear operators (time-reversal) are pointed out and typical polarimetric invariants are identified.

  14. Java Radar Analysis Tool

    Science.gov (United States)

    Zaczek, Mariusz P.

    2005-01-01

    Java Radar Analysis Tool (JRAT) is a computer program for analyzing two-dimensional (2D) scatter plots derived from radar returns showing pieces of the disintegrating Space Shuttle Columbia. JRAT can also be applied to similar plots representing radar returns showing aviation accidents, and to scatter plots in general. The 2D scatter plots include overhead map views and side altitude views. The superposition of points in these views makes searching difficult. JRAT enables three-dimensional (3D) viewing: by use of a mouse and keyboard, the user can rotate to any desired viewing angle. The 3D view can include overlaid trajectories and search footprints to enhance situational awareness in searching for pieces. JRAT also enables playback: time-tagged radar-return data can be displayed in time order and an animated 3D model can be moved through the scene to show the locations of the Columbia (or other vehicle) at the times of the corresponding radar events. The combination of overlays and playback enables the user to correlate a radar return with a position of the vehicle to determine whether the return is valid. JRAT can optionally filter single radar returns, enabling the user to selectively hide or highlight a desired radar return.

  15. Determination of radar MTF

    Energy Technology Data Exchange (ETDEWEB)

    Chambers, D. [Lawrence Livermore National Lab., CA (United States)

    1994-11-15

    The ultimate goal of the Current Meter Array (CMA) is to be able to compare the current patterns detected with the array with radar images of the water surface. The internal wave current patterns modulate the waves on the water surface giving a detectable modulation of the radar cross-section (RCS). The function relating the RCS modulations to the current patterns is the Modulation Transfer Function (MTF). By comparing radar images directly with co-located CMA measurements the MTF can be determined. In this talk radar images and CMA measurements from a recent experiment at Loch Linnhe, Scotland, will be used to make the first direct determination of MTF for an X and S band radar at low grazing angles. The technical problems associated with comparing radar images to CMA data will be explained and the solution method discussed. The results suggest the both current and strain rate contribute equally to the radar modulation for X band. For S band, the strain rate contributes more than the current. The magnitude of the MTF and the RCS modulations are consistent with previous estimates when the wind is blowing perpendicular to the radar look direction.

  16. An Efficient Genetic Algorithm for Routing Multiple UAVs under Flight Range and Service Time Window Constraints

    OpenAIRE

    KARAKAYA, Murat; SEVİNÇ, Ender

    2017-01-01

    Recently using Unmanned Aerial Vehicles (UAVs) either for military or civilian purposes is getting popularity. However, UAVs have their own limitations which require adopted approaches to satisfy the Quality of Service (QoS) promised by the applications depending on effective use of UAVs. One of the important limitations of the UAVs encounter is the flight range. Most of the time, UAVs have very scarce energy resources and, thus, they have relatively short flight ranges. Besides, for the appl...

  17. State-Of in Uav Remote Sensing Survey - First Insights Into Applications of Uav Sensing Systems

    Science.gov (United States)

    Aasen, H.

    2017-08-01

    UAVs are increasingly adapted as remote sensing platforms. Together with specialized sensors, they become powerful sensing systems for environmental monitoring and surveying. Spectral data has great capabilities to the gather information about biophysical and biochemical properties. Still, capturing meaningful spectral data in a reproducible way is not trivial. Since a couple of years small and lightweight spectral sensors, which can be carried on small flexible platforms, have become available. With their adaption in the community, the responsibility to ensure the quality of the data is increasingly shifted from specialized companies and agencies to individual researchers or research teams. Due to the complexity of the data acquisition of spectral data, this poses a challenge for the community and standardized protocols, metadata and best practice procedures are needed to make data intercomparable. In November 2016, the ESSEM COST action Innovative optical Tools for proximal sensing of ecophysiological processes (OPTIMISE; http://optimise.dcs.aber.ac.uk/) held a workshop on best practices for UAV spectral sampling. The objective of this meeting was to trace the way from particle to pixel and identify influences on the data quality / reliability, to figure out how well we are currently doing with spectral sampling from UAVs and how we can improve. Additionally, a survey was designed to be distributed within the community to get an overview over the current practices and raise awareness for the topic. This talk will introduce the approach of the OPTIMISE community towards best practises in UAV spectral sampling and present first results of the survey (http://optimise.dcs.aber.ac.uk/uav-survey/). This contribution briefly introduces the survey and gives some insights into the first results given by the interviewees.

  18. Principles of modern radar radar applications

    CERN Document Server

    Scheer, James A

    2013-01-01

    Principles of Modern Radar: Radar Applications is the third of the three-volume seriesof what was originally designed to be accomplished in one volume. As the final volumeof the set, it finishes the original vision of a complete yet bounded reference for radartechnology. This volume describes fifteen different system applications or class ofapplications in more detail than can be found in Volumes I or II.As different as the applications described, there is a difference in how these topicsare treated by the authors. Whereas in Volumes I and II there is strict adherence tochapter format and leve

  19. The Parrot UAV Controlled by PID Controllers

    OpenAIRE

    Koszewnik Andrzej

    2014-01-01

    The paper presents the process of modeling and designing control laws for four-rotor type of the Parrot UAV. The state space model is obtained by using several phenomena like gyroscopic effects for rigid bodies, propellers and rotors. The obtained model has been used to design PID control laws for roll, pitch, yaw angle and altitude, respectively. The numerical simulations of the closed loop model are shown that system in satisfy way stabilize flight of the quadro-rotor in all considered dire...

  20. The Parrot UAV Controlled by PID Controllers

    Directory of Open Access Journals (Sweden)

    Koszewnik Andrzej

    2014-08-01

    Full Text Available The paper presents the process of modeling and designing control laws for four-rotor type of the Parrot UAV. The state space model is obtained by using several phenomena like gyroscopic effects for rigid bodies, propellers and rotors. The obtained model has been used to design PID control laws for roll, pitch, yaw angle and altitude, respectively. The numerical simulations of the closed loop model are shown that system in satisfy way stabilize flight of the quadro-rotor in all considered directions.

  1. Video change detection for fixed wing UAVs

    Science.gov (United States)

    Bartelsen, Jan; Müller, Thomas; Ring, Jochen; Mück, Klaus; Brüstle, Stefan; Erdnüß, Bastian; Lutz, Bastian; Herbst, Theresa

    2017-10-01

    In this paper we proceed the work of Bartelsen et al.1 We present the draft of a process chain for an image based change detection which is designed for videos acquired by fixed wing unmanned aerial vehicles (UAVs). From our point of view, automatic video change detection for aerial images can be useful to recognize functional activities which are typically caused by the deployment of improvised explosive devices (IEDs), e.g. excavations, skid marks, footprints, left-behind tooling equipment, and marker stones. Furthermore, in case of natural disasters, like flooding, imminent danger can be recognized quickly. Due to the necessary flight range, we concentrate on fixed wing UAVs. Automatic change detection can be reduced to a comparatively simple photogrammetric problem when the perspective change between the "before" and "after" image sets is kept as small as possible. Therefore, the aerial image acquisition demands a mission planning with a clear purpose including flight path and sensor configuration. While the latter can be enabled simply by a fixed and meaningful adjustment of the camera, ensuring a small perspective change for "before" and "after" videos acquired by fixed wing UAVs is a challenging problem. Concerning this matter, we have performed tests with an advanced commercial off the shelf (COTS) system which comprises a differential GPS and autopilot system estimating the repetition accuracy of its trajectory. Although several similar approaches have been presented,23 as far as we are able to judge, the limits for this important issue are not estimated so far. Furthermore, we design a process chain to enable the practical utilization of video change detection. It consists of a front-end of a database to handle large amounts of video data, an image processing and change detection implementation, and the visualization of the results. We apply our process chain on the real video data acquired by the advanced COTS fixed wing UAV and synthetic data. For the

  2. Remote sensing from UAVs for hydrological monitoring

    DEFF Research Database (Denmark)

    Bandini, Filippo; Garcia, Monica; Bauer-Gottwein, Peter

    compared to other technologies: compared to field based techniques, remote sensing with UAVs is a non-destructive technique, less time consuming, ensures a reduced time between acquisition and interpretation of data and gives the possibility to access remote and unsafe areas. Compared to full...... will be able to record the spectral signatures of water and land surfaces with a pixel resolution of around 15 cm, whereas the thermal camera will sense water and land surface temperature with a resolution of 40 cm. Post-processing of data from the thermal camera will allow retrieving vegetation and soil...

  3. Photogrammetric Measurements in Fixed Wing Uav Imagery

    Science.gov (United States)

    Gülch, E.

    2012-07-01

    Several flights have been undertaken with PAMS (Photogrammetric Aerial Mapping System) by Germap, Germany, which is briefly introduced. This system is based on the SmartPlane fixed-wing UAV and a CANON IXUS camera system. The plane is equipped with GPS and has an infrared sensor system to estimate attitude values. A software has been developed to link the PAMS output to a standard photogrammetric processing chain built on Trimble INPHO. The linking of the image files and image IDs and the handling of different cases with partly corrupted output have to be solved to generate an INPHO project file. Based on this project file the software packages MATCH-AT, MATCH-T DSM, OrthoMaster and OrthoVista for digital aerial triangulation, DTM/DSM generation and finally digital orthomosaik generation are applied. The focus has been on investigations on how to adapt the "usual" parameters for the digital aerial triangulation and other software to the UAV flight conditions, which are showing high overlaps, large kappa angles and a certain image blur in case of turbulences. It was found, that the selected parameter setup shows a quite stable behaviour and can be applied to other flights. A comparison is made to results from other open source multi-ray matching software to handle the issue of the described flight conditions. Flights over the same area at different times have been compared to each other. The major objective was here to see, on how far differences occur relative to each other, without having access to ground control data, which would have a potential for applications with low requirements on the absolute accuracy. The results show, that there are influences of weather and illumination visible. The "unusual" flight pattern, which shows big time differences for neighbouring strips has an influence on the AT and DTM/DSM generation. The results obtained so far do indicate problems in the stability of the camera calibration. This clearly requests a usage of GCPs for all

  4. Radar-to-Radar Interference Suppression for Distributed Radar Sensor Networks

    Directory of Open Access Journals (Sweden)

    Wen-Qin Wang

    2014-01-01

    Full Text Available Radar sensor networks, including bi- and multi-static radars, provide several operational advantages, like reduced vulnerability, good system flexibility and an increased radar cross-section. However, radar-to-radar interference suppression is a major problem in distributed radar sensor networks. In this paper, we present a cross-matched filtering-based radar-to-radar interference suppression algorithm. This algorithm first uses an iterative filtering algorithm to suppress the radar-to-radar interferences and, then, separately matched filtering for each radar. Besides the detailed algorithm derivation, extensive numerical simulation examples are performed with the down-chirp and up-chirp waveforms, partially overlapped or inverse chirp rate linearly frequency modulation (LFM waveforms and orthogonal frequency division multiplexing (ODFM chirp diverse waveforms. The effectiveness of the algorithm is verified by the simulation results.

  5. Review of the Current State of UAV Regulations

    Directory of Open Access Journals (Sweden)

    Claudia Stöcker

    2017-05-01

    Full Text Available UAVs—unmanned aerial vehicles—facilitate data acquisition at temporal and spatial scales that still remain unachievable for traditional remote sensing platforms. However, current legal frameworks that regulate UAVs present significant barriers to research and development. To highlight the importance, impact, and diversity of UAV regulations, this paper provides an exploratory investigation of UAV regulations on the global scale. For this, the methodological approach consists of a research synthesis of UAV regulations, including a thorough literature review and a comparative analysis of national regulatory frameworks. Similarities and contrasting elements in the various national UAV regulations are explored including their statuses from the perspectives of past, present, and future trends. Since the early 2000s, countries have gradually established national legal frameworks. Although all UAV regulations have one common goal—minimizing the risks to other airspace users and to both people and property on the ground—the results reveal distinct variations in all the compared variables. Furthermore, besides the clear presence of legal frameworks, market forces such as industry design standards and reliable information about UAVs as public goods are expected to shape future developments.

  6. Slic Superpixels for Object Delineation from Uav Data

    Science.gov (United States)

    Crommelinck, S.; Bennett, R.; Gerke, M.; Koeva, M. N.; Yang, M. Y.; Vosselman, G.

    2017-08-01

    Unmanned aerial vehicles (UAV) are increasingly investigated with regard to their potential to create and update (cadastral) maps. UAVs provide a flexible and low-cost platform for high-resolution data, from which object outlines can be accurately delineated. This delineation could be automated with image analysis methods to improve existing mapping procedures that are cost, time and labor intensive and of little reproducibility. This study investigates a superpixel approach, namely simple linear iterative clustering (SLIC), in terms of its applicability to UAV data. The approach is investigated in terms of its applicability to high-resolution UAV orthoimages and in terms of its ability to delineate object outlines of roads and roofs. Results show that the approach is applicable to UAV orthoimages of 0.05 m GSD and extents of 100 million and 400 million pixels. Further, the approach delineates the objects with the high accuracy provided by the UAV orthoimages at completeness rates of up to 64 %. The approach is not suitable as a standalone approach for object delineation. However, it shows high potential for a combination with further methods that delineate objects at higher correctness rates in exchange of a lower localization quality. This study provides a basis for future work that will focus on the incorporation of multiple methods for an interactive, comprehensive and accurate object delineation from UAV data. This aims to support numerous application fields such as topographic and cadastral mapping.

  7. Output feedback control of a quadrotor UAV using neural networks.

    Science.gov (United States)

    Dierks, Travis; Jagannathan, Sarangapani

    2010-01-01

    In this paper, a new nonlinear controller for a quadrotor unmanned aerial vehicle (UAV) is proposed using neural networks (NNs) and output feedback. The assumption on the availability of UAV dynamics is not always practical, especially in an outdoor environment. Therefore, in this work, an NN is introduced to learn the complete dynamics of the UAV online, including uncertain nonlinear terms like aerodynamic friction and blade flapping. Although a quadrotor UAV is underactuated, a novel NN virtual control input scheme is proposed which allows all six degrees of freedom (DOF) of the UAV to be controlled using only four control inputs. Furthermore, an NN observer is introduced to estimate the translational and angular velocities of the UAV, and an output feedback control law is developed in which only the position and the attitude of the UAV are considered measurable. It is shown using Lyapunov theory that the position, orientation, and velocity tracking errors, the virtual control and observer estimation errors, and the NN weight estimation errors for each NN are all semiglobally uniformly ultimately bounded (SGUUB) in the presence of bounded disturbances and NN functional reconstruction errors while simultaneously relaxing the separation principle. The effectiveness of proposed output feedback control scheme is then demonstrated in the presence of unknown nonlinear dynamics and disturbances, and simulation results are included to demonstrate the theoretical conjecture.

  8. Optimal trajectory planning for a UAV glider using atmospheric thermals

    Science.gov (United States)

    Kagabo, Wilson B.

    An Unmanned Aerial Vehicle Glider (UAV glider) uses atmospheric energy in its different forms to remain aloft for extended flight durations. This UAV glider's aim is to extract atmospheric thermal energy and use it to supplement its battery energy usage and increase the mission period. Given an infrared camera identified atmospheric thermal of known strength and location; current wind speed and direction; current battery level; altitude and location of the UAV glider; and estimating the expected altitude gain from the thermal, is it possible to make an energy-efficient based motivation to fly to an atmospheric thermal so as to achieve UAV glider extended flight time? For this work, an infrared thermal camera aboard the UAV glider takes continuous forward-looking ground images of "hot spots". Through image processing a candidate atmospheric thermal strength and location is estimated. An Intelligent Decision Model incorporates this information with the current UAV glider status and weather conditions to provide an energy-based recommendation to modify the flight path of the UAV glider. Research, development, and simulation of the Intelligent Decision Model is the primary focus of this work. Three models are developed: (1) Battery Usage Model, (2) Intelligent Decision Model, and (3) Altitude Gain Model. The Battery Usage Model comes from the candidate flight trajectory, wind speed & direction and aircraft dynamic model. Intelligent Decision Model uses a fuzzy logic based approach. The Altitude Gain Model requires the strength and size of the thermal and is found a priori.

  9. Flight safety measurements of UAVs in congested airspace

    Directory of Open Access Journals (Sweden)

    Xiang Jinwu

    2016-10-01

    Full Text Available Describing spatial safety status is crucial for high-density air traffic involving multiple unmanned aerial vehicles (UAVs in a complex environment. A probabilistic approach is proposed to measure safety situation in congested airspace. The occupancy distribution of the airspace is represented with conflict probability between spatial positions and UAV. The concept of a safety envelope related to flight performance and response time is presented first instead of the conventional fixed-size protected zones around aircraft. Consequently, the conflict probability is performance-dependent, and effects of various UAVs on safety can be distinguished. The uncertainty of a UAV future position is explicitly accounted for as Brownian motion. An analytic approximate algorithm for the conflict probability is developed to decrease the computational consumption. The relationship between safety and flight performance are discussed for different response times and prediction intervals. To illustrate the applications of the approach, an experiment of three UAVs in formation flight is performed. In addition, an example of trajectory planning is simulated for one UAV flying over airspace where five UAVs exist. The validation of the approach shows its potential in guaranteeing flight safety in highly dynamic environment.

  10. A method of fast mosaic for massive UAV images

    Science.gov (United States)

    Xiang, Ren; Sun, Min; Jiang, Cheng; Liu, Lei; Zheng, Hui; Li, Xiaodong

    2014-11-01

    With the development of UAV technology, UAVs are used widely in multiple fields such as agriculture, forest protection, mineral exploration, natural disaster management and surveillances of public security events. In contrast of traditional manned aerial remote sensing platforms, UAVs are cheaper and more flexible to use. So users can obtain massive image data with UAVs, but this requires a lot of time to process the image data, for example, Pix4UAV need approximately 10 hours to process 1000 images in a high performance PC. But disaster management and many other fields require quick respond which is hard to realize with massive image data. Aiming at improving the disadvantage of high time consumption and manual interaction, in this article a solution of fast UAV image stitching is raised. GPS and POS data are used to pre-process the original images from UAV, belts and relation between belts and images are recognized automatically by the program, in the same time useless images are picked out. This can boost the progress of finding match points between images. Levenberg-Marquard algorithm is improved so that parallel computing can be applied to shorten the time of global optimization notably. Besides traditional mosaic result, it can also generate superoverlay result for Google Earth, which can provide a fast and easy way to show the result data. In order to verify the feasibility of this method, a fast mosaic system of massive UAV images is developed, which is fully automated and no manual interaction is needed after original images and GPS data are provided. A test using 800 images of Kelan River in Xinjiang Province shows that this system can reduce 35%-50% time consumption in contrast of traditional methods, and increases respond speed of UAV image processing rapidly.

  11. Radar remote sensing in biology

    Science.gov (United States)

    Moore, Richard K.; Simonett, David S.

    1967-01-01

    The present status of research on discrimination of natural and cultivated vegetation using radar imaging systems is sketched. The value of multiple polarization radar in improved discrimination of vegetation types over monoscopic radars is also documented. Possible future use of multi-frequency, multi-polarization radar systems for all weather agricultural survey is noted.

  12. Novel radar techniques and applications

    CERN Document Server

    Klemm, Richard; Koch, Wolfgang

    2017-01-01

    Novel Radar Techniques and Applications presents the state-of-the-art in advanced radar, with emphasis on ongoing novel research and development and contributions from an international team of leading radar experts. This volume covers: Waveform diversity and cognitive radar and Target tracking and data fusion.

  13. Radar and electronic navigation

    CERN Document Server

    Sonnenberg, G J

    2013-01-01

    Radar and Electronic Navigation, Sixth Edition discusses radar in marine navigation, underwater navigational aids, direction finding, the Decca navigator system, and the Omega system. The book also describes the Loran system for position fixing, the navy navigation satellite system, and the global positioning system (GPS). It reviews the principles, operation, presentations, specifications, and uses of radar. It also describes GPS, a real time position-fixing system in three dimensions (longitude, latitude, altitude), plus velocity information with Universal Time Coordinated (UTC). It is accur

  14. Wind farm radar study

    International Nuclear Information System (INIS)

    Davies, N.G.

    1995-01-01

    This report examines the possible degradations of radar performance that may be caused by the presence of a wind turbine generator within the radar coverage area. A brief literature survey reviews the previously published work, which is mainly concerned with degradation of broadcast TV reception. Estimates are made of wind turbine generator scattering cross-sections, and of the time and Doppler characteristics of the echo signals from representative wind turbine generator. The general characteristics of radar detection and tracking methods are described, and the behaviour of such systems in the presence of strong returns from a wind turbine generator (or an array of them) is discussed. (author)

  15. Radar observations of Mercury

    International Nuclear Information System (INIS)

    Harmon, J.K.; Campbell, D.B.

    1988-01-01

    Some of the radar altimetry profiles of Mercury obtained on the basis of data from the Arecibo Observatory are presented. In these measurements, the delay-Doppler method was used to measure altitudes along the Doppler equator, rather than to map radar reflectivity. The profiles, derived from observations made over a 6-yr period, provide extensive coverage over a restricted equatorial band and permit the identification of radar signatures for features as small as 50-km diameter craters and 1-km-high arcuate scarps. The data allowed identification of large-scale topographic features such as smooth plains subsidence zones and major highland regions

  16. Radar cross section

    CERN Document Server

    Knott, Gene; Tuley, Michael

    2004-01-01

    This is the second edition of the first and foremost book on this subject for self-study, training, and course work. Radar cross section (RCS) is a comparison of two radar signal strengths. One is the strength of the radar beam sweeping over a target, the other is the strength of the reflected echo sensed by the receiver. This book shows how the RCS ?gauge? can be predicted for theoretical objects and how it can be measured for real targets. Predicting RCS is not easy, even for simple objects like spheres or cylinders, but this book explains the two ?exact? forms of theory so well that even a

  17. Radar Remote Sensing

    Science.gov (United States)

    Rosen, Paul A.

    2012-01-01

    This lecture was just a taste of radar remote sensing techniques and applications. Other important areas include Stereo radar grammetry. PolInSAR for volumetric structure mapping. Agricultural monitoring, soil moisture, ice-mapping, etc. The broad range of sensor types, frequencies of observation and availability of sensors have enabled radar sensors to make significant contributions in a wide area of earth and planetary remote sensing sciences. The range of applications, both qualitative and quantitative, continue to expand with each new generation of sensors.

  18. The use of UAVs for monitoring land degradation

    Science.gov (United States)

    Themistocleous, Kyriacos

    2017-10-01

    Land degradation is one of the causes of desertification of drylands in the Mediterranean. UAVs can be used to monitor and document the various variables that cause desertification in drylands, including overgrazing, aridity, vegetation loss, etc. This paper examines the use of UAVs and accompanying sensors to monitor overgrazing, vegetation stress and aridity in the study area. UAV images can be used to generate digital elevation models (DEMs) to examine the changes in microtopography as well as ortho-photos were used to detect changes in vegetation patterns. The combined data of the digital elevation models and the orthophotos can be used to identify the mechanisms for desertification in the study area.

  19. Current development of UAV sense and avoid system

    Science.gov (United States)

    Zhahir, A.; Razali, A.; Mohd Ajir, M. R.

    2016-10-01

    As unmanned aerial vehicles (UAVs) are now gaining high interests from civil and commercialised market, the automatic sense and avoid (SAA) system is currently one of the essential features in research spotlight of UAV. Several sensor types employed in current SAA research and technology of sensor fusion that offers a great opportunity in improving detection and tracking system are presented here. The purpose of this paper is to provide an overview of SAA system development in general, as well as the current challenges facing UAV researchers and designers.

  20. Dynamic Data-Driven UAV Network for Plume Characterization

    Science.gov (United States)

    2016-05-23

    AFRL-AFOSR-VA-TR-2016-0203 Dynamic Data-Driven UAV Network for Plume Characterization Kamran Mohseni UNIVERSITY OF FLORIDA Final Report 05/23/2016...AND SUBTITLE Dynamic Data-Driven UAV Network for Plume Characterization 5a.  CONTRACT NUMBER 5b.  GRANT NUMBER FA9550-13-1-0090 5c.  PROGRAM ELEMENT...studied a dynamic data driven (DDD) approach to operation of a heterogeneous team of unmanned aerial vehicles ( UAVs ) or micro/miniature aerial

  1. Uav-Mapping - a User Report

    Science.gov (United States)

    Mayr, W.

    2011-09-01

    This paper reports on first hand experiences in operating an unmanned airborne system (UAS) for mapping purposes in the environment of a mapping company. Recently, a multitude of activities in UAVs is visible, and there is growing interest in the commercial, industrial, and academic mapping user communities and not only in those. As an introduction, the major components of an UAS are identified. The paper focuses on a 1.1kg UAV which is integrated and gets applied on a day-to-day basis as part of an UAS in standard aerial imaging tasks for more than two years already. We present the unmanned airborne vehicle in some detail as well as the overall system components such as autopilot, ground station, flight mission planning and control, and first level image processing. The paper continues with reporting on experiences gained in setting up constraints such a system needs to fulfill. Further on, operational aspects with emphasis on unattended flight mission mode are presented. Various examples show the applicability of UAS in geospatial tasks, proofing that UAS are capable delivering reliably e.g. orthomosaics, digital surface models and more. Some remarks on achieved accuracies give an idea on obtainable qualities. A discussion about safety features puts some light on important matters when entering unmanned flying activities and rounds up this paper. Conclusions summarize the state of the art of an operational UAS from the point of the view of the author.

  2. UAV-MAPPING – A USER REPORT

    Directory of Open Access Journals (Sweden)

    W. Mayr

    2012-09-01

    Full Text Available This paper reports on first hand experiences in operating an unmanned airborne system (UAS for mapping purposes in the environment of a mapping company. Recently, a multitude of activities in UAVs is visible, and there is growing interest in the commercial, industrial, and academic mapping user communities and not only in those. As an introduction, the major components of an UAS are identified. The paper focuses on a 1.1kg UAV which is integrated and gets applied on a day-to-day basis as part of an UAS in standard aerial imaging tasks for more than two years already. We present the unmanned airborne vehicle in some detail as well as the overall system components such as autopilot, ground station, flight mission planning and control, and first level image processing. The paper continues with reporting on experiences gained in setting up constraints such a system needs to fulfill. Further on, operational aspects with emphasis on unattended flight mission mode are presented. Various examples show the applicability of UAS in geospatial tasks, proofing that UAS are capable delivering reliably e.g. orthomosaics, digital surface models and more. Some remarks on achieved accuracies give an idea on obtainable qualities. A discussion about safety features puts some light on important matters when entering unmanned flying activities and rounds up this paper. Conclusions summarize the state of the art of an operational UAS from the point of the view of the author.

  3. Control system design for UAV trajectory tracking

    Science.gov (United States)

    Wang, Haitao; Gao, Jinyuan

    2006-11-01

    In recent years, because of the emerging requirements for increasing autonomy, the controller of uninhabited air vehicles must be augmented with a very sophisticated autopilot design which is capable of tracking complex and agile maneuvering trajectory. This paper provides a simplified control system framework to solve UAV maneuvering trajectory tracking problem. The flight control system is divided into three subsystems including command generation, transformation and allocation. According to the kinematics equations of the aircraft, flight path angle commands can be generated by desired 3D position from path planning. These commands are transformed to body angular rates through direct nonlinear mapping, which is simpler than common multi-loop method based on time scale separation assumption. Then, by using weighted pseudo-inverse method, the control surface deflections are allocated to follow body angular rates from the previous step. In order to improve the robustness, a nonlinear disturbance observer-based approach is used to compensate the uncertainty of system. A 6DOF nonlinear UAV model is controlled to demonstrate the performance of the trajectory tracking control system. Simulation results show that the control strategy is easy to be realized and the precision of tracking is satisfying.

  4. Estimating the Rut Depth by UAV Photogrammetry

    Directory of Open Access Journals (Sweden)

    Paavo Nevalainen

    2017-12-01

    Full Text Available The rut formation during forest operations is an undesirable phenomenon. A methodology is being proposed to measure the rut depth distribution of a logging site by photogrammetric point clouds produced by unmanned aerial vehicles (UAV. The methodology includes five processing steps that aim at reducing the noise from the surrounding trees and undergrowth for identifying the trails. A canopy height model is produced to focus the point cloud on the open pathway around the forest machine trail. A triangularized ground model is formed by a point cloud filtering method. The ground model is vectorized using the histogram of directed curvatures (HOC method to produce an overall ground visualization. Finally, a manual selection of the trails leads to an automated rut depth profile analysis. The bivariate correlation (Pearson’s r between rut depths measured manually and by UAV photogrammetry is r = 0.67 . The two-class accuracy a of detecting the rut depth exceeding 20 cm is a = 0.65 . There is potential for enabling automated large-scale evaluation of the forestry areas by using autonomous drones and the process described.

  5. Research on UAV Intelligent Obstacle Avoidance Technology During Inspection of Transmission Line

    Science.gov (United States)

    Wei, Chuanhu; Zhang, Fei; Yin, Chaoyuan; Liu, Yue; Liu, Liang; Li, Zongyu; Wang, Wanguo

    Autonomous obstacle avoidance of unmanned aerial vehicle (hereinafter referred to as UAV) in electric power line inspection process has important significance for operation safety and economy for UAV intelligent inspection system of transmission line as main content of UAV intelligent inspection system on transmission line. In the paper, principles of UAV inspection obstacle avoidance technology of transmission line are introduced. UAV inspection obstacle avoidance technology based on particle swarm global optimization algorithm is proposed after common obstacle avoidance technologies are studied. Stimulation comparison is implemented with traditional UAV inspection obstacle avoidance technology which adopts artificial potential field method. Results show that UAV inspection strategy of particle swarm optimization algorithm, adopted in the paper, is prominently better than UAV inspection strategy of artificial potential field method in the aspects of obstacle avoidance effect and the ability of returning to preset inspection track after passing through the obstacle. An effective method is provided for UAV inspection obstacle avoidance of transmission line.

  6. Unmanned aerial vehicles (UAVs) in pest management: Progress in the development of a UAV-deployed mating disruption system for Wisconsin cranberries

    Science.gov (United States)

    Unmanned aerial vehicles (UAVs) represent a powerful new tool for agriculture. Currently, UAVs are used almost exclusively as crop reconnaissance devices (“eyes in the sky”), not as pest control delivery systems. Research in Wisconsin cranberries is taking UAVs in a new direction. The Steffan and Lu...

  7. Volcanic Plume Measurements with UAV (Invited)

    Science.gov (United States)

    Shinohara, H.; Kaneko, T.; Ohminato, T.

    2013-12-01

    Volatiles in magmas are the driving force of volcanic eruptions and quantification of volcanic gas flux and composition is important for the volcano monitoring. Recently we developed a portable gas sensor system (Multi-GAS) to quantify the volcanic gas composition by measuring volcanic plumes and obtained volcanic gas compositions of actively degassing volcanoes. As the Multi-GAS measures variation of volcanic gas component concentrations in the pumped air (volcanic plume), we need to bring the apparatus into the volcanic plume. Commonly the observer brings the apparatus to the summit crater by himself but such measurements are not possible under conditions of high risk of volcanic eruption or difficulty to approach the summit due to topography etc. In order to overcome these difficulties, volcanic plume measurements were performed by using manned and unmanned aerial vehicles. The volcanic plume measurements by manned aerial vehicles, however, are also not possible under high risk of eruption. The strict regulation against the modification of the aircraft, such as installing sampling pipes, also causes difficulty due to the high cost. Application of the UAVs for the volcanic plume measurements has a big advantage to avoid these problems. The Multi-GAS consists of IR-CO2 and H2O gas analyzer, SO2-H2O chemical sensors and H2 semiconductor sensor and the total weight ranges 3-6 kg including batteries. The necessary conditions of the UAV for the volcanic plumes measurements with the Multi-GAS are the payloads larger than 3 kg, maximum altitude larger than the plume height and installation of the sampling pipe without contamination of the exhaust gases, as the exhaust gases contain high concentrations of H2, SO2 and CO2. Up to now, three different types of UAVs were applied for the measurements; Kite-plane (Sky Remote) at Miyakejima operated by JMA, Unmanned airplane (Air Photo Service) at Shinomoedake, Kirishima volcano, and Unmanned helicopter (Yamaha) at Sakurajima

  8. Wind Profiling Radar

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Clutter present in radar return signals as used for wind profiling is substantially removed by carrying out a Daubechies wavelet transformation on a time series of...

  9. Improved Laser Vibration Radar

    National Research Council Canada - National Science Library

    Hilaire, Pierre

    1998-01-01

    .... This thesis reconfigured an existing CO2 laboratory laser radar system that is capable of measuring the frequencies of vibration of a simulated target into a more compact and rugged form for field testing...

  10. Phased-array radars

    Science.gov (United States)

    Brookner, E.

    1985-02-01

    The operating principles, technology, and applications of phased-array radars are reviewed and illustrated with diagrams and photographs. Consideration is given to the antenna elements, circuitry for time delays, phase shifters, pulse coding and compression, and hybrid radars combining phased arrays with lenses to alter the beam characteristics. The capabilities and typical hardware of phased arrays are shown using the US military systems COBRA DANE and PAVE PAWS as examples.

  11. Radar detection of Vesta

    International Nuclear Information System (INIS)

    Ostro, S.J.; Cornell University, Ithaca, N.Y.); Campbell, D.B.; Pettengill, G.H.

    1980-01-01

    Asteroid 4 Vesta was detected on November 6, 1979 with the Arecibo Observatory's S-band (12.6-cm-wavelength) radar. The echo power spectrum, received in the circular polarization opposite to that transmitted, yields a radar cross section of (0.2 + or - 0.1)pi a-squared, for a 272 km. The data are too noisy to permit derivation of Vesta's rotation period

  12. Downhole pulse radar

    Science.gov (United States)

    Chang, Hsi-Tien

    1987-09-28

    A borehole logging tool generates a fast rise-time, short duration, high peak-power radar pulse having broad energy distribution between 30 MHz and 300 MHz through a directional transmitting and receiving antennas having barium titanate in the electromagnetically active region to reduce the wavelength to within an order of magnitude of the diameter of the antenna. Radar returns from geological discontinuities are sampled for transmission uphole. 7 figs.

  13. Precise Positioning of Uavs - Dealing with Challenging Rtk-Gps Measurement Conditions during Automated Uav Flights

    Science.gov (United States)

    Zimmermann, F.; Eling, C.; Klingbeil, L.; Kuhlmann, H.

    2017-08-01

    For some years now, UAVs (unmanned aerial vehicles) are commonly used for different mobile mapping applications, such as in the fields of surveying, mining or archeology. To improve the efficiency of these applications an automation of the flight as well as the processing of the collected data is currently aimed at. One precondition for an automated mapping with UAVs is that the georeferencing is performed directly with cm-accuracies or better. Usually, a cm-accurate direct positioning of UAVs is based on an onboard multi-sensor system, which consists of an RTK-capable (real-time kinematic) GPS (global positioning system) receiver and additional sensors (e.g. inertial sensors). In this case, the absolute positioning accuracy essentially depends on the local GPS measurement conditions. Especially during mobile mapping applications in urban areas, these conditions can be very challenging, due to a satellite shadowing, non-line-of sight receptions, signal diffraction or multipath effects. In this paper, two straightforward and easy to implement strategies will be described and analyzed, which improve the direct positioning accuracies for UAV-based mapping and surveying applications under challenging GPS measurement conditions. Based on a 3D model of the surrounding buildings and vegetation in the area of interest, a GPS geometry map is determined, which can be integrated in the flight planning process, to avoid GPS challenging environments as far as possible. If these challenging environments cannot be avoided, the GPS positioning solution is improved by using obstruction adaptive elevation masks, to mitigate systematic GPS errors in the RTK-GPS positioning. Simulations and results of field tests demonstrate the profit of both strategies.

  14. Archaeology, historical site risk assessment and monitoring by UAV: approaches and case studies

    Science.gov (United States)

    Pecci, Antonio; Masini, Nicola

    2016-04-01

    , Ychma and Inca. A test site has been selected to assess the capability of SAR satellite data for the identification of earthen archaeological features. UAV surveys have been performed to provide a very detail DEM enabling us to analyze and interpret the radar signal backscattering behaviour of archaeological microrelief and structures. In all the three applications UAV proved to be an effective, user-friendly, less time consuming, flexible tool for a number of applications and aims ranging from from the site detection to the risk evaluation of archaeological interest areas. References Lasaponara R., Masini N. 2012. Remote Sensing in Archaeology: From Visual Data Interpretation to Digital Data Manipulation, In: Lasaponara R., Masini N. (Eds) 2012, Satellite Remote Sensing: a new tool for Archaeology, Springer, Verlag Berlin Heidelberg, ISBN 978-90-481-8800-0, pp. 3-16, doi : 10.1007/978-90-481-8801-7_1. Lasaponara R., Masini N. 2013, Satellite Synthetic Aperture Radar in Archaeology and Cultural Landscape: An Overview. Archaeological Prospection, 20, 71-78, doi: 10.1002/arp.1452 Lasaponara R., Leucci G., Masini N., Persico R., Scardozzi G. 2016a. Towards an operative use of remote sensing for exploring the past using satellite data: The case study of Hierapolis (Turkey), Remote sensing of Environment, 174 (2016) : 148-164, doi:10.1016/j.rse.2015.12.016 Lasaponara R., Masini N., Pecci A., Perciante F., Pozzi Escot D., Rizzo E., Scavone M., Sileo M. 2016b, Qualitative evaluation of COSMO SkyMed in the detection of earthen archaeological remains: the case of Pachamacac (Peru)", Journal of Cultural heritage, 2016, in press. Leucci G., Masini N., Rizzo E., Capozzoli L., De Martino G. et al., Integrated Archaeogeophysical Approach for the Study of a Medieval Monastic Settlement in Basilicata, Open Archaeology 2015; 1: 236-246, doi: 10.1515/opar-2015-0014. F. Neitzel, J. Klonowski, Mobile 3d mapping with a low-cost UAV system, Int. Arch. Photogramm. Remote Sens. Spatial Inf

  15. HIL Tuning of UAV for Exploration of Risky Environments

    Directory of Open Access Journals (Sweden)

    C. D. Melita

    2008-11-01

    Full Text Available In this paper the latest results of an HIL architecture, optimized to develop and test UAV platforms are presented. This architecture has been used to realize the different devices involved in the navigation and stability control of the Volcan UAV, a plane designed to operate in volcanic environments. The proposed architecture is strongly modular and flexible and allows the development of avionic hardware and software, testing and tuning the involved algorithms with non-destructive trials. A flight simulator (X-Plane with a suitable plane model and plug-in, has been adopted to simulate the UAV dynamics. The flight simulator, interfaced with the real electronic boards, allows an easy tuning of all the control parameters and data collecting for test and validation. The effectiveness of adopted methodology was confirmed by several flight tests performed subsequently by using the designed avionic modules on the real UAV.

  16. Small VTOL UAV Acoustics Measurement and Prediction, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — Interest in civilian use of small Unmanned Aerial Vehicles (UAVs) with Vertical Takeoff and Landing (VTOL) capability has increased greatly in recent years, and is...

  17. Fleet Protection Using a Small UAV Based IR Sensor

    National Research Council Canada - National Science Library

    Buss, James R; Ax, Jr, George R

    2005-01-01

    A study was performed to define candidate electro-optical and infrared (EO/IR) sensor configurations and assess their potential utility as small UAV-based sensors surveilling a perimeter around surface fleet assets...

  18. A Synthetic Teammate for UAV Applications: A Prospective Look

    National Research Council Canada - National Science Library

    Gluck, Kevin A; Ball, Jerry T; Gunzelmann, Glenn; Krusmark, Michael A; Lyon, Don R; Cooke, Nancy J

    2006-01-01

    This report describes current progress and future plans for research and development in synthetic teammates for applications in training, analysis, and system design for Uninhabited Aerial Vehicle (UAV) operations...

  19. Adaptive Levels of Autonomy (ALOA) for UAV Supervisory Control

    National Research Council Canada - National Science Library

    Johnson, Rubin; Leen, Michael; Goldberg, Dan; Chiu, Michael

    2005-01-01

    .... To demonstrate the architecture and LOA implementation, we designed a prototype Multi-UAV Control Station Emulator research test bed, by building on existing ORCA-developed software components...

  20. Tracking, aiming, and hitting the UAV with ordinary assault rifle

    Science.gov (United States)

    Racek, František; Baláž, Teodor; Krejčí, Jaroslav; Procházka, Stanislav; Macko, Martin

    2017-10-01

    The usage small-unmanned aerial vehicles (UAVs) is significantly increasing nowadays. They are being used as a carrier of military spy and reconnaissance devices (taking photos, live video streaming and so on), or as a carrier of potentially dangerous cargo (intended for destruction and killing). Both ways of utilizing the UAV cause the necessity to disable it. From the military point of view, to disable the UAV means to bring it down by a weapon of an ordinary soldier that is the assault rifle. This task can be challenging for the soldier because he needs visually detect and identify the target, track the target visually and aim on the target. The final success of the soldier's mission depends not only on the said visual tasks, but also on the properties of the weapon and ammunition. The paper deals with possible methods of prediction of probability of hitting the UAV targets.

  1. Development Of Linear Quadratic Regulator Design For Small UAV System

    Directory of Open Access Journals (Sweden)

    Cho Zin Myint

    2015-08-01

    Full Text Available The aim of this paper is to know the importance role of stability analysis for both unmanned aircraft system and for all control system. The objective of paper is to develop a method for dynamic stability analysis of the design process. These are categorized intoTo design model and stability analysis of UAV based on the forces and moment equations of aircraft dynamic model To choose the suitable controller for desired altitude of a particular UAV model To analyze the stability condition for aircraft using mathematical modeling and MATLAB. In this paper the analytical model of the longitudinal dynamic of flying wing UAV has been developed using aerodynamic data. The stability characteristics of UAV can be achieved from the system transfer function with LQR controller.

  2. Multi‐angular observations of vegetation indices from UAV cameras

    DEFF Research Database (Denmark)

    Sobejano-Paz, Veronica; Wang, Sheng; Jakobsen, Jakob

    Unmanned aerial vehicles (UAVs) are found as an alternative to the classical manned aerial photogrammetry, which can be used to obtain environmental data or as a complementary solution to other methods (Nex and Remondino, 2014). Although UAVs have coverage limitations, they have better resolution...... (Berni et al., 2009), hyper spectral camera (Burkart et al., 2015) and photometric elevation mapping sensor (Shahbazi et al., 2015) among others. Therefore, UAVs can be used in many fields such as agriculture, forestry, archeology, architecture, environment and traffic monitoring (Nex and Remondino, 2014......). In this study, the UAV used is a hexacopter s900 equipped with a Global Positioning System (GPS) and two cameras; a digital RGB photo camera and a multispectral camera (MCA), with a resolution of 5472 x 3648 pixels and 1280 x 1024 pixels, respectively. In terms of applications, traditional methods using...

  3. Chemical Microsensor Instrument for UAV Airborne Atmospheric Measurements, Phase II

    Data.gov (United States)

    National Aeronautics and Space Administration — The rapid expansion of available UAV types and increased mission capability (payload, flight duration, and system cost reductions) offers wide range of potential...

  4. Using LTE Networks for UAV Command and Control Link

    DEFF Research Database (Denmark)

    Nguyen, Huan Cong; Amorim, Rafhael Medeiros de; Wigard, Jeroen

    2017-01-01

    In this paper we investigate the ability of Long-Term Evolution (LTE) network to provide coverage for Unmanned Aerial Vehicles (UAVs) in a rural area, in particular for the Command and Control (C2) downlink. The study takes into consideration the dependency of the large-scale path loss on the hei......In this paper we investigate the ability of Long-Term Evolution (LTE) network to provide coverage for Unmanned Aerial Vehicles (UAVs) in a rural area, in particular for the Command and Control (C2) downlink. The study takes into consideration the dependency of the large-scale path loss...... on the height of the UAV, which is derived from actual measurements, and a real-world cellular network layout and configuration. The results indicate that interference is the dominant factor limiting the cellular coverage for UAVs in the downlink: outage level increases from 4.2% at 1.5 m height to 51.7% at 120...

  5. Pathloss Measurements and Modeling for UAVs Connected to Cellular Networks

    DEFF Research Database (Denmark)

    Amorim, Rafhael Medeiros de; Mogensen, Preben Elgaard; Sørensen, Troels Bundgaard

    2017-01-01

    . The measurements were conducted in an operating LTE network (850 MHz), using a commercial cell phone, placed inside the frame of the UAV. Trials were conducted for UAV flying at 5 different heights measured above ground level (20, 40, 60, 80 and 100m) and a pathloss regression line was obtained from results. Then......This paper assess field measurements, as part of the investigation of the suitability of cellular networks for providing connectivity to UAVs (unmanned aerial vehicles). Evaluation is done by means of field measurements obtained in a rural environment in Denmark with an airbone UAV......, downlink (DL) SINR levels obtained during flight measurements are also presented. An important result obtained from the measurents reveal that there is a height-related DL SINR degradation. Three main sources of uncertainty on the pathloss model that could be responsible for the SINR degradation are also...

  6. Multidepot UAV Routing Problem with Weapon Configuration and Time Window

    Directory of Open Access Journals (Sweden)

    Tianren Zhou

    2018-01-01

    Full Text Available In recent wars, there is an increasing trend that unmanned aerial vehicles (UAVs are utilized to conduct military attacking missions. In this paper, we investigate a novel multidepot UAV routing problem with consideration of weapon configuration in the UAV and the attacking time window of the target. A mixed-integer linear programming model is developed to jointly optimize three kinds of decisions: the weapon configuration strategy in the UAV, the routing strategy of target, and the allocation strategy of weapons to targets. An adaptive large neighborhood search (ALNS algorithm is proposed for solving the problem, which is tested by randomly generated instances covering the small, medium, and large sizes. Experimental results confirm the effectiveness and robustness of the proposed ALNS algorithm.

  7. Autonomous Control of a Quadrotor UAV Using Fuzzy Logic

    Science.gov (United States)

    Sureshkumar, Vijaykumar

    UAVs are being increasingly used today than ever before in both military and civil applications. They are heavily preferred in "dull, dirty or dangerous" mission scenarios. Increasingly, UAVs of all kinds are being used in policing, fire-fighting, inspection of structures, pipelines etc. Recently, the FAA gave its permission for UAVs to be used on film sets for motion capture and high definition video recording. The rapid development in MEMS and actuator technology has made possible a plethora of UAVs that are suited for commercial applications in an increasingly cost effective manner. An emerging popular rotary wing UAV platform is the Quadrotor A Quadrotor is a helicopter with four rotors, that make it more stable; but more complex to model and control. Characteristics that provide a clear advantage over other fixed wing UAVs are VTOL and hovering capabilities as well as a greater maneuverability. It is also simple in construction and design compared to a scaled single rotorcraft. Flying such UAVs using a traditional radio Transmitter-Receiver setup can be a daunting task especially in high stress situations. In order to make such platforms widely applicable, a certain level of autonomy is imperative to the future of such UAVs. This thesis paper presents a methodology for the autonomous control of a Quadrotor UAV using Fuzzy Logic. Fuzzy logic control has been chosen over conventional control methods as it can deal effectively with highly nonlinear systems, allows for imprecise data and is extremely modular. Modularity and adaptability are the key cornerstones of FLC. The objective of this thesis is to present the steps of designing, building and simulating an intelligent flight control module for a Quadrotor UAV. In the course of this research effort, a Quadrotor UAV is indigenously developed utilizing the resources of an online open source project called Aeroquad. System design is comprehensively dealt with. A math model for the Quadrotor is developed and a

  8. Geomorphological mapping of shallow landslides using UAVs

    Science.gov (United States)

    Fiorucci, Federica; Giordan, Daniele; Dutto, Furio; Rossi, Mauro; Guzzetti, Fausto

    2015-04-01

    The mapping of event shallow landslides is a critical activity, due to the large number of phenomena, mostly with small dimension, affecting extensive areas. This is commonly done through aerial photo-interpretation or through field surveys. Nowadays, landslide maps can be realized exploiting other methods/technologies: (i) airborne LiDARs, (ii) stereoscopic satellite images, and (iii) unmanned aerial vehicles (UAVs). In addition to the landslide maps, these methods/technologies allow the generation of updated Digital Terrain Models (DTM). In December 2013, in the Collazzone area (Umbria, Central Italy), an intense rainfall event triggered a large number of shallow landslides. To map the landslides occurred in the area, we exploited data and images obtained through (A) an airborne LiDAR survey, (B) a remote controlled optocopter (equipped with a Canon EOS M) survey, and (C) a stereoscopic satellite WorldView II MS. To evaluate the mapping accuracy of these methods, we select two landslides and we mapped them using a GPS RTK instrumentation. We consider the GPS survey as the benchmark being the most accurate system. The results of the comparison allow to highlight pros and cons of the methods/technologies used. LiDAR can be considered the most accurate system and in addition it allows the extraction and the classification of the digital surface models from the surveyed point cloud. Conversely, LiDAR requires additional time for the flight planning, and specific data analysis user capabilities. The analysis of the satellite WorldView II MS images facilitates the landslide mapping over large areas, but at the expenses of a minor resolution to detect the smaller landslides and their boundaries. UAVs can be considered the cheapest and fastest solution for the acquisition of high resolution ortho-photographs on limited areas, and the best solution for a multi-temporal analysis of specific landslide phenomena. Limitations are due to (i) the needs of optimal climatic

  9. A Natural Interaction Interface for UAVs Using Intuitive Gesture Recognition

    Science.gov (United States)

    Chandarana, Meghan; Trujillo, Anna; Shimada, Kenji; Allen, Danette

    2016-01-01

    The popularity of unmanned aerial vehicles (UAVs) is increasing as technological advancements boost their favorability for a broad range of applications. One application is science data collection. In fields like Earth and atmospheric science, researchers are seeking to use UAVs to augment their current portfolio of platforms and increase their accessibility to geographic areas of interest. By increasing the number of data collection platforms UAVs will significantly improve system robustness and allow for more sophisticated studies. Scientists would like be able to deploy an available fleet of UAVs to fly a desired flight path and collect sensor data without needing to understand the complex low-level controls required to describe and coordinate such a mission. A natural interaction interface for a Ground Control System (GCS) using gesture recognition is developed to allow non-expert users (e.g., scientists) to define a complex flight path for a UAV using intuitive hand gesture inputs from the constructed gesture library. The GCS calculates the combined trajectory on-line, verifies the trajectory with the user, and sends it to the UAV controller to be flown.

  10. Contour Detection for UAV-Based Cadastral Mapping

    Directory of Open Access Journals (Sweden)

    Sophie Crommelinck

    2017-02-01

    Full Text Available Unmanned aerial vehicles (UAVs provide a flexible and low-cost solution for the acquisition of high-resolution data. The potential of high-resolution UAV imagery to create and update cadastral maps is being increasingly investigated. Existing procedures generally involve substantial fieldwork and many manual processes. Arguably, multiple parts of UAV-based cadastral mapping workflows could be automated. Specifically, as many cadastral boundaries coincide with visible boundaries, they could be extracted automatically using image analysis methods. This study investigates the transferability of gPb contour detection, a state-of-the-art computer vision method, to remotely sensed UAV images and UAV-based cadastral mapping. Results show that the approach is transferable to UAV data and automated cadastral mapping: object contours are comprehensively detected at completeness and correctness rates of up to 80%. The detection quality is optimal when the entire scene is covered with one orthoimage, due to the global optimization of gPb contour detection. However, a balance between high completeness and correctness is hard to achieve, so a combination with area-based segmentation and further object knowledge is proposed. The localization quality exhibits the usual dependency on ground resolution. The approach has the potential to accelerate the process of general boundary delineation during the creation and updating of cadastral maps.

  11. Heterogeneous CPU-GPU moving targets detection for UAV video

    Science.gov (United States)

    Li, Maowen; Tang, Linbo; Han, Yuqi; Yu, Chunlei; Zhang, Chao; Fu, Huiquan

    2017-07-01

    Moving targets detection is gaining popularity in civilian and military applications. On some monitoring platform of motion detection, some low-resolution stationary cameras are replaced by moving HD camera based on UAVs. The pixels of moving targets in the HD Video taken by UAV are always in a minority, and the background of the frame is usually moving because of the motion of UAVs. The high computational cost of the algorithm prevents running it at higher resolutions the pixels of frame. Hence, to solve the problem of moving targets detection based UAVs video, we propose a heterogeneous CPU-GPU moving target detection algorithm for UAV video. More specifically, we use background registration to eliminate the impact of the moving background and frame difference to detect small moving targets. In order to achieve the effect of real-time processing, we design the solution of heterogeneous CPU-GPU framework for our method. The experimental results show that our method can detect the main moving targets from the HD video taken by UAV, and the average process time is 52.16ms per frame which is fast enough to solve the problem.

  12. Rancang Bangun Prototype Unmanned Aerial Vehicle (UAV dengan Tiga Rotor

    Directory of Open Access Journals (Sweden)

    Darmawan Rasyid Hadi Saputra

    2013-03-01

    Full Text Available Unmanned Aerial Vehicle atau yang biasa dikenal dengan istilah UAV  merupakan sebuah sistem penerbangan/ pesawat tanpa pilot yang berada di dalam pesawat tersebut. UAV dapat dikendalikan dengan menggunakan remote dari jarak jauh, diprogram dengan perintah tertentu, atau bahkan dengan sistem pengendalian otomatis yang lebih kompleks. Aplikasi dari teknologi UAV pun beragam mulai dari tugas militer hingga pengamatan udara. Dalam penelitian ini, sebuah UAV akan dikembangkan dengan tiga buah rotor dan satu buah motor servo di bagian belakang UAV. Perancangan model menggunakan software CATIA dengan batasan dimensi (panjang × lebar maksimum 75 × 75 cm dan massa < 2 kg. Analisis struktur rangka dilakukan untuk menguji kekuatan rangka ketika terbang dan membawa beban, dengan menggunakan metode elemen hingga dan kriteria kegagalan Von-Misses. Dalam proses pengerjaan, rancangan dari CATIA dan analisis yang telah dilakukan dalam perancangan tersebut akan digunakan. Hasil yang didapat berupa UAV yang memiliki struktur rangka dengan defleksi maksimum 3,67 mm pada rangka tengah yang berbahan acrylic. Dalam pengujian di lapangan, UAV dapat melakukan gerak roll, pitch, dan yaw yang dikendalikan melalui remote control. Waktu operasi maksimum yang dapat dilakukan adalah selama 7 menit 43 detik.

  13. A mini-UAV VTOL Platform for Surveying Applications

    Directory of Open Access Journals (Sweden)

    Kuldeep Rawat

    2014-05-01

    Full Text Available In this paper we discuss implementation of a mini-Unmanned Aerial Vehicle (UAV vertical take-off and landing (VTOL platform for surveying activities related to highway construction. Recent advances in sensor and communication technologies have allowed scaling sizes of unmanned aerial platforms, and explore them for tasks that are economical and safe over populated or inhabited areas. In highway construction the capability of mini-UAVs to survey in hostile and/or hardly accessible areas can greatly reduce human risks. The project focused on developing a cost effective, remotely controlled, fuel powered mini-UAV VTOL (helicopter platform with certain payload capacity and configuration and demonstrated its use in surveying and monitoring activities required for highway planning and construction. With an on-board flight recorder global positioning system (GPS device, memory storage card, telemetry, inertial navigation sensors, and a video camera the mini-UAV can record flying coordinates and relay live video images to a remote ground receiver and surveyor. After all necessary integration and flight tests were done the mini-UAV helicopter was tested to operate and relay video from the areas where construction was underway. The mini-UAV can provide a platform for a range of sensors and instruments that directly support the operational requirements of transportation sector.

  14. UAVs: Holy Grail for Intel, Panacea for RSTA, or Much Ado about Nothing? UAVs for the Operational Commander

    National Research Council Canada - National Science Library

    Fox, Roy

    1998-01-01

    ..., operational, and tactical objectives. UAVs have supported military operations including the Vietnam War, the 1983 Israeli War, the Gulf War and most recently the United Nations Peace Keeping Operation in Bosnia, to name a few. Although U.S...

  15. The Quality of Quantity: Mini-UAVS As An Alternative UAV Acquisition Strategy at the Army Brigade Level

    National Research Council Canada - National Science Library

    Weed, Shawn

    2002-01-01

    This monograph asks should the U.S. Army alter its current UAV acquisition strategy for maneuver brigades from one in which limited numbers of high capability systems are acquired, in favor of another that fields a large quantity...

  16. Urban forest topographical mapping using UAV LIDAR

    Science.gov (United States)

    Putut Ash Shidiq, Iqbal; Wibowo, Adi; Kusratmoko, Eko; Indratmoko, Satria; Ardhianto, Ronni; Prasetyo Nugroho, Budi

    2017-12-01

    Topographical data is highly needed by many parties, such as government institution, mining companies and agricultural sectors. It is not just about the precision, the acquisition time and data processing are also carefully considered. In relation with forest management, a high accuracy topographic map is necessary for planning, close monitoring and evaluating forest changes. One of the solution to quickly and precisely mapped topography is using remote sensing system. In this study, we test high-resolution data using Light Detection and Ranging (LiDAR) collected from unmanned aerial vehicles (UAV) to map topography and differentiate vegetation classes based on height in urban forest area of University of Indonesia (UI). The semi-automatic and manual classifications were applied to divide point clouds into two main classes, namely ground and vegetation. There were 15,806,380 point clouds obtained during the post-process, in which 2.39% of it were detected as ground.

  17. Autonomous Chemical Vapour Detection by Micro UAV

    Directory of Open Access Journals (Sweden)

    Kent Rosser

    2015-12-01

    Full Text Available The ability to remotely detect and map chemical vapour clouds in open air environments is a topic of significant interest to both defence and civilian communities. In this study, we integrate a prototype miniature colorimetric chemical sensor developed for methyl salicylate (MeS, as a model chemical vapour, into a micro unmanned aerial vehicle (UAV, and perform flights through a raised MeS vapour cloud. Our results show that that the system is capable of detecting MeS vapours at low ppm concentration in real-time flight and rapidly sending this information to users by on-board telemetry. Further, the results also indicate that the sensor is capable of distinguishing “clean” air from “dirty”, multiple times per flight, allowing us to look towards autonomous cloud mapping and source localization applications. Further development will focus on a broader range of integrated sensors, increased autonomy of detection and improved engineering of the system.

  18. CAMEX-4 TOGA RADAR V1

    Data.gov (United States)

    National Aeronautics and Space Administration — The TOGA radar dataset consists of browse and radar data collected from the TOGA radar during the CAMEX-4 experiment. TOGA is a C-band linear polarized doppler radar...

  19. Development of Open source-based automatic shooting and processing UAV imagery for Orthoimage Using Smart Camera UAV

    Science.gov (United States)

    Park, J. W.; Jeong, H. H.; Kim, J. S.; Choi, C. U.

    2016-06-01

    Recently, aerial photography with unmanned aerial vehicle (UAV) system uses UAV and remote controls through connections of ground control system using bandwidth of about 430 MHz radio Frequency (RF) modem. However, as mentioned earlier, existing method of using RF modem has limitations in long distance communication. The Smart Camera equipments's LTE (long-term evolution), Bluetooth, and Wi-Fi to implement UAV that uses developed UAV communication module system carried out the close aerial photogrammetry with the automatic shooting. Automatic shooting system is an image capturing device for the drones in the area's that needs image capturing and software for loading a smart camera and managing it. This system is composed of automatic shooting using the sensor of smart camera and shooting catalog management which manages filmed images and information. Processing UAV imagery module used Open Drone Map. This study examined the feasibility of using the Smart Camera as the payload for a photogrammetric UAV system. The open soure tools used for generating Android, OpenCV (Open Computer Vision), RTKLIB, Open Drone Map.

  20. Development of Open source-based automatic shooting and processing UAV imagery for Orthoimage Using Smart Camera UAV

    Directory of Open Access Journals (Sweden)

    J. W. Park

    2016-06-01

    Full Text Available Recently, aerial photography with unmanned aerial vehicle (UAV system uses UAV and remote controls through connections of ground control system using bandwidth of about 430 MHz radio Frequency (RF modem. However, as mentioned earlier, existing method of using RF modem has limitations in long distance communication. The Smart Camera equipments’s LTE (long-term evolution, Bluetooth, and Wi-Fi to implement UAV that uses developed UAV communication module system carried out the close aerial photogrammetry with the automatic shooting. Automatic shooting system is an image capturing device for the drones in the area’s that needs image capturing and software for loading a smart camera and managing it. This system is composed of automatic shooting using the sensor of smart camera and shooting catalog management which manages filmed images and information. Processing UAV imagery module used Open Drone Map. This study examined the feasibility of using the Smart Camera as the payload for a photogrammetric UAV system. The open soure tools used for generating Android, OpenCV (Open Computer Vision, RTKLIB, Open Drone Map.

  1. Nonlinear automatic landing control of unmanned aerial vehicles on moving platforms via a 3D laser radar

    Energy Technology Data Exchange (ETDEWEB)

    Hervas, Jaime Rubio; Tang, Hui [School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, 639798 (Singapore); Reyhanoglu, Mahmut [Physical Sciences Department, Embry-Riddle Aeronautical University, Daytona Beach, FL 32114 (United States)

    2014-12-10

    This paper presents a motion tracking and control system for automatically landing Unmanned Aerial Vehicles (UAVs) on an oscillating platform using Laser Radar (LADAR) observations. The system itself is assumed to be mounted on a ship deck. A full nonlinear mathematical model is first introduced for the UAV. The ship motion is characterized by a Fourier transform based method which includes a realistic characterization of the sea waves. LADAR observation models are introduced and an algorithm to process those observations for yielding the relative state between the vessel and the UAV is presented, from which the UAV's state relative to an inertial frame can be obtained and used for feedback purposes. A sliding mode control algorithm is derived for tracking a landing trajectory defined by a set of desired waypoints. An extended Kalman filter (EKF) is proposed to account for process and observation noises in the design of a state estimator. The effectiveness of the control algorithm is illustrated through a simulation example.

  2. Nonlinear automatic landing control of unmanned aerial vehicles on moving platforms via a 3D laser radar

    International Nuclear Information System (INIS)

    Hervas, Jaime Rubio; Tang, Hui; Reyhanoglu, Mahmut

    2014-01-01

    This paper presents a motion tracking and control system for automatically landing Unmanned Aerial Vehicles (UAVs) on an oscillating platform using Laser Radar (LADAR) observations. The system itself is assumed to be mounted on a ship deck. A full nonlinear mathematical model is first introduced for the UAV. The ship motion is characterized by a Fourier transform based method which includes a realistic characterization of the sea waves. LADAR observation models are introduced and an algorithm to process those observations for yielding the relative state between the vessel and the UAV is presented, from which the UAV's state relative to an inertial frame can be obtained and used for feedback purposes. A sliding mode control algorithm is derived for tracking a landing trajectory defined by a set of desired waypoints. An extended Kalman filter (EKF) is proposed to account for process and observation noises in the design of a state estimator. The effectiveness of the control algorithm is illustrated through a simulation example

  3. Exploring Naval Tactics with UAVs in an Island Complex Using Agent-Based Simulation

    National Research Council Canada - National Science Library

    Lalis, Vasileios

    2007-01-01

    The benefits of Unmanned Aerial Vehicles (UAV) at sea are undisputed. The amount and speed of the incoming information from a UAV, combined with its maneuverability and time-on-task capability, are assets to any navy...

  4. Development Situation, Trend and Countermeasure of Consumer-level UAV Market in China

    Directory of Open Access Journals (Sweden)

    Kang Yu-Lei

    2017-01-01

    Full Text Available This paper is based on the status of Chinese consumer-level UAV(Unmanned Aerial Vehicle market. According to the main problems in Chinese consumer-level UAV market, the author analyses the trends of Chinese consumer-level UAV market. Then, the author put forward some suggestions to develop Chinese consumer-level UAV market. In 21st century, the research and development expenditure presents the explosive growth in Chinese consumer-level UAV market. From the year of 2012, DJI released their first consumer-level UAV product. Amazon, Facebook, Google and other companies have announced their entry into the UAV market. In 2016, Huawei also announced that it will enter the UAV market.

  5. UAV formation control design with obstacle avoidance in dynamic three-dimensional environment.

    Science.gov (United States)

    Chang, Kai; Xia, Yuanqing; Huang, Kaoli

    2016-01-01

    This paper considers the artificial potential field method combined with rotational vectors for a general problem of multi-unmanned aerial vehicle (UAV) systems tracking a moving target in dynamic three-dimensional environment. An attractive potential field is generated between the leader and the target. It drives the leader to track the target based on the relative position of them. The other UAVs in the formation are controlled to follow the leader by the attractive control force. The repulsive force affects among the UAVs to avoid collisions and distribute the UAVs evenly on the spherical surface whose center is the leader-UAV. Specific orders or positions of the UAVs are not required. The trajectories of avoidance obstacle can be obtained through two kinds of potential field with rotation vectors. Every UAV can choose the optimal trajectory to avoid the obstacle and reconfigure the formation after passing the obstacle. Simulations study on UAV are presented to demonstrate the effectiveness of proposed method.

  6. Perception-based Co-evolutionary Reinforcement Learning for UAV Sensor Allocation

    National Research Council Canada - National Science Library

    Berenji, Hamid

    2003-01-01

    .... A Perception-based reasoning approach based on co-evolutionary reinforcement learning was developed for jointly addressing sensor allocation on each individual UAV and allocation of a team of UAVs...

  7. Radar Scan Methods in Modern Multifunctional Radars

    Directory of Open Access Journals (Sweden)

    V. N. Skosyrev

    2014-01-01

    Full Text Available Considered urgent task of organizing the review space in modern multifunctional radar systems shall review the space in a wide range of elevation angles from minus 5 to 60-80 degrees and 360 degrees azimuth. MfRLS this type should provide an overview of the zone for a limited time (2-3 sec, detecting a wide range of subtle high and low-flying targets. The latter circumstance requires the organization to select targets against the background of reflections from the underlying surface and local objects (MP. When providing an overview of the space taken into account the need to increase not only the noise immunity, and survivability.Two variants of the review of space in the elevation plane in the solid-state AESA radar. In the first case the overview space narrow beam by one beam. In the second - the transfer of DNA is formed, covering the whole sector of responsibility in elevation and at the reception beam is formed in spetsvychislitele (CB as a result of the signal processing of digitized after emitters antenna web. The estimations of the parameters specific to the multifunction radar SAM air and missile defense. It is shown that in a number of practically important cases, preference should be given clearly one of the methods described review of space.The functional scheme with AESA radar for both variants of the review. Necessary to analyze their differences. Contains the problem of increasing the cost of MfRLS with digital beamforming DNA with increasing bandwidth probing signal being processed.Noted drawbacks of MfRLS with digital beamforming beam. Including: reduced accuracy of the coordinates at low elevation angles, the complexity of the organization of thermal regime of the solid element base using quasi-continuous signal with a low duty cycle. Shows their fundamentally unavoidable in the steppe and desert areas with uneven terrain (Kazakhstan, China, the Middle East.It is shown that for MfRLS working in strong clutter, more preferably

  8. EVALUATION OF THE QUALITY OF ACTION CAMERAS WITH WIDE-ANGLE LENSES IN UAV PHOTOGRAMMETRY

    OpenAIRE

    Hastedt, H.; Ekkel, T.; Luhmann, T.

    2016-01-01

    The application of light-weight cameras in UAV photogrammetry is required due to restrictions in payload. In general, consumer cameras with normal lens type are applied to a UAV system. The availability of action cameras, like the GoPro Hero4 Black, including a wide-angle lens (fish-eye lens) offers new perspectives in UAV projects. With these investigations, different calibration procedures for fish-eye lenses are evaluated in order to quantify their accuracy potential in UAV photogrammetry....

  9. The application of micro UAV in construction project

    Science.gov (United States)

    Kaamin, Masiri; Razali, Siti Nooraiin Mohd; Ahmad, Nor Farah Atiqah; Bukari, Saifullizan Mohd; Ngadiman, Norhayati; Kadir, Aslila Abd; Hamid, Nor Baizura

    2017-10-01

    In every outstanding construction project, there is definitely have an effective construction management. Construction management allows a construction project to be implemented according to plan. Every construction project must have a progress development works that is usually created by the site engineer. Documenting the progress of works is one of the requirements in construction management. In a progress report it is necessarily have a visual image as an evidence. The conventional method used for photographing on the construction site is by using common digital camera which is has few setback comparing to Micro Unmanned Aerial Vehicles (UAV). Besides, site engineer always have a current issues involving limitation of monitoring on high reach point and entire view of the construction site. The purpose of this paper is to provide a concise review of Micro UAV technology in monitoring the progress on construction site through visualization approach. The aims of this study are to replace the conventional method of photographing on construction site using Micro UAV which can portray the whole view of the building, especially on high reach point and allows to produce better images, videos and 3D model and also facilitating site engineer to monitor works in progress. The Micro UAV was flown around the building construction according to the Ground Control Points (GCPs) to capture images and record videos. The images taken from Micro UAV have been processed generate 3D model and were analysed to visualize the building construction as well as monitoring the construction progress work and provides immediate reliable data for project estimation. It has been proven that by using Micro UAV, a better images and videos can give a better overview of the construction site and monitor any defects on high reach point building structures. Not to be forgotten, with Micro UAV the construction site progress is more efficiently tracked and kept on the schedule.

  10. Ground penetrating radar

    CERN Document Server

    Daniels, David J

    2004-01-01

    Ground-penetrating radar has come to public attention in recent criminal investigations, but has actually been a developing and maturing remote sensing field for some time. In the light of recent expansion of the technique to a wide range of applications, the need for an up-to-date reference has become pressing. This fully revised and expanded edition of the best-selling Surface-Penetrating Radar (IEE, 1996) presents, for the non-specialist user or engineer, all the key elements of this technique, which span several disciplines including electromagnetics, geophysics and signal processing. The

  11. Systems and Methods for Radar Data Communication

    Science.gov (United States)

    Bunch, Brian (Inventor); Szeto, Roland (Inventor); Miller, Brad (Inventor)

    2013-01-01

    A radar information processing system is operable to process high bandwidth radar information received from a radar system into low bandwidth radar information that may be communicated to a low bandwidth connection coupled to an electronic flight bag (EFB). An exemplary embodiment receives radar information from a radar system, the radar information communicated from the radar system at a first bandwidth; processes the received radar information into processed radar information, the processed radar information configured for communication over a connection operable at a second bandwidth, the second bandwidth lower than the first bandwidth; and communicates the radar information from a radar system, the radar information communicated from the radar system at a first bandwidth.

  12. Multiple Event Localization in a Sparse Acoustic Sensor Network Using UAVs as Data Mules

    Science.gov (United States)

    2012-12-01

    the events to arrive in different orders at the sensors. Consequently , simple rules to group the ToAs from an event at different sensors, such as...a Microhard radio to forward the ToAs to the mule-UAV. Two Procerus Unicorn UAVs were used with different payloads. The imaging- UAV was equipped

  13. Effects of Hearing Protection Device Attenuation on Unmanned Aerial Vehicle (UAV) Audio Signatures

    Science.gov (United States)

    2016-03-01

    UAV ) Audio Signatures by Melissa Bezandry, Adrienne Raglin, and John Noble Approved for public release; distribution...Research Laboratory Effects of Hearing Protection Device Attenuation on Unmanned Aerial Vehicle ( UAV ) Audio Signatures by Melissa Bezandry...Aerial Vehicle ( UAV ) Audio Signatures 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) Melissa Bezandry

  14. UAV Research, Operations, and Flight Test at the NASA Dryden Flight Research Center

    Science.gov (United States)

    Cosentino, Gary B.

    2009-01-01

    This slide presentation reviews some of the projects that have extended NASA Dryden's capabilities in designing, testing, and using Unmanned Aerial Vehicles (UAV's). Some of the UAV's have been for Science and experimental applications, some have been for flight research and demonstration purposes, and some have been small UAV's for other customers.

  15. Human walking estimation with radar

    NARCIS (Netherlands)

    Dorp, Ph. van; Groen, F.C.A.

    2003-01-01

    Radar can be used to observe humans that are obscured by objects such as walls. These humans cannot be visually observed. The radar measurements are used to animate an obscured human in virtual reality. This requires detailed information about the motion. The radar measurements give detailed

  16. Propagation Environment Assessment Using UAV Electromagnetic Sensors

    Science.gov (United States)

    2018-03-01

    losses can be taken into account when calculating propagation losses. To correlate the data correctly, the measured received signal power must be...DISTRIBUTION CODE 13. ABSTRACT (maximum 200 words) In this thesis, we attempt to build a picture of local propagation conditions by measuring ...operators to choose the optimal settings for the maximum detection range of their radar and radio systems. We also investigate the measurement system

  17. UAV Based Imaging for Crop, Weed and Disease Monitoring

    DEFF Research Database (Denmark)

    Garcia Ruiz, Francisco Jose

    Summary Unmanned aerial vehicles (UAV) equipped with cameras have become a powerful technology to collect high resolution remote sensing data from agricultural crops. When equipped with multispectral cameras, light invisible for the human eye may be captured and used to characterize the physiolog......Summary Unmanned aerial vehicles (UAV) equipped with cameras have become a powerful technology to collect high resolution remote sensing data from agricultural crops. When equipped with multispectral cameras, light invisible for the human eye may be captured and used to characterize...... the physiological status of the vegetation. UAV imagery may be divided into three steps (1) spectral characterization of the targets of interest, (2) flight and image acquisition and (3) image processing and interpretation. The overall aims of this study were to improve knowledge in all three steps associated...... with UAV-based remote sensing for practical use in agriculture and to contribute to the incipient research on UAV based remote sensing for agricultural applications. Three case studies were performed to (1) Characterize the spectral signatures of sugar beet (Beta vulgaris L.) and creeping thistle (Cirsium...

  18. Netted LPI RADARs

    Science.gov (United States)

    2011-09-01

    CHALLENGES ............................66 1. Radar Processing Gain ........................66 2. High Sensitivity Requirement .................68 B...Relationship Between Network Space and Challenges .....................................127 Figure 42. Maneuverability................................129...virtually any kind of terrain. It has five modes: Normal, Weather, ECCM, LPI, and Very Low Clearance ( VLC ). Pictures of the LANTIRN pod aboard and F-16

  19. An UAV scheduling and planning method for post-disaster survey

    Science.gov (United States)

    Li, G. Q.; Zhou, X. G.; Yin, J.; Xiao, Q. Y.

    2014-11-01

    Annually, the extreme climate and special geological environments lead to frequent natural disasters, e.g., earthquakes, floods, etc. The disasters often bring serious casualties and enormous economic losses. Post-disaster surveying is very important for disaster relief and assessment. As the Unmanned Aerial Vehicle (UAV) remote sensing with the advantage of high efficiency, high precision, high flexibility, and low cost, it is widely used in emergency surveying in recent years. As the UAVs used in emergency surveying cannot stop and wait for the happening of the disaster, when the disaster happens the UAVs usually are working at everywhere. In order to improve the emergency surveying efficiency, it is needed to track the UAVs and assign the emergency surveying task for each selected UAV. Therefore, a UAV tracking and scheduling method for post-disaster survey is presented in this paper. In this method, Global Positioning System (GPS), and GSM network are used to track the UAVs; an emergency tracking UAV information database is built in advance by registration, the database at least includes the following information, e.g., the ID of the UAVs, the communication number of the UAVs; when catastrophe happens, the real time location of all UAVs in the database will be gotten using emergency tracking method at first, then the traffic cost time for all UAVs to the disaster region will be calculated based on the UAVs' the real time location and the road network using the nearest services analysis algorithm; the disaster region is subdivided to several emergency surveying regions based on DEM, area, and the population distribution map; the emergency surveying regions are assigned to the appropriated UAV according to shortest cost time rule. The UAVs tracking and scheduling prototype is implemented using SQLServer2008, ArcEnginge 10.1 SDK, Visual Studio 2010 C#, Android, SMS Modem, and Google Maps API.

  20. Application of Unmanned Air Vehicles (UAV) in monitoring of terrestrial habitats

    DEFF Research Database (Denmark)

    Sørensen, Peter Borgen; Strandberg, Beate; Bak, Jesper Leth

    2015-01-01

    I the last years there have been high focus on UAVs (drones) for many civil purposes and UAVs are also increasingly used for ecological data gathering. This presentation will first make an appetizer to show the new possibilities of using UAVs. The traditional concept of separating “data......” that are “real” from “models” that are “simulations” has to be refined in the area of field investigations, in order to utilize UAVs to make a revolution in data and understanding about the terrestrial habitats. However, this is not straightforward, and the presentation will line up the obstacles for using UAVs...

  1. Detection of Citrus Trees from Uav Dsms

    Science.gov (United States)

    Ok, A. O.; Ozdarici-Ok, A.

    2017-05-01

    This paper presents an automated approach to detect citrus trees from digitals surface models (DSMs) as a single source. The DSMs in this study are generated from Unmanned Aerial Vehicles (UAVs), and the proposed approach first considers the symmetric nature of the citrus trees, and it computes the orientation-based radial symmetry in an efficient way. The approach also takes into account the local maxima (LM) information to verify the output of the radial symmetry. Our contributions in this study are twofold: (i) Such an integrated approach (symmetry + LM) has not been tested to detect (citrus) trees (in orchards), and (ii) the validity of such an integrated approach has not been experienced for an input, e.g. a single DSM. Experiments are performed on five test patches. The results reveal that our approach is capable of counting most of the citrus trees without manual intervention. Comparison to the state-of-the-art reveals that the proposed approach provides notable detection performance by providing the best balance between precision and recall measures.

  2. Applied Integrated Design in Composite UAV Development

    Science.gov (United States)

    Vasić, Zoran; Maksimović, Stevan; Georgijević, Dragutin

    2018-04-01

    This paper presents a modern approach to integrated development of Unmanned Aerial Vehicle made of laminated composite materials from conceptual design, through detail design, strength and stiffness analyses, definition and management of design and production data, detailed tests results and other activities related to development of laminated composite structures with main of its particularities in comparison to metal structures. Special attention in this work is focused to management processes of product data during life cycle of an UAV and experimental tests of its composite wing. Experience shows that the automation management processes of product data during life cycle, as well as processes of manufacturing, are inevitable if a company wants to get cheaper and quality composite aircraft structures. One of the most effective ways of successful management of product data today is Product Life cycle Management (PLM). In terms of the PLM, a spectrum of special measures and provisions has to be implemented when defining fiber-reinforced composite material structures in comparison to designing with metals which is elaborated in the paper.

  3. Mini-Uav LIDAR for Power Line Inspection

    Science.gov (United States)

    Teng, G. E.; Zhou, M.; Li, C. R.; Wu, H. H.; Li, W.; Meng, F. R.; Zhou, C. C.; Ma, L.

    2017-09-01

    Light detection and ranging (LIDAR) system based on unmanned aerial vehicles (UAVs) recently are in rapid advancement, meanwhile portable and flexible mini-UAV-borne laser scanners have been a hot research field, especially for the complex terrain survey in the mountains and other areas. This study proposes a power line inspection system solution based on mini-UAV-borne LIDAR system-AOEagle, developed by Academy of Opto-Electronics, Chinese Academy of Sciences, which mounted on a Multi-rotor unmanned aerial vehicle for complex terrain survey according to real test. Furthermore, the point cloud data was explored to validate its applicability for power line inspection, in terms of corridor and line laser point clouds; deformation detection of power towers, etc. The feasibility and advantages of AOEagle have been demonstrated by the promising results based on the real-measured data in the field of power line inspection.

  4. Uav Photogrammetry: a Practical Solution for Challenging Mapping Projects

    Science.gov (United States)

    Saadatseresht, M.; Hashempour, A. H.; Hasanlou, M.

    2015-12-01

    We have observed huge attentions to application of unmanned aerial vehicle (UAV) in aerial mapping since a decade ago. Though, it has several advantages for handling time/cost/quality issues, there are a dozen of challenges in working with UAVs. In this paper, we; as the Robotic Photogrammetry Research Group (RPRG), will firstly review these challenges then show its advantages in three special practical projects. For each project, we will share our experiences through description of the UAV specifications, flight settings and processing steps. At the end, we will illustrate final result of each project and show how this technology could make unbelievable benefits to clients including 3D city realistic model in decimetre level, ultra high quality map production in several centimetre level, and accessing to a high risk and rough relief area for mapping aims.

  5. Hurricane Harvey Building Damage Assessment Using UAV Data

    Science.gov (United States)

    Yeom, J.; Jung, J.; Chang, A.; Choi, I.

    2017-12-01

    Hurricane Harvey which was extremely destructive major hurricane struck southern Texas, U.S.A on August 25, causing catastrophic flooding and storm damages. We visited Rockport suffered severe building destruction and conducted UAV (Unmanned Aerial Vehicle) surveying for building damage assessment. UAV provides very high resolution images compared with traditional remote sensing data. In addition, prompt and cost-effective damage assessment can be performed regardless of several limitations in other remote sensing platforms such as revisit interval of satellite platforms, complicated flight plan in aerial surveying, and cloud amounts. In this study, UAV flight and GPS surveying were conducted two weeks after hurricane damage to generate an orthomosaic image and a DEM (Digital Elevation Model). 3D region growing scheme has been proposed to quantitatively estimate building damages considering building debris' elevation change and spectral difference. The result showed that the proposed method can be used for high definition building damage assessment in a time- and cost-effective way.

  6. UAV FOR GEODATA ACQUISITION IN AGRICULTUREAL AND FORESTAL APPLICATIONS

    Directory of Open Access Journals (Sweden)

    P. Reidelstürz

    2012-09-01

    The airframe´s wingspan is about 3,45m weighting 4.2 kg, ready to fly. The hand launchable UAV can start from any place in agricultural regions. The wing is configured with flaps, allowing steep approaches and short landings using a „butterfly“ brake configuration. In spite of the lightweight configuration the UAV yet proves its worth under windy baltic wether situations by collecting regular sharp images of fields under wind speed up to 15m/s (Beaufort 6 –7. In further projects the development of further payload modules and a user friendly flight planning tool is scheduled considering different payload – and airframe requirements for different precision farming purposes and forest applications. Data processing and workflow will be optimized. Cooperation with further partners to establish UAV systems in agricultural, forest and geodata aquisition is desired.

  7. D Modeling with Photogrammetry by Uavs and Model Quality Verification

    Science.gov (United States)

    Barrile, V.; Bilotta, G.; Nunnari, A.

    2017-11-01

    This paper deals with a test lead by Geomatics laboratory (DICEAM, Mediterranea University of Reggio Calabria), concerning the application of UAV photogrammetry for survey, monitoring and checking. The study case relies with the surroundings of the Department of Agriculture Sciences. In the last years, such area was interested by landslides and survey activities carried out to take the phenomenon under control. For this purpose, a set of digital images were acquired through a UAV equipped with a digital camera and GPS. Successively, the processing for the production of a 3D georeferenced model was performed by using the commercial software Agisoft PhotoScan. Similarly, the use of a terrestrial laser scanning technique allowed to product dense cloud and 3D models of the same area. To assess the accuracy of the UAV-derived 3D models, a comparison between image and range-based methods was performed.

  8. The use of radar for bathymetry assessment

    OpenAIRE

    Aardoom, J.H.; Greidanus, H.S.F.

    1998-01-01

    The bottom topography in shallow seas can be observed by air- and spaceborne imaging radar. Bathymetric information derived from radar data is limited in accuracy, but radar has a good spatial coverage. The accuracy can be increased by assimilating the radar imagery into existing or insitu gathered bathymetric data. The paper reviews the concepts of bathymetry assessment by radar, the radar imaging mechanism, and the possibilities and limitations of the use of radar data in rapid assessment.

  9. Implications of longitude and latitude on the size of solar-powered UAV

    International Nuclear Information System (INIS)

    Rajendran, Parvathy; Smith, Howard

    2015-01-01

    Highlights: • We studied solar irradiance and daylight implication on solar-powered UAV design. • We explored for perpetual UAV flight for 12 cities around the world. • All year round solar-powered UAV operation possible for cities near equatorial line. • Cities in latitudes of ±35° are the optimal for solar-powered UAV. • Longitudinal coordinates and elevation have a minor effect on UAV design. - Abstract: The implication of solar irradiance and daylight duration on the design of a small solar-powered unmanned aerial vehicle (UAV) that is capable of operating perpetually in various cities around the world was investigated. Solar data in 2013 on 12 cities distributed around the world was collected. The effects of the available solar irradiance and daylight of the city on the maximum take-off weight and wing span of a small solar-powered UAV were studied. The analysis indicates that daylight duration is as important as the available solar irradiance to the performance of the solar-powered UAV. Longitudinal coordinates and elevation have a minor effect on the estimation of daylight duration. Areas considerably high in solar irradiance and daylight duration are more conducive to the effective performance of solar-powered UAVs than other areas. Therefore, cities closer to the equator have an advantage in utilizing solar-powered UAVs; where smaller and lighter solar-powered UAV can be designed

  10. Application Possibility of Smartphone as Payload for Photogrammetric Uav System

    Science.gov (United States)

    Yun, M. H.; Kim, J.; Seo, D.; Lee, J.; Choi, C.

    2012-07-01

    Smartphone can not only be operated under 3G network environment anytime and anyplace but also cost less than the existing photogrammetric UAV since it provides high-resolution image, 3D location and attitude data on a real-time basis from a variety of built-in sensors. This study is aimed to assess the possibility of smartphone as a payload for photogrammetric UAV system. Prior to such assessment, a smartphone-based photogrammetric UAV system application was developed, through which real-time image, location and attitude data was obtained using smartphone under both static and dynamic conditions. Subsequently the accuracy assessment on the location and attitude data obtained and sent by this system was conducted. The smartphone images were converted into ortho-images through image triangulation. The image triangulation was conducted in accordance with presence or absence of consideration of the interior orientation (IO) parameters determined by camera calibration. In case IO parameters were taken into account in the static experiment, the results from triangulation for any smartphone type were within 1.5 pixel (RMSE), which was improved at least by 35% compared to when IO parameters were not taken into account. On the contrary, the improvement effect of considering IO parameters on accuracy in triangulation for smartphone images in dynamic experiment was not significant compared to the static experiment. It was due to the significant impact of vibration and sudden attitude change of UAV on the actuator for automatic focus control within the camera built in smartphone under the dynamic condition. This cause appears to have a negative impact on the image-based DEM generation. Considering these study findings, it is suggested that smartphone is very feasible as a payload for UAV system. It is also expected that smartphone may be loaded onto existing UAV playing direct or indirect roles significantly.

  11. Intification and modelling of flight characteristics for self-build shock flyer type UAV

    Science.gov (United States)

    Rashid., Z. A.; Dardin, A. S. F. Syed.; Azid, A. A.; Ahmad, K. A.

    2018-02-01

    The development of an autonomous Unmanned Aerial Vehicle (UAV) requires a fundamentals studies of the UAV's flight characteristic. The aim of this study is to identify and model the flight characteristic of a conventional fixed-wing type UAV. Subsequence to this, the mode of flight of the UAV can be investigated. One technique to identify the characteristic of a UAV is a flight test where it required specific maneuvering to be executed while measuring the attitude sensor. In this study, a simple shock flyer type UAV was used as the aircraft. The result shows that the modeled flight characteristic has a significant relation with actual values but the fitting value is rather small. It is suggested that the future study is conducted with an improvement of the physical UAV, data filtering and better system identification methods.

  12. Characteristic analysis on UAV-MIMO channel based on normalized correlation matrix.

    Science.gov (United States)

    Gao, Xi jun; Chen, Zi li; Hu, Yong Jiang

    2014-01-01

    Based on the three-dimensional GBSBCM (geometrically based double bounce cylinder model) channel model of MIMO for unmanned aerial vehicle (UAV), the simple form of UAV space-time-frequency channel correlation function which includes the LOS, SPE, and DIF components is presented. By the methods of channel matrix decomposition and coefficient normalization, the analytic formula of UAV-MIMO normalized correlation matrix is deduced. This formula can be used directly to analyze the condition number of UAV-MIMO channel matrix, the channel capacity, and other characteristic parameters. The simulation results show that this channel correlation matrix can be applied to describe the changes of UAV-MIMO channel characteristics under different parameter settings comprehensively. This analysis method provides a theoretical basis for improving the transmission performance of UAV-MIMO channel. The development of MIMO technology shows practical application value in the field of UAV communication.

  13. Microwave tomography for an effective imaging in GPR on UAV/airborne observational platforms

    Science.gov (United States)

    Soldovieri, Francesco; Catapano, Ilaria; Ludeno, Giovanni

    2017-04-01

    GPR was originally thought as a non-invasive diagnostics technique working in contact with the underground or structure to be investigated. On the other hand, in the recent years several challenging necessities and opportunities entail the necessity to work with antenna not in contact with the structure to be investigated. This necessity arises for example in the case of landmine detection but also for cultural heritage diagnostics. Other field of application regards the forward-looking GPR aiming at shallower hidden targets forward the platfrom (vehicle) carrying the GPR [1]. Finally, a recent application is concerned with the deployment of airborne/UAV GPR, able to ensure several advantages in terms of large scale surveys and "freedom" of logistics constraint [2]. For all the above mentioned cases, the interest is towards the development of effective data processing able to make imaging task in real time. The presentation will show different data processing strategies, based on microwave tomography [1,2], for a reliable and real time imaging in the case of GPR platforms far from the interface of the structure/underground to be investigated. [1] I. Catapano, A. Affinito, A. Del Moro,.G. Alli, and F. Soldovieri, "Forward-Looking Ground-Penetrating Radar via a Linear Inverse Scattering Approach," IEEE Transactions on Geoscience and Remote Sensing, vol. 53, pp. 5624 - 5633, Oct. 2015. [2] I. Catapano, L. Crocco, Y. Krellmann, G. Triltzsch, and F. Soldovieri, "A tomographic approach for helicopter-borne ground penetrating radar imaging," IEEE Geosci. Remote Sens. Lett., vol. 9, no. 3, pp. 378-382, May 2012.

  14. UAV telemetry communications using ZigBee protocol

    Science.gov (United States)

    Nasution, T. H.; Siregar, I.; Yasir, M.

    2017-10-01

    Wireless communication has been widely used in various fields or disciplines such as agriculture, health, engineering, military, and aerospace so as to support the work in that field. The communication technology is typically used for controlling devices and data monitoring. One development of wireless communication is the widely used telemetry system used to reach areas that cannot be reached by humans using UAV (Unmanned Aerial Vehicle) or unmanned aircraft. In this paper we discuss the design of telemetry system in UAV using ZigBee protocol. From the test obtained the system can work well with visualization displays without pause is 20 data per second with a maximum data length of 120 characters.

  15. Energy-Efficient Systems Eliminate Icing Danger for UAVs

    Science.gov (United States)

    2010-01-01

    Ames Research Center engineer Leonard Haslim invented an anti-icing t echnology called an electroexpulsive separation system, which uses m echanical force to shatter potentially dangerous ice buildup on an ai rcraft surface. Temecula, California-based Ice Management Systems (no w known as IMS-ESS) licensed the technology from Ames and has discov ered a niche market for the lightweight, energy-efficient technology: unmanned aerial vehicles (UAVs). IMS-ESS systems now prevent damagi ng ice accumulation on military UAVs, allowing the vehicles to carry out crucial missions year round.

  16. Cloud Water Content Sensor for Sounding Balloons and Small UAVs

    Science.gov (United States)

    Bognar, John A.

    2009-01-01

    A lightweight, battery-powered sensor was developed for measuring cloud water content, which is the amount of liquid or solid water present in a cloud, generally expressed as grams of water per cubic meter. This sensor has near-zero power consumption and can be flown on standard sounding balloons and small, unmanned aerial vehicles (UAVs). The amount of solid or liquid water is important to the study of atmospheric processes and behavior. Previous sensing techniques relied on strongly heating the incoming air, which requires a major energy input that cannot be achieved on sounding balloons or small UAVs.

  17. Unmanned Aerial Vehicles (UAVs): a new tool in counterterrorism operations?

    Science.gov (United States)

    Dörtbudak, Mehmet F.

    2015-05-01

    Terrorism is not a new phenomenon to the world, yet it remains difficult to define and counter. Countering terrorism requires several measures that must be taken simultaneously; however, counterterrorism strategies of many countries mostly depend on military measures. In the aftermath of the 2001 terrorist attack on the Twin Towers of the World Trade Center, the United States (U.S.) has started and led the campaign of Global War on Terrorism. They have invaded Afghanistan and Iraq and have encountered insurgencies run by terrorist organizations, such as al-Qaeda and its affiliates. The U.S. made the utilization of Air and Space Power very intensively during these operations. In order to implement operations; Intelligence, Surveillance, and Reconnaissance (ISR) assets were used to collect the necessary information. Before the successful insertion of a small number of U.S. Special Operation Force (SOF) teams into Afghanistan, the U.S. Air Force attacked al-Qaeda and Taliban's targets such as infrastructure, airfields, ground forces, command-control facilities etc. As soon as the U.S. troops got on the ground and started to marshal to Kabul, the Air Force supported them by attacking jointly determined targets. The Air Force continued to carry out the missions and played a significant role to achieve the objective of operation during all the time. This is not the only example of utilization of Air and Space Power in counterterrorism and counterinsurgency operations. All around the world, many countries have also made the utilization of Air Power in different missions ranging from ISR to attacking. Thinking that terrorism has a psychological dimension and losing a pilot during operations may result in decreasing the population support to operations, Unmanned Aerial Vehicles (UAVs) started to be used by practitioners and took priority over other assets. Although UAVs have been on the theatre for a long time used for ISR mission in conventional conflicts, with the advent

  18. Development of a bio-inspired UAV perching system

    Science.gov (United States)

    Xie, Pu

    Although technologies of unmanned aerial vehicles (UAVs) including micro air vehicles (MAVs) have been greatly advanced in the recent years, it is still very difficult for a UAV to perform some very challenging tasks such as perching to any desired spot reliably and agilely like a bird. Unlike the UAVs, the biological control mechanism of birds has been optimized through millions of year evolution and hence, they can perform many extremely maneuverability tasks, such as perching or grasping accurately and robustly. Therefore, we have good reason to learn from the nature in order to significantly improve the capabilities of UAVs. The development of a UAV perching system is becoming feasible, especially after a lot of research contributions in ornithology which involve the analysis of the bird's functionalities. Meanwhile, as technology advances in many engineering fields, such as airframes, propulsion, sensors, batteries, micro-electromechanical-system (MEMS), and UAV technology is also advancing rapidly. All of these research efforts in ornithology and the fast growing development technologies in UAV applications are motivating further interests and development in the area of UAV perching and grasping research. During the last decade, the research contributions about UAV perching and grasping were mainly based on fixed-wing, flapping-wing, and rotorcraft UAVs. However, most of the current researches in UAV systems with perching and grasping capability are focusing on either active (powered) grasping and perching or passive (unpowered) perching. Although birds do have both active and passive perching capabilities depending on their needs, there is no UAV perching system with both capabilities. In this project, we focused on filling this gap. Inspired by the anatomy analysis of bird legs and feet, a novel perching system has been developed to implement the bionics action for both active grasping and passive perching. In addition, for developing a robust and

  19. Comet radar explorer

    Science.gov (United States)

    Farnham, Tony; Asphaug, Erik; Barucci, Antonella; Belton, Mike; Bockelee-Morvan, Dominique; Brownlee, Donald; Capria, Maria Teresa; Carter, Lynn; Chesley, Steve; Farnham, Tony; Gaskell, Robert; Gim, Young; Heggy, Essam; Herique, Alain; Klaasen, Ken; Kofman, Wlodek; Kreslavsky, Misha; Lisse, Casey; Orosei, Roberto; Plaut, Jeff; Scheeres, Dan

    The Comet Radar Explorer (CORE) is designed to perform a comprehensive and detailed exploration of the interior, surface, and inner coma structures of a scientifically impor-tant Jupiter family comet. These structures will be used to investigate the origins of cometary nuclei, their physical and geological evolution, and the mechanisms driving their spectacular activity. CORE is a high heritage spacecraft, injected by solar electric propulsion into orbit around a comet. It is capable of coherent deep radar imaging at decameter wavelengths, high resolution stereo color imaging, and near-IR imaging spectroscopy. Its primary objective is to obtain a high-resolution map of the interior structure of a comet nucleus at a resolution of ¿100 elements across the diameter. This structure shall be related to the surface geology and morphology, and to the structural details of the coma proximal to the nucleus. This is an ideal complement to the science from recent comet missions, providing insight into how comets work. Knowing the structure of the interior of a comet-what's inside-and how cometary activity works, is required before we can understand the requirements for a cryogenic sample return mission. But more than that, CORE is fundamental to understanding the origin of comets and their evolution in time. The mission is made feasible at low cost by the use of now-standard MARSIS-SHARAD reflec-tion radar imaging hardware and data processing, together with proven flight heritage of solar electric propulsion. Radar flight heritage has been demonstrated by the MARSIS radar on Mars Express (Picardi et al., Science 2005; Plaut et al., Science 2007), the SHARAD radar onboard the Mars Reconnaissance Orbiter (Seu et al., JGR 2007), and the LRS radar onboard Kaguya (Ono et al, EPS 2007). These instruments have discovered detailed subsurface structure to depths of several kilometers in a variety of terrains on Mars and the Moon. A reflection radar deployed in orbit about a comet

  20. A review of array radars

    Science.gov (United States)

    Brookner, E.

    1981-10-01

    Achievements in the area of array radars are illustrated by such activities as the operational deployment of the large high-power, high-range-resolution Cobra Dane; the operational deployment of two all-solid-state high-power, large UHF Pave Paws radars; and the development of the SAM multifunction Patriot radar. This paper reviews the following topics: array radars steered in azimuth and elevation by phase shifting (phase-phase steered arrays); arrays steered + or - 60 deg, limited scan arrays, hemispherical coverage, and omnidirectional coverage arrays; array radars steering electronically in only one dimension, either by frequency or by phase steering; and array radar antennas which use no electronic scanning but instead use array antennas for achieving low antenna sidelobes.

  1. FMWC Radar for Breath Detection

    DEFF Research Database (Denmark)

    Suhr, Lau Frejstrup; Tafur Monroy, Idelfonso; Vegas Olmos, Juan José

    We report on the experimental demonstration of an FMCW radar operating in the 25.7 - 26.6 GHz range with a repetition rate of 500 sweeps per second. The radar is able to track the breathing rate of an adult human from a distance of 1 meter. The experiments have utilized a 50 second recording window...... to accurately track the breathing rate. The radar utilizes a saw tooth modulation format and a low latency receiver. A breath tracking radar is useful both in medical scenarios, diagnosing disorders such as sleep apnea, and for home use where the user can monitor its health. Breathing is a central part of every...... radar chip which, through the use of a simple modulation scheme, is able to measure the breathing rate of an adult human from a distance. A high frequency output makes sure that the radar cannot penetrate solid obstacles which is a wanted feature in private homes where people therefore cannot measure...

  2. Radar Image, Hokkaido, Japan

    Science.gov (United States)

    2000-01-01

    The southeast part of the island of Hokkaido, Japan, is an area dominated by volcanoes and volcanic caldera. The active Usu Volcano is at the lower right edge of the circular Lake Toya-Ko and near the center of the image. The prominent cone above and to the left of the lake is Yotei Volcano with its summit crater. The city of Sapporo lies at the base of the mountains at the top of the image and the town of Yoichi -- the hometown of SRTM astronaut Mamoru Mohri -- is at the upper left edge. The bay of Uchiura-Wan takes up the lower center of the image. In this image, color represents elevation, from blue at the lowest elevations to white at the highest. The radar image has been overlaid to provide more details of the terrain. Due to a processing problem, an island in the center of this crater lake is missing and will be properly placed when further SRTM swaths are processed. The horizontal banding in this image is a processing artifact that will be removed when the navigation information collected by SRTM is fully calibrated. This image was acquired by the Shuttle Radar Topography Mission (SRTM) aboard the Space Shuttle Endeavour, launched on February 11, 2000. SRTM used the same radar instrument that comprised the Spaceborne Imaging Radar-C/X-Band Synthetic Aperture Radar (SIR-C/X-SAR) that flew twice on the Space Shuttle Endeavour in 1994. SRTM was designed to collect three-dimensional measurements of the Earth's surface. To collect the 3-D data, engineers added a 60-meter-long (200-foot) mast, installed additional C-band and X-band antennas, and improved tracking and navigation devices. The mission is a cooperative project between the National Aeronautics and Space Administration (NASA), the National Imagery and Mapping Agency (NIMA) of the U.S. Department of Defense (DoD), and the German and Italian space agencies. It is managed by NASA's Jet Propulsion Laboratory, Pasadena, CA, for NASA's Earth Science Enterprise, Washington, DC. Size: 100 by 150 kilometers (62

  3. Radar techniques using array antennas

    CERN Document Server

    Wirth, Wulf-Dieter

    2013-01-01

    Radar Techniques Using Array Antennas is a thorough introduction to the possibilities of radar technology based on electronic steerable and active array antennas. Topics covered include array signal processing, array calibration, adaptive digital beamforming, adaptive monopulse, superresolution, pulse compression, sequential detection, target detection with long pulse series, space-time adaptive processing (STAP), moving target detection using synthetic aperture radar (SAR), target imaging, energy management and system parameter relations. The discussed methods are confirmed by simulation stud

  4. Concept of Indoor 3D-Route UAV Scheduling System

    DEFF Research Database (Denmark)

    Khosiawan, Yohanes; Nielsen, Izabela Ewa; Do, Ngoc Ang Dung

    2016-01-01

    environment. On top of that, the multi-source productive best-first-search concept also supports efficient real-time scheduling in response to uncertain events. Without human intervention, the proposed work provides an automatic scheduling system for UAV routing problem in 3D indoor environment....

  5. UAV MONITORING FOR ENVIROMENTAL MANAGEMENT IN GALAPAGOS ISLANDS

    Directory of Open Access Journals (Sweden)

    D. Ballaria

    2016-06-01

    Full Text Available In the Galapagos Islands, where 97% of the territory is protected and ecosystem dynamics are highly vulnerable, timely and accurate information is key for decision making. An appropriate monitoring system must meet two key features: on one hand, being able to capture information in a systematic and regular basis, and on the other hand, to quickly gather information on demand for specific purposes. The lack of such a system for geographic information limits the ability of Galapagos Islands’ institutions to evaluate and act upon environmental threats such as invasive species spread and vegetation degradation. In this context, the use of UAVs (unmanned aerial vehicles for capturing georeferenced images is a promising technology for environmental monitoring and management. This paper explores the potential of UAV images for monitoring degradation of littoral vegetation in Puerto Villamil (Isabela Island, Galapagos, Ecuador. Imagery was captured using two camera types: Red Green Blue (RGB and Infrarred Red Green (NIR. First, vegetation presence was identified through NDVI. Second, object-based classification was carried out for characterization of vegetation vigor. Results demonstrates the feasibility of UAV technology for base-line studies and monitoring on the amount and vigorousness of littoral vegetation in the Galapagos Islands. It is also showed that UAV images are not only useful for visual interpretation and object delineation, but also to timely produce useful thematic information for environmental management.

  6. Using Unmanned Aerial Vehicles (UAVs) to Modeling Tornado Impacts

    Science.gov (United States)

    Wagner, M.; Doe, R. K.

    2017-12-01

    Using Unmanned Aerial Vehicles (UAVs) to assess storm damage is a useful research tool. Benefits include their ability to access remote or impassable areas post-storm, identify unknown damages and assist with more detailed site investigations and rescue efforts. Technological advancement of UAVs mean that they can capture high resolution images often at an affordable price. These images can be used to create 3D environments to better interpret and delineate damages from large areas that would have been difficult in ground surveys. This research presents the results of a rapid response site investigation of the 29 April 2017 Canton, Texas, USA, tornado using low cost UAVs. This was a multiple, high impact tornado event measuring EF4 at maximum. Rural farmland was chosen as a challenging location to test both equipment and methodology. Such locations provide multiple impacts at a variety of scales including structural and vegetation damage and even animal fatalities. The 3D impact models allow for a more comprehensive study prior to clean-up. The results show previously unseen damages and better quantify damage impacts at the local level. 3D digital track swaths were created allowing for a more accurate track width determination. These results demonstrate how effective the use of low cost UAVs can be for rapid response storm damage assessments, the high quality of data they can achieve, and how they can help us better visualize tornado site investigations.

  7. DTM GENERATION WITH UAV BASED PHOTOGRAMMETRIC POINT CLOUD

    Directory of Open Access Journals (Sweden)

    N. Polat

    2017-11-01

    Full Text Available Nowadays Unmanned Aerial Vehicles (UAVs are widely used in many applications for different purposes. Their benefits however are not entirely detected due to the integration capabilities of other equipment such as; digital camera, GPS, or laser scanner. The main scope of this paper is evaluating performance of cameras integrated UAV for geomatic applications by the way of Digital Terrain Model (DTM generation in a small area. In this purpose, 7 ground control points are surveyed with RTK and 420 photographs are captured. Over 30 million georeferenced points were used in DTM generation process. Accuracy of the DTM was evaluated with 5 check points. The root mean square error is calculated as 17.1 cm for an altitude of 100 m. Besides, a LiDAR derived DTM is used as reference in order to calculate correlation. The UAV based DTM has o 94.5 % correlation with reference DTM. Outcomes of the study show that it is possible to use the UAV Photogrammetry data as map producing, surveying, and some other engineering applications with the advantages of low-cost, time conservation, and minimum field work.

  8. DTM Generation with Uav Based Photogrammetric Point Cloud

    Science.gov (United States)

    Polat, N.; Uysal, M.

    2017-11-01

    Nowadays Unmanned Aerial Vehicles (UAVs) are widely used in many applications for different purposes. Their benefits however are not entirely detected due to the integration capabilities of other equipment such as; digital camera, GPS, or laser scanner. The main scope of this paper is evaluating performance of cameras integrated UAV for geomatic applications by the way of Digital Terrain Model (DTM) generation in a small area. In this purpose, 7 ground control points are surveyed with RTK and 420 photographs are captured. Over 30 million georeferenced points were used in DTM generation process. Accuracy of the DTM was evaluated with 5 check points. The root mean square error is calculated as 17.1 cm for an altitude of 100 m. Besides, a LiDAR derived DTM is used as reference in order to calculate correlation. The UAV based DTM has o 94.5 % correlation with reference DTM. Outcomes of the study show that it is possible to use the UAV Photogrammetry data as map producing, surveying, and some other engineering applications with the advantages of low-cost, time conservation, and minimum field work.

  9. Supervising UAVs : improving operator performance by optimizing the human factor

    NARCIS (Netherlands)

    Breda, L. van; Jansen, C.; Veltman, J.A.

    2005-01-01

    Tele-operated unmanned aerial vehicles (UAVs) have no operators on board and therefore enable extension of the present sensing and communication capabilities in civil and military missions, without unnecessarily endangering personnel or deploying expensive material. One should also realize that

  10. Ultra-Tightly Coupled GNSS/INS for small UAVs

    DEFF Research Database (Denmark)

    Olesen, Daniel; Jakobsen, Jakob; Knudsen, Per

    2017-01-01

    This paper describes an ultra-tight integration of a Global Navigation Satellite System ( GNSS) receiver and an Inertial Navigation System ( INS) for small Unmanned Aerial Vehicles ( UAVs). The system is based on a low-cost and low-weight GNSS Intermediate Frequency ( IF) sampler which has been...

  11. Radio Channel Modelling for UAV Communication over Cellular Networks

    DEFF Research Database (Denmark)

    Amorim, Rafhael Medeiros de; Nguyen, Huan Cong; Mogensen, Preben Elgaard

    2017-01-01

    The main goal of this paper is to obtain models for path loss exponents and shadowing for the radio channel between airborne Unmanned Aerial Vehicles (UAVs) and cellular networks. In this pursuit, field measurements were conducted in live LTE networks at the 800 MHz frequency band, using a commer...

  12. Preliminary Study on Earthquake Surface Rupture Extraction from Uav Images

    Science.gov (United States)

    Yuan, X.; Wang, X.; Ding, X.; Wu, X.; Dou, A.; Wang, S.

    2018-04-01

    Because of the advantages of low-cost, lightweight and photography under the cloud, UAVs have been widely used in the field of seismic geomorphology research in recent years. Earthquake surface rupture is a typical seismic tectonic geomorphology that reflects the dynamic and kinematic characteristics of crustal movement. The quick identification of earthquake surface rupture is of great significance for understanding the mechanism of earthquake occurrence, disasters distribution and scale. Using integrated differential UAV platform, series images were acquired with accuracy POS around the former urban area (Qushan town) of Beichuan County as the area stricken seriously by the 2008 Wenchuan Ms8.0 earthquake. Based on the multi-view 3D reconstruction technique, the high resolution DSM and DOM are obtained from differential UAV images. Through the shade-relief map and aspect map derived from DSM, the earthquake surface rupture is extracted and analyzed. The results show that the surface rupture can still be identified by using the UAV images although the time of earthquake elapse is longer, whose middle segment is characterized by vertical movement caused by compression deformation from fault planes.

  13. UAV low-altitude remote sensing for precision weed management

    Science.gov (United States)

    Precision weed management, an application of precision agriculture, accounts for within-field variability of weed infestation and herbicide damage. Unmanned aerial vehicles (UAVs) provide a unique platform for remote sensing of field crops. They are more efficient and flexible than manned agricultur...

  14. Focus-of-attention for human activity recognition from UAVs

    NARCIS (Netherlands)

    Burghouts, G.J.; Eekeren, A.W.M. van; Dijk, J.

    2014-01-01

    This paper presents a system to extract metadata about human activities from full-motion video recorded from a UAV. The pipeline consists of these components: tracking, motion features, representation of the tracks in terms of their motion features, and classification of each track as one of the

  15. Teaching UAVs to Race With Observational Imitation Learning

    KAUST Repository

    Li, Guohao

    2018-03-03

    Recent work has tackled the problem of autonomous navigation by imitating a teacher and learning an end-to-end policy, which directly predicts controls from raw images. However, these approaches tend to be sensitive to mistakes by the teacher and do not scale well to other environments or vehicles. To this end, we propose a modular network architecture that decouples perception from control, and is trained using Observational Imitation Learning (OIL), a novel imitation learning variant that supports online training and automatic selection of optimal behavior from observing multiple teachers. We apply our proposed methodology to the challenging problem of unmanned aerial vehicle (UAV) racing. We develop a simulator that enables the generation of large amounts of synthetic training data (both UAV captured images and its controls) and also allows for online learning and evaluation. We train a perception network to predict waypoints from raw image data and a control network to predict UAV controls from these waypoints using OIL. Our modular network is able to autonomously fly a UAV through challenging race tracks at high speeds. Extensive experiments demonstrate that our trained network outperforms its teachers, end-to-end baselines, and even human pilots in simulation. The supplementary video can be viewed at https://youtu.be/PeTXSoriflc

  16. An automated 3D reconstruction method of UAV images

    Science.gov (United States)

    Liu, Jun; Wang, He; Liu, Xiaoyang; Li, Feng; Sun, Guangtong; Song, Ping

    2015-10-01

    In this paper a novel fully automated 3D reconstruction approach based on low-altitude unmanned aerial vehicle system (UAVs) images will be presented, which does not require previous camera calibration or any other external prior knowledge. Dense 3D point clouds are generated by integrating orderly feature extraction, image matching, structure from motion (SfM) and multi-view stereo (MVS) algorithms, overcoming many of the cost, time limitations of rigorous photogrammetry techniques. An image topology analysis strategy is introduced to speed up large scene reconstruction by taking advantage of the flight-control data acquired by UAV. Image topology map can significantly reduce the running time of feature matching by limiting the combination of images. A high-resolution digital surface model of the study area is produced base on UAV point clouds by constructing the triangular irregular network. Experimental results show that the proposed approach is robust and feasible for automatic 3D reconstruction of low-altitude UAV images, and has great potential for the acquisition of spatial information at large scales mapping, especially suitable for rapid response and precise modelling in disaster emergency.

  17. Optimizing Multiple Kernel Learning for the classification of UAV data

    NARCIS (Netherlands)

    Gevaert, C.M.; Persello, C.; Vosselman, G.

    2016-01-01

    Unmanned Aerial Vehicles (UAVs) are capable of providing high-quality orthoimagery and 3D information in the form of point clouds at a relatively low cost. Their increasing popularity stresses the necessity of understanding which algorithms are especially suited for processing the data obtained from

  18. Teaching UAVs to Race With Observational Imitation Learning

    KAUST Repository

    Li, Guohao; Mueller, Matthias; Casser, Vincent; Smith, Neil; Michels, Dominik L.; Ghanem, Bernard

    2018-01-01

    Recent work has tackled the problem of autonomous navigation by imitating a teacher and learning an end-to-end policy, which directly predicts controls from raw images. However, these approaches tend to be sensitive to mistakes by the teacher and do not scale well to other environments or vehicles. To this end, we propose a modular network architecture that decouples perception from control, and is trained using Observational Imitation Learning (OIL), a novel imitation learning variant that supports online training and automatic selection of optimal behavior from observing multiple teachers. We apply our proposed methodology to the challenging problem of unmanned aerial vehicle (UAV) racing. We develop a simulator that enables the generation of large amounts of synthetic training data (both UAV captured images and its controls) and also allows for online learning and evaluation. We train a perception network to predict waypoints from raw image data and a control network to predict UAV controls from these waypoints using OIL. Our modular network is able to autonomously fly a UAV through challenging race tracks at high speeds. Extensive experiments demonstrate that our trained network outperforms its teachers, end-to-end baselines, and even human pilots in simulation. The supplementary video can be viewed at https://youtu.be/PeTXSoriflc

  19. Use of UAV-Borne Spectrometer for Land Cover Classification

    Directory of Open Access Journals (Sweden)

    Sowmya Natesan

    2018-04-01

    Full Text Available Unmanned aerial vehicles (UAV are being used for low altitude remote sensing for thematic land classification using visible light and multi-spectral sensors. The objective of this work was to investigate the use of UAV equipped with a compact spectrometer for land cover classification. The UAV platform used was a DJI Flamewheel F550 hexacopter equipped with GPS and Inertial Measurement Unit (IMU navigation sensors, and a Raspberry Pi processor and camera module. The spectrometer used was the FLAME-NIR, a near-infrared spectrometer for hyperspectral measurements. RGB images and spectrometer data were captured simultaneously. As spectrometer data do not provide continuous terrain coverage, the locations of their ground elliptical footprints were determined from the bundle adjustment solution of the captured images. For each of the spectrometer ground ellipses, the land cover signature at the footprint location was determined to enable the characterization, identification, and classification of land cover elements. To attain a continuous land cover classification map, spatial interpolation was carried out from the irregularly distributed labeled spectrometer points. The accuracy of the classification was assessed using spatial intersection with the object-based image classification performed using the RGB images. Results show that in homogeneous land cover, like water, the accuracy of classification is 78% and in mixed classes, like grass, trees and manmade features, the average accuracy is 50%, thus, indicating the contribution of hyperspectral measurements of low altitude UAV-borne spectrometers to improve land cover classification.

  20. UAV Monitoring for Enviromental Management in Galapagos Islands

    Science.gov (United States)

    Ballari, D.; Orellana, D.; Acosta, E.; Espinoza, A.; Morocho, V.

    2016-06-01

    In the Galapagos Islands, where 97% of the territory is protected and ecosystem dynamics are highly vulnerable, timely and accurate information is key for decision making. An appropriate monitoring system must meet two key features: on one hand, being able to capture information in a systematic and regular basis, and on the other hand, to quickly gather information on demand for specific purposes. The lack of such a system for geographic information limits the ability of Galapagos Islands' institutions to evaluate and act upon environmental threats such as invasive species spread and vegetation degradation. In this context, the use of UAVs (unmanned aerial vehicles) for capturing georeferenced images is a promising technology for environmental monitoring and management. This paper explores the potential of UAV images for monitoring degradation of littoral vegetation in Puerto Villamil (Isabela Island, Galapagos, Ecuador). Imagery was captured using two camera types: Red Green Blue (RGB) and Infrarred Red Green (NIR). First, vegetation presence was identified through NDVI. Second, object-based classification was carried out for characterization of vegetation vigor. Results demonstrates the feasibility of UAV technology for base-line studies and monitoring on the amount and vigorousness of littoral vegetation in the Galapagos Islands. It is also showed that UAV images are not only useful for visual interpretation and object delineation, but also to timely produce useful thematic information for environmental management.

  1. Using crowd sourcing to combat potentially illegal or dangerous UAV operations

    Science.gov (United States)

    Tapsall, Brooke T.

    2016-10-01

    The UAV (Unmanned Aerial Vehicles) industry is growing exponentially at a pace that policy makers, individual countries and law enforcement agencies are finding difficult to keep up. The UAV market is large, as such the amount of UAVs being operated in potentially dangerous situations is prevalent and rapidly increasing. Media is continually reporting `near-miss' incidents between UAVs and commercial aircraft, UAV breaching security in sensitive areas or invading public privacy. One major challenge for law enforcement agencies is gaining tangible evidence against potentially dangerous or illegal UAV operators due to the rapidity with which UAV operators are able to enter, fly and exit a scene before authorities can arrive or before they can be located. DroneALERT, an application available via the Airport-UAV.com website, allows users to capture potentially dangerous or illegal UAV activity using their mobile device as it the incident is occurring. A short online DroneALERT Incident Report (DIR) is produced, emailed to the user and the Airport-UAV.com custodians. The DIR can be used to aid authorities in their investigations. The DIR contains details such as images and videos, location, time, date of the incident, drone model, its distance and height. By analysing information from the DIR, photos or video, there is a high potential for law enforcement authorities to use this evidence to identify the type of UAV used, triangulate the location of the potential dangerous UAV and operator, create a timeline of events, potential areas of operator exit and to determine the legalities breached. All provides crucial evidence for identifying and prosecuting a UAV operator.

  2. Unmanned air vehicle (UAV) ultra-persitence research

    Energy Technology Data Exchange (ETDEWEB)

    Dron, S. B.

    2012-03-01

    Sandia National Laboratories and Northrop Grumman Corporation Integrated Systems, Unmanned Systems (NGIS UMS) collaborated to further ultra-persistence technologies for unmanned air vehicles (UAVs). The greatest shortfalls in UAV capabilities have been repeatedly identified as (1) insufficient flight persistence or 'hang time,' (2) marginal electrical power for running higher power avionics and payload systems, and (3) inadequate communications bandwidth and reach. NGIS UMS requested support from Sandia to develop an ultra-persistent propulsion and power system (UP3S) for potential incorporation into next generation UAV systems. The team members tried to determine which energy storage and power generation concepts could most effectively push UAV propulsion and electrical power capabilities to increase UAV sortie duration from days to months while increasing available electrical power at least two-fold. Primary research and development areas that were pursued included these goals: perform general system engineering and integration analyses; develop initial thermal and electrical power estimates; provide mass, volume, dimensional, and balance estimates; conduct preliminary safety assessments; assess logistics support requirements; perform, preliminary assessments of any security and safeguards; evaluate options for removal, replacement, and disposition of materials; generally advance the potential of the UP3S concept. The effort contrasted and compared eight heat sources technologies, three power conversion, two dual cycle propulsion system configurations, and a single electrical power generation scheme. Overall performance, specific power parameters, technical complexities, security, safety, and other operational features were successfully investigated. Large and medium sized UAV systems were envisioned and operational flight profiles were developed for each concept. Heat source creation and support challenges for domestic and expeditionary operations were

  3. Observing Crop-Height Dynamics Using a UAV

    Science.gov (United States)

    Ziliani, M. G.; Parkes, S. D.; McCabe, M.

    2017-12-01

    Retrieval of vegetation height during a growing season is a key indicator for monitoring crop status, offering insight to the forecast yield relative to previous planting cycles. Improvement in Unmanned Aerial Vehicle (UAV) technologies, supported by advances in computer vision and photogrammetry software, has enabled retrieval of crop heights with much higher spatial resolution and coverage. These methodologies retrieve a Digital Surface Map (DSM), which combine terrain and crop elements to obtain a Crop Surface Map (CSM). Here we describe an automated method for deriving high resolution CSMs from a DSM, using RGB imagery from a UAV platform. Importantly, the approach does not require the need for a digital terrain map (DTM). The method involves distinguishing between vegetation and bare-ground cover pixels, using vegetation index maps from the RGB orthomosaic derived from the same flight as the DSM. We show that the absolute crop height can be extracted to within several centimeters, exploiting the data captured from a single UAV flight. In addition, the method is applied across five surveys during a maize growing cycle and compared against a terrain map constructed from a baseline UAV survey undertaken prior to crop growth. Results show that the approach is able to reproduce the observed spatial variability of the crop height within the maize field throughout the duration of the growing season. This is particularly valuable since it may be employed to detect intra-field problems (i.e. fertilizer variability, inefficiency in the irrigation system, salinity etc.) at different stages of the season, from which remedial action can be initiated to mitigate against yield loss. The method also demonstrates that UAV imagery combined with commercial photogrammetry software can determine a CSM from a single flight without the requirement of a prior DTM. This, together with the dynamic crop height estimation, provide useful information with which to inform precision

  4. WETLAND ASSESSMENT USING UNMANNED AERIAL VEHICLE (UAV PHOTOGRAMMETRY

    Directory of Open Access Journals (Sweden)

    M. A. Boon

    2016-06-01

    Full Text Available The use of Unmanned Arial Vehicle (UAV photogrammetry is a valuable tool to enhance our understanding of wetlands. Accurate planning derived from this technological advancement allows for more effective management and conservation of wetland areas. This paper presents results of a study that aimed at investigating the use of UAV photogrammetry as a tool to enhance the assessment of wetland ecosystems. The UAV images were collected during a single flight within 2½ hours over a 100 ha area at the Kameelzynkraal farm, Gauteng Province, South Africa. An AKS Y-6 MKII multi-rotor UAV and a digital camera on a motion compensated gimbal mount were utilised for the survey. Twenty ground control points (GCPs were surveyed using a Trimble GPS to achieve geometrical precision and georeferencing accuracy. Structure-from-Motion (SfM computer vision techniques were used to derive ultra-high resolution point clouds, orthophotos and 3D models from the multi-view photos. The geometric accuracy of the data based on the 20 GCP’s were 0.018 m for the overall, 0.0025 m for the vertical root mean squared error (RMSE and an over all root mean square reprojection error of 0.18 pixel. The UAV products were then edited and subsequently analysed, interpreted and key attributes extracted using a selection of tools/ software applications to enhance the wetland assessment. The results exceeded our expectations and provided a valuable and accurate enhancement to the wetland delineation, classification and health assessment which even with detailed field studies would have been difficult to achieve.

  5. The Quality of Quantity: Mini-UAVS As An Alternative UAV Acquisition Strategy at the Army Brigade Level

    Science.gov (United States)

    2002-05-24

    contrast to the Exdrone is the more conventional, and more Spartan, Pointer UAV. Designed by Paul McCready, PhD., the engineer who designed the “ Gossamer ... Albatross ”, the first human powered aircraft to cross the English Channel, the Pointer UAV’s design reflects an engineering philosophy predicated on

  6. Broadview Radar Altimetry Toolbox

    Science.gov (United States)

    Garcia-Mondejar, Albert; Escolà, Roger; Moyano, Gorka; Roca, Mònica; Terra-Homem, Miguel; Friaças, Ana; Martinho, Fernando; Schrama, Ernst; Naeije, Marc; Ambrózio, Américo; Restano, Marco; Benveniste, Jérôme

    2017-04-01

    The universal altimetry toolbox, BRAT (Broadview Radar Altimetry Toolbox) which can read all previous and current altimetry missions' data, incorporates now the capability to read the upcoming Sentinel3 L1 and L2 products. ESA endeavoured to develop and supply this capability to support the users of the future Sentinel3 SAR Altimetry Mission. BRAT is a collection of tools and tutorial documents designed to facilitate the processing of radar altimetry data. This project started in 2005 from the joint efforts of ESA (European Space Agency) and CNES (Centre National d'Etudes Spatiales), and it is freely available at http://earth.esa.int/brat. The tools enable users to interact with the most common altimetry data formats. The BratGUI is the frontend for the powerful command line tools that are part of the BRAT suite. BRAT can also be used in conjunction with MATLAB/IDL (via reading routines) or in C/C++/Fortran via a programming API, allowing the user to obtain desired data, bypassing the dataformatting hassle. BRAT can be used simply to visualise data quickly, or to translate the data into other formats such as NetCDF, ASCII text files, KML (Google Earth) and raster images (JPEG, PNG, etc.). Several kinds of computations can be done within BRAT involving combinations of data fields that the user can save for posterior reuse or using the already embedded formulas that include the standard oceanographic altimetry formulas. The Radar Altimeter Tutorial, that contains a strong introduction to altimetry, shows its applications in different fields such as Oceanography, Cryosphere, Geodesy, Hydrology among others. Included are also "use cases", with step-by-step examples, on how to use the toolbox in the different contexts. The Sentinel3 SAR Altimetry Toolbox shall benefit from the current BRAT version. While developing the toolbox we will revamp of the Graphical User Interface and provide, among other enhancements, support for reading the upcoming S3 datasets and specific

  7. Infrared hyperspectral imaging miniaturized for UAV applications

    Science.gov (United States)

    Hinnrichs, Michele; Hinnrichs, Bradford; McCutchen, Earl

    2017-02-01

    Pacific Advanced Technology (PAT) has developed an infrared hyperspectral camera, both MWIR and LWIR, small enough to serve as a payload on a miniature unmanned aerial vehicles. The optical system has been integrated into the cold-shield of the sensor enabling the small size and weight of the sensor. This new and innovative approach to infrared hyperspectral imaging spectrometer uses micro-optics and will be explained in this paper. The micro-optics are made up of an area array of diffractive optical elements where each element is tuned to image a different spectral region on a common focal plane array. The lenslet array is embedded in the cold-shield of the sensor and actuated with a miniature piezo-electric motor. This approach enables rapid infrared spectral imaging with multiple spectral images collected and processed simultaneously each frame of the camera. This paper will present our optical mechanical design approach which results in an infrared hyper-spectral imaging system that is small enough for a payload on a mini-UAV or commercial quadcopter. Also, an example of how this technology can easily be used to quantify a hydrocarbon gas leak's volume and mass flowrates. The diffractive optical elements used in the lenslet array are blazed gratings where each lenslet is tuned for a different spectral bandpass. The lenslets are configured in an area array placed a few millimeters above the focal plane and embedded in the cold-shield to reduce the background signal normally associated with the optics. We have developed various systems using a different number of lenslets in the area array. Depending on the size of the focal plane and the diameter of the lenslet array will determine the spatial resolution. A 2 x 2 lenslet array will image four different spectral images of the scene each frame and when coupled with a 512 x 512 focal plane array will give spatial resolution of 256 x 256 pixel each spectral image. Another system that we developed uses a 4 x 4

  8. Doppler radar flowmeter

    Science.gov (United States)

    Petlevich, Walter J.; Sverdrup, Edward F.

    1978-01-01

    A Doppler radar flowmeter comprises a transceiver which produces an audio frequency output related to the Doppler shift in frequency between radio waves backscattered from particulate matter carried in a fluid and the radiated radio waves. A variable gain amplifier and low pass filter are provided for amplifying and filtering the transceiver output. A frequency counter having a variable triggering level is also provided to determine the magnitude of the Doppler shift. A calibration method is disclosed wherein the amplifier gain and frequency counter trigger level are adjusted to achieve plateaus in the output of the frequency counter and thereby allow calibration without the necessity of being able to visually observe the flow.

  9. Surveillance mission planning for UAVs in GPS-denied urban environment

    Science.gov (United States)

    Pengfei, Wang

    In this thesis, the issues involved in the mission planning of UAVs for city surveillance have been studied. In this thesis, the research includes two major parts. Firstly, a mission planning system is developed that generates mission plans for a group of fixed-wing UAVs with on-board gimballed cameras to provide continuous surveillance over an urban area. Secondly, the problem of perching location selection (as part of perch-and-stare surveillance mission) for rotary-wing UAVs in a GPS-denied environment is studied. In this kind of mission, a UAV is dispatched to perch on a roof of a building to keep surveillance on a given target. The proposed algorithms to UAV surveillance mission planning (fixed-wing and rotary-wing) have been implemented and tested. It represents an important step towards achieving autonomous planning in UAV surveillance missions.

  10. Imaging with Synthetic Aperture Radar

    CERN Document Server

    Massonnet, Didier

    2008-01-01

    Describing a field that has been transformed by the recent availability of data from a new generation of space and airborne systems, the authors offer a synthetic geometrical approach to the description of synthetic aperture radar, one that addresses physicists, radar specialists, as well as experts in image processing.  

  11. Terahertz radar cross section measurements

    DEFF Research Database (Denmark)

    Iwaszczuk, Krzysztof; Heiselberg, Henning; Jepsen, Peter Uhd

    2010-01-01

    We perform angle- and frequency-resolved radar cross section (RCS) measurements on objects at terahertz frequencies. Our RCS measurements are performed on a scale model aircraft of size 5-10 cm in polar and azimuthal configurations, and correspond closely to RCS measurements with conventional radar...

  12. Performance indicators modern surveillance radar

    NARCIS (Netherlands)

    Nooij, P.N.C.; Theil, A.

    2014-01-01

    Blake chart computations are widely employed to rank detection coverage capabilities of competitive search radar systems. Developed for comparable 2D radar systems with a mechanically rotating reflector antenna, it was not necessary to regard update rate and plot quality in Blake's chart. To

  13. UAV measurements of aerosol properties at the Cyprus institute

    Science.gov (United States)

    Neitola, Kimmo; Sciare, Jean; Keleshis, Christos; Pikridas, Michael; Argyrides, Marios; Vouterakos, Panagiotis; Antoniou, Panyiota; Apostolou, Apostolos; Savvides, Constantinos; Vrekoussis, Mihalis; Mihalopoulos, Nikos; Biskos, George; Gao, Ru-Shan; Murphy, Daniel; Schrod, Jann; Weber, Daniel; Bingemer, Heinz; Mocnik, Grisa

    2017-04-01

    Unmanned Aerial Vehicles (UAVs) provide a cost-effective and easy-to-use method to document the vertical profiles of aerosol particles and their physical and optical properties, within and above the boundary layer. These observations combined with satellite and ground data together can provide important information and model constrains regarding the impact of aerosols on the air quality and regional climate. Cyprus is a unique place to observe long-range transported pollution and dust originating from different areas (Europe, Africa, Turkey, and Middle East) and perform such aerosol profiling. The USRL team at the Cyprus Institute has recently started weekly routine flights with a newly developed UAV fleet to build a unique dataset of vertical profile observations. Instrumentation on the UAVs includes miniature Scanning Aerosol Sun Photometer (miniSASP, Murphy et al., 2015), Printed Optical Particle Spectrometer (POPS, Gao et al., 2016), Ice nuclei sampler (IN) and Dual Wavelength absorption Prototype (DWP) together with the measured meteorological parameters (P, T and RH). The UAV fleet is still expanding, as well as the instrumentation, and preliminary test flights have led to very promising results. The UAV ascend up to approximately the middle of the boundary layer, defined by LIDAR measurements at Limassol, where the UAV will fly on one altitude for several minutes ensuring stable data collection. After flying on one altitude, the UAV will continue ascending above the boundary layer, where another level flight will take place for data gathering, before descending for safe landing. The miniSASP measures the sun irradiance and sky radiance at four wavelengths (460, 550, 670 and 680nm) by doing continuous almucantar scans every 30 s. The instrument installation compensates for the pitch and roll of the UAV with 4 Hz frequency. For this reason, the flights are designed to maintain level flight conditions, to ensure proper data acquisition, and to obtain data from

  14. Detection of Weather Radar Clutter

    DEFF Research Database (Denmark)

    Bøvith, Thomas

    2008-01-01

    classification and use a range of different techniques and input data. The first method uses external information from multispectral satellite images to detect clutter. The information in the visual, near-infrared, and infrared parts of the spectrum can be used to distinguish between cloud and cloud-free areas......Weather radars provide valuable information on precipitation in the atmosphere but due to the way radars work, not only precipitation is observed by the weather radar. Weather radar clutter, echoes from non-precipitating targets, occur frequently in the data, resulting in lowered data quality....... Especially in the application of weather radar data in quantitative precipitation estimation and forecasting a high data quality is important. Clutter detection is one of the key components in achieving this goal. This thesis presents three methods for detection of clutter. The methods use supervised...

  15. 100 years of radar

    CERN Document Server

    Galati, Gaspare

    2016-01-01

    This book offers fascinating insights into the key technical and scientific developments in the history of radar, from the first patent, taken out by Hülsmeyer in 1904, through to the present day. Landmark events are highlighted and fascinating insights provided into the exceptional people who made possible the progress in the field, including the scientists and technologists who worked independently and under strict secrecy in various countries across the world in the 1930s and the big businessmen who played an important role after World War II. The book encourages multiple levels of reading. The author is a leading radar researcher who is ideally placed to offer a technical/scientific perspective as well as a historical one. He has taken care to structure and write the book in such a way as to appeal to both non-specialists and experts. The book is not sponsored by any company or body, either formally or informally, and is therefore entirely unbiased. The text is enriched by approximately three hundred ima...

  16. Integration of Multiple UAVs for Collaborative ISR Missions in an Urban Environment

    OpenAIRE

    Chua, Chee Nam

    2012-01-01

    Military conflicts are shifting from jungles and deserts to cities. This is because terrorists, insurgents, and guerillas find these areas provide a rich target environment and good hideouts. With the use of UAVs, urban threats can be tracked and targeted effectively. However, in an urban environment where there is little or no GPS signals and many obstacles, navigation of UAVs is a major challenge. Multiple UAVs can be employed to share sensor information to counter these challenges and to p...

  17. Analysis of Nondeterministic Search Patterns for Minimization of UAV Counter-Targeting

    Science.gov (United States)

    2013-03-01

    64 Figure 4.9 Procerus Unicorn UAV [48] used in multi-UAV look-ahead Levy search demonstration conducted at 13-2 JIFX in February, 2013...minimum time or coverage path, minimal overlap, increased robustness to localization errors, etc. [3–5]. The role of randomized coverage and search...to the Procerus Unicorn UAV employed during these flight experiments, shown in Figure 4.9. Figure 4.10 shows the straight-line path between the major

  18. A Survey of Open-Source UAV Flight Controllers and Flight Simulators

    DEFF Research Database (Denmark)

    Ebeid, Emad Samuel Malki; Skriver, Martin; Terkildsen, Kristian Husum

    2018-01-01

    The current disruptive innovation in civilian drone (UAV) applications has led to an increased need for research and development in UAV technology. The key challenges currently being addressed are related to UAV platform properties such as functionality, reliability, fault tolerance, and endurance......-source drone platform elements that can be used for research and development. The survey covers open-source hardware, software, and simulation drone platforms and compares their main features....

  19. Closing the Gap Between Research and Field Applications for Multi-UAV Cooperative Missions

    Science.gov (United States)

    2013-09-01

    REPORT DATE September 2013 3. REPORT TYPE AND DATES COVERED Master’s Thesis 4. TITLE AND SUBTITLE CLOSING THE GAP BETWEEN RESEARCH AND FIELD...iii Approved for public release; distribution is unlimited CLOSING THE GAP BETWEEN RESEARCH AND FIELD APPLICATIONS FOR MULTI-UAV COOPERATIVE...the report is to lay the groundwork for future analysis in multi-UAV analysis to close the gap between existing research and efficient multi-UAV

  20. Semiautonomous Avionics-and-Sensors System for a UAV

    Science.gov (United States)

    Shams, Qamar

    2006-01-01

    Unmanned Aerial Vehicles (UAVs) autonomous or remotely controlled pilotless aircraft have been recently thrust into the spotlight for military applications, for homeland security, and as test beds for research. In addition to these functions, there are many space applications in which lightweight, inexpensive, small UAVS can be used e.g., to determine the chemical composition and other qualities of the atmospheres of remote planets. Moreover, on Earth, such UAVs can be used to obtain information about weather in various regions; in particular, they can be used to analyze wide-band acoustic signals to aid in determining the complex dynamics of movement of hurricanes. The Advanced Sensors and Electronics group at Langley Research Center has developed an inexpensive, small, integrated avionics-and-sensors system to be installed in a UAV that serves two purposes. The first purpose is to provide flight data to an AI (Artificial Intelligence) controller as part of an autonomous flight-control system. The second purpose is to store data from a subsystem of distributed MEMS (microelectromechanical systems) sensors. Examples of these MEMS sensors include humidity, temperature, and acoustic sensors, plus chemical sensors for detecting various vapors and other gases in the environment. The critical sensors used for flight control are a differential- pressure sensor that is part of an apparatus for determining airspeed, an absolute-pressure sensor for determining altitude, three orthogonal accelerometers for determining tilt and acceleration, and three orthogonal angular-rate detectors (gyroscopes). By using these eight sensors, it is possible to determine the orientation, height, speed, and rates of roll, pitch, and yaw of the UAV. This avionics-and-sensors system is shown in the figure. During the last few years, there has been rapid growth and advancement in the technological disciplines of MEMS, of onboard artificial-intelligence systems, and of smaller, faster, and

  1. Direct Georeferencing of Uav Data Based on Simple Building Structures

    Science.gov (United States)

    Tampubolon, W.; Reinhardt, W.

    2016-06-01

    Unmanned Aerial Vehicle (UAV) data acquisition is more flexible compared with the more complex traditional airborne data acquisition. This advantage puts UAV platforms in a position as an alternative acquisition method in many applications including Large Scale Topographical Mapping (LSTM). LSTM, i.e. larger or equal than 1:10.000 map scale, is one of a number of prominent priority tasks to be solved in an accelerated way especially in third world developing countries such as Indonesia. As one component of fundamental geospatial data sets, large scale topographical maps are mandatory in order to enable detailed spatial planning. However, the accuracy of the products derived from the UAV data are normally not sufficient for LSTM as it needs robust georeferencing, which requires additional costly efforts such as the incorporation of sophisticated GPS Inertial Navigation System (INS) or Inertial Measurement Unit (IMU) on the platform and/or Ground Control Point (GCP) data on the ground. To reduce the costs and the weight on the UAV alternative solutions have to be found. This paper outlines a direct georeferencing method of UAV data by providing image orientation parameters derived from simple building structures and presents results of an investigation on the achievable results in a LSTM application. In this case, the image orientation determination has been performed through sequential images without any input from INS/IMU equipment. The simple building structures play a significant role in such a way that geometrical characteristics have been considered. Some instances are the orthogonality of the building's wall/rooftop and the local knowledge of the building orientation in the field. In addition, we want to include the Structure from Motion (SfM) approach in order to reduce the number of required GCPs especially for the absolute orientation purpose. The SfM technique applied to the UAV data and simple building structures additionally presents an effective tool

  2. DIRECT GEOREFERENCING OF UAV DATA BASED ON SIMPLE BUILDING STRUCTURES

    Directory of Open Access Journals (Sweden)

    W. Tampubolon

    2016-06-01

    Full Text Available Unmanned Aerial Vehicle (UAV data acquisition is more flexible compared with the more complex traditional airborne data acquisition. This advantage puts UAV platforms in a position as an alternative acquisition method in many applications including Large Scale Topographical Mapping (LSTM. LSTM, i.e. larger or equal than 1:10.000 map scale, is one of a number of prominent priority tasks to be solved in an accelerated way especially in third world developing countries such as Indonesia. As one component of fundamental geospatial data sets, large scale topographical maps are mandatory in order to enable detailed spatial planning. However, the accuracy of the products derived from the UAV data are normally not sufficient for LSTM as it needs robust georeferencing, which requires additional costly efforts such as the incorporation of sophisticated GPS Inertial Navigation System (INS or Inertial Measurement Unit (IMU on the platform and/or Ground Control Point (GCP data on the ground. To reduce the costs and the weight on the UAV alternative solutions have to be found. This paper outlines a direct georeferencing method of UAV data by providing image orientation parameters derived from simple building structures and presents results of an investigation on the achievable results in a LSTM application. In this case, the image orientation determination has been performed through sequential images without any input from INS/IMU equipment. The simple building structures play a significant role in such a way that geometrical characteristics have been considered. Some instances are the orthogonality of the building’s wall/rooftop and the local knowledge of the building orientation in the field. In addition, we want to include the Structure from Motion (SfM approach in order to reduce the number of required GCPs especially for the absolute orientation purpose. The SfM technique applied to the UAV data and simple building structures additionally presents an

  3. USING DISTANCE SENSORS TO PERFORM COLLISION AVOIDANCE MANEUVRES ON UAV APPLICATIONS

    Directory of Open Access Journals (Sweden)

    A. Raimundo

    2017-08-01

    Full Text Available The Unmanned Aerial Vehicles (UAV and its applications are growing for both civilian and military purposes. The operability of an UAV proved that some tasks and operations can be done easily and at a good cost-efficiency ratio. Nowadays, an UAV can perform autonomous missions. It is very useful to certain UAV applications, such as meteorology, vigilance systems, agriculture, environment mapping and search and rescue operations. One of the biggest problems that an UAV faces is the possibility of collision with other objects in the flight area. To avoid this, an algorithm was developed and implemented in order to prevent UAV collision with other objects. “Sense and Avoid” algorithm was developed as a system for UAVs to avoid objects in collision course. This algorithm uses a Light Detection and Ranging (LiDAR, to detect objects facing the UAV in mid-flights. This light sensor is connected to an on-board hardware, Pixhawk’s flight controller, which interfaces its communications with another hardware: Raspberry Pi. Communications between Ground Control Station and UAV are made via Wi-Fi or cellular third or fourth generation (3G/4G. Some tests were made in order to evaluate the “Sense and Avoid” algorithm’s overall performance. These tests were done in two different environments: A 3D simulated environment and a real outdoor environment. Both modes worked successfully on a simulated 3D environment, and “Brake” mode on a real outdoor, proving its concepts.

  4. Evolving Self-Organized Behavior for Homogeneous and Heterogeneous UAV or UCAV Swarms

    National Research Council Canada - National Science Library

    Price, Ian C

    2006-01-01

    This investigation uses a self-organization (SO) approach to enable cooperative search and destruction of retaliating targets with swarms of homogeneous and heterogeneous unmanned aerial vehicles (UAVs...

  5. Thermocouple-based Temperature Sensing System for Chemical Cell Inside Micro UAV Device

    Science.gov (United States)

    Han, Yanhui; Feng, Yue; Lou, Haozhe; Zhang, Xinzhao

    2018-03-01

    Environmental temperature of UAV system is crucial for chemical cell component inside. Once the temperature of this chemical cell is over 259 °C and keeps more than 20 min, the high thermal accumulation would result in an explosion, which seriously damage the whole UAV system. Therefore, we develop a micro temperature sensing system for monitoring the temperature of chemical cell thermally influenced by UAV device deployed in a 300 °C temperature environment, which is quite useful for insensitive munitions and UAV safety enhancement technologies.

  6. Using Distance Sensors to Perform Collision Avoidance Maneuvres on Uav Applications

    Science.gov (United States)

    Raimundo, A.; Peres, D.; Santos, N.; Sebastião, P.; Souto, N.

    2017-08-01

    The Unmanned Aerial Vehicles (UAV) and its applications are growing for both civilian and military purposes. The operability of an UAV proved that some tasks and operations can be done easily and at a good cost-efficiency ratio. Nowadays, an UAV can perform autonomous missions. It is very useful to certain UAV applications, such as meteorology, vigilance systems, agriculture, environment mapping and search and rescue operations. One of the biggest problems that an UAV faces is the possibility of collision with other objects in the flight area. To avoid this, an algorithm was developed and implemented in order to prevent UAV collision with other objects. "Sense and Avoid" algorithm was developed as a system for UAVs to avoid objects in collision course. This algorithm uses a Light Detection and Ranging (LiDAR), to detect objects facing the UAV in mid-flights. This light sensor is connected to an on-board hardware, Pixhawk's flight controller, which interfaces its communications with another hardware: Raspberry Pi. Communications between Ground Control Station and UAV are made via Wi-Fi or cellular third or fourth generation (3G/4G). Some tests were made in order to evaluate the "Sense and Avoid" algorithm's overall performance. These tests were done in two different environments: A 3D simulated environment and a real outdoor environment. Both modes worked successfully on a simulated 3D environment, and "Brake" mode on a real outdoor, proving its concepts.

  7. Possibilities of Use of UAVS for Technical Inspection of Buildings and Constructions

    Science.gov (United States)

    Banaszek, Anna; Banaszek, Sebastian; Cellmer, Anna

    2017-12-01

    In recent years, Unmanned Aerial Vehicles (UAVs) have been used in various sectors of the economy. This is due to the development of new technologies for acquiring and processing geospatial data. The paper presents the results of experiments using UAV, equipped with a high resolution digital camera, for a visual assessment of the technical condition of the building roof and for the inventory of energy infrastructure and its surroundings. The usefulness of digital images obtained from the UAV deck is presented in concrete examples. The use of UAV offers new opportunities in the area of technical inspection due to the detail and accuracy of the data, low operating costs and fast data acquisition.

  8. POLCAL - POLARIMETRIC RADAR CALIBRATION

    Science.gov (United States)

    Vanzyl, J.

    1994-01-01

    Calibration of polarimetric radar systems is a field of research in which great progress has been made over the last few years. POLCAL (Polarimetric Radar Calibration) is a software tool intended to assist in the calibration of Synthetic Aperture Radar (SAR) systems. In particular, POLCAL calibrates Stokes matrix format data produced as the standard product by the NASA/Jet Propulsion Laboratory (JPL) airborne imaging synthetic aperture radar (AIRSAR). POLCAL was designed to be used in conjunction with data collected by the NASA/JPL AIRSAR system. AIRSAR is a multifrequency (6 cm, 24 cm, and 68 cm wavelength), fully polarimetric SAR system which produces 12 x 12 km imagery at 10 m resolution. AIRSTAR was designed as a testbed for NASA's Spaceborne Imaging Radar program. While the images produced after 1991 are thought to be calibrated (phase calibrated, cross-talk removed, channel imbalance removed, and absolutely calibrated), POLCAL can and should still be used to check the accuracy of the calibration and to correct it if necessary. Version 4.0 of POLCAL is an upgrade of POLCAL version 2.0 released to AIRSAR investigators in June, 1990. New options in version 4.0 include automatic absolute calibration of 89/90 data, distributed target analysis, calibration of nearby scenes with calibration parameters from a scene with corner reflectors, altitude or roll angle corrections, and calibration of errors introduced by known topography. Many sources of error can lead to false conclusions about the nature of scatterers on the surface. Errors in the phase relationship between polarization channels result in incorrect synthesis of polarization states. Cross-talk, caused by imperfections in the radar antenna itself, can also lead to error. POLCAL reduces cross-talk and corrects phase calibration without the use of ground calibration equipment. Removing the antenna patterns during SAR processing also forms a very important part of the calibration of SAR data. Errors in the

  9. Multi-Unmanned Aerial Vehicle (UAV) Cooperative Fault Detection Employing Differential Global Positioning (DGPS), Inertial and Vision Sensors.

    Science.gov (United States)

    Heredia, Guillermo; Caballero, Fernando; Maza, Iván; Merino, Luis; Viguria, Antidio; Ollero, Aníbal

    2009-01-01

    This paper presents a method to increase the reliability of Unmanned Aerial Vehicle (UAV) sensor Fault Detection and Identification (FDI) in a multi-UAV context. Differential Global Positioning System (DGPS) and inertial sensors are used for sensor FDI in each UAV. The method uses additional position estimations that augment individual UAV FDI system. These additional estimations are obtained using images from the same planar scene taken from two different UAVs. Since accuracy and noise level of the estimation depends on several factors, dynamic replanning of the multi-UAV team can be used to obtain a better estimation in case of faults caused by slow growing errors of absolute position estimation that cannot be detected by using local FDI in the UAVs. Experimental results with data from two real UAVs are also presented.

  10. Interception of LPI radar signals

    Science.gov (United States)

    Lee, Jim P.

    1991-11-01

    Most current radars are designed to transmit short duration pulses with relatively high peak power. These radars can be detected easily by the use of relatively modest EW intercept receivers. Three radar functions (search, anti-ship missile (ASM) seeker, and navigation) are examined to evaluate the effectiveness of potential low probability of intercept (LPI) techniques, such as waveform coding, antenna profile control, and power management that a radar may employ against current Electronic Warfare (EW) receivers. The general conclusion is that it is possible to design a LPI radar which is effective against current intercept EW receivers. LPI operation is most easily achieved at close ranges and against a target with a large radar cross section. The general system sensitivity requirement for the detection of current and projected LPI radars is found to be on the order of -100 dBmi which cannot be met by current EW receivers. Finally, three potential LPI receiver architectures, using channelized, superhet, and acousto-optic receivers with narrow RF and video bandwidths are discussed. They have shown some potential in terms of providing the sensitivity and capability in an environment where both conventional and LPI signals are present.

  11. Uav Onboard Photogrammetry and GPS Positionning for Earthworks

    Science.gov (United States)

    Daakir, M.; Pierrot-Deseilligny, M.; Bosser, P.; Pichard, F.; Thom, C.

    2015-08-01

    Over the last decade, Unmanned Airbone Vehicles (UAVs) have been largely used for civil applications. Airborne photogrammetry has found place in these applications not only for 3D modeling but also as a measurement tool. Vinci-Construction-Terrassement is a private company specialized in public works sector and uses airborn photogrammetry as a mapping solution and metrology investigation tool on its sites. This technology is very efficient for the calculation of stock volumes for instance, or for time tracking of specific areas with risk of landslides. The aim of the present work is to perform a direct georeferencing of images acquired by the camera leaning on an embedded GPS receiver. UAV, GPS receiver and camera used are low-cost models and therefore data processing is adapted to this particular constraint.

  12. Human-Interaction Challenges in UAV-Based Autonomous Surveillance

    Science.gov (United States)

    Freed, Michael; Harris, Robert; Shafto, Michael G.

    2004-01-01

    Autonomous UAVs provide a platform for intelligent surveillance in application domains ranging from security and military operations to scientific information gathering and land management. Surveillance tasks are often long duration, requiring that any approach be adaptive to changes in the environment or user needs. We describe a decision- theoretic model of surveillance, appropriate for use on our autonomous helicopter, that provides a basis for optimizing the value of information returned by the UAV. From this approach arise a range of challenges in making this framework practical for use by human operators lacking specialized knowledge of autonomy and mathematics. This paper describes our platform and approach, then describes human-interaction challenges arising from this approach that we have identified and begun to address.

  13. Estimating plant distance in maize using Unmanned Aerial Vehicle (UAV).

    Science.gov (United States)

    Zhang, Jinshui; Basso, Bruno; Price, Richard F; Putman, Gregory; Shuai, Guanyuan

    2018-01-01

    Distance between rows and plants are essential parameters that affect the final grain yield in row crops. This paper presents the results of research intended to develop a novel method to quantify the distance between maize plants at field scale using an Unmanned Aerial Vehicle (UAV). Using this method, we can recognize maize plants as objects and calculate the distance between plants. We initially developed our method by training an algorithm in an indoor facility with plastic corn plants. Then, the method was scaled up and tested in a farmer's field with maize plant spacing that exhibited natural variation. The results of this study demonstrate that it is possible to precisely quantify the distance between maize plants. We found that accuracy of the measurement of the distance between maize plants depended on the height above ground level at which UAV imagery was taken. This study provides an innovative approach to quantify plant-to-plant variability and, thereby final crop yield estimates.

  14. Multimodel Predictive Control Approach for UAV Formation Flight

    Directory of Open Access Journals (Sweden)

    Chang-jian Ru

    2014-01-01

    Full Text Available Formation flight problem is the most important and interesting problem of multiple UAVs (unmanned aerial vehicles cooperative control. In this paper, a novel approach for UAV formation flight based on multimodel predictive control is designed. Firstly, the state equation of relative motion is obtained and then discretized. By the geometrical method, the characteristic points of state are determined. Afterwards, based on the linearization technique, the standard linear discrete model is obtained at each characteristic state point. Then, weighted model set is proposed using the idea of T-S (Takagi-Sugeno fuzzy control and the predictive control is carried out based on the multimodel method. Finally, to verify the performance of the proposed method, two different simulation scenarios are performed.

  15. Experimental Methods for UAV Aerodynamic and Propulsion Performance Assessment

    Directory of Open Access Journals (Sweden)

    Stefan ANTON

    2015-06-01

    Full Text Available This paper presents an experimental method for assessing the performances and the propulsion power of a UAV in several points based on telemetry. The points in which we make the estimations are chosen based on several criteria and the fallowing parameters are measured: airspeed, time-to-climb, altitude and the horizontal distance. With the estimated propulsion power and knowing the shaft motor power, the propeller efficiency is determined at several speed values. The shaft motor power was measured in the lab using the propeller as a break. Many flights, using the same UAV configuration, were performed before extracting flight data, in order to reduce the instrumental or statistic errors. This paper highlights both the methodology of processing the data and the validation of theoretical results.

  16. EVALUATING THE ACCURACY OF DEM GENERATION ALGORITHMS FROM UAV IMAGERY

    Directory of Open Access Journals (Sweden)

    J. J. Ruiz

    2013-08-01

    Full Text Available In this work we evaluated how the use of different positioning systems affects the accuracy of Digital Elevation Models (DEMs generated from aerial imagery obtained with Unmanned Aerial Vehicles (UAVs. In this domain, state-of-the-art DEM generation algorithms suffer from typical errors obtained by GPS/INS devices in the position measurements associated with each picture obtained. The deviations from these measurements to real world positions are about meters. The experiments have been carried out using a small quadrotor in the indoor testbed at the Center for Advanced Aerospace Technologies (CATEC. This testbed houses a system that is able to track small markers mounted on the UAV and along the scenario with millimeter precision. This provides very precise position measurements, to which we can add random noise to simulate errors in different GPS receivers. The results showed that final DEM accuracy clearly depends on the positioning information.

  17. UAV Survey Data from Clifton Camp (ST56557330, Bristol, UK

    Directory of Open Access Journals (Sweden)

    Stephen Gray

    2015-05-01

    Full Text Available This data was collected via low-altitude UAV (Unmanned Aerial Vehicle survey of an area of Clifton Camp (ST565557330, best known for its Iron Age promontory fort. The dataset comprises of metadata records, near-vertical photographs and a derived 3D polygonal mesh. This dataset has been constructed with two kinds of reuse in mind: Firstly, the area surveyed is culturally rich and underexplored; while some of the non-natural features detected by this survey can be identified, others cannot. This data is intended to inform future investigations of the site. Secondly, the survey methodologies employed and the structuring of the resulting dataset are intended to act as an exemplar, a standard method of creating survey data while prioritising open technologies, and of organising UAV survey datasets to ensure maximum re-usability.

  18. Analysis of a UAV that can Hover and Fly Level

    Directory of Open Access Journals (Sweden)

    Çakıcı Ferit

    2016-01-01

    Full Text Available In this study, an unmanned aerial vehicle (UAV with level flight, vertical take-off and landing (VTOL and mode-changing capability is analysed. The platform design combines both multirotor and fixed-wing (FW conventional airplane structures and control surfaces; therefore, named as VTOL-FW. The aircraft is modelled using aerodynamical principles and linear models are constructed utilizing small perturbation theory for trim conditions. The proposed method of control includes implementation of multirotor and airplane mode controllers and design of an algorithm to transition between modes in achieving smooth switching manoeuvres between VTOL and FW flight. Thus, VTOL-FW UAV’s flight characteristics are expected to be improved by enlarging operational flight envelope through enabling mode-transitioning, agile manoeuvres and increasing survivability. Experiments conducted in simulation and real world environments show that, VTOL-FW UAV has both multirotor and airplane characteristics with extra benefits in an enlarged flight envelope.

  19. Automatic detection of blurred images in UAV image sets

    Science.gov (United States)

    Sieberth, Till; Wackrow, Rene; Chandler, Jim H.

    2016-12-01

    Unmanned aerial vehicles (UAV) have become an interesting and active research topic for photogrammetry. Current research is based on images acquired by an UAV, which have a high ground resolution and good spectral and radiometrical resolution, due to the low flight altitudes combined with a high resolution camera. UAV image flights are also cost effective and have become attractive for many applications including, change detection in small scale areas. One of the main problems preventing full automation of data processing of UAV imagery is the degradation effect of blur caused by camera movement during image acquisition. This can be caused by the normal flight movement of the UAV as well as strong winds, turbulence or sudden operator inputs. This blur disturbs the visual analysis and interpretation of the data, causes errors and can degrade the accuracy in automatic photogrammetric processing algorithms. The detection and removal of these images is currently achieved manually, which is both time consuming and prone to error, particularly for large image-sets. To increase the quality of data processing an automated process is necessary, which must be both reliable and quick. This paper describes the development of an automatic filtering process, which is based upon the quantification of blur in an image. Images with known blur are processed digitally to determine a quantifiable measure of image blur. The algorithm is required to process UAV images fast and reliably to relieve the operator from detecting blurred images manually. The newly developed method makes it possible to detect blur caused by linear camera displacement and is based on human detection of blur. Humans detect blurred images best by comparing it to other images in order to establish whether an image is blurred or not. The developed algorithm simulates this procedure by creating an image for comparison using image processing. Creating internally a comparable image makes the method independent of

  20. Radar signal analysis and processing using Matlab

    CERN Document Server

    Mahafza, Bassem R

    2008-01-01

    Offering radar-related software for the analysis and design of radar waveform and signal processing, this book provides comprehensive coverage of radar signals and signal processing techniques and algorithms. It contains numerous graphical plots, common radar-related functions, table format outputs, and end-of-chapter problems. The complete set of MATLAB[registered] functions and routines are available for download online.

  1. The use of radar for bathymetry assessment

    NARCIS (Netherlands)

    Aardoom, J.H.; Greidanus, H.S.F.

    1998-01-01

    The bottom topography in shallow seas can be observed by air- and spaceborne imaging radar. Bathymetric information derived from radar data is limited in accuracy, but radar has a good spatial coverage. The accuracy can be increased by assimilating the radar imagery into existing or insitu gathered

  2. Radar observations of asteroids

    International Nuclear Information System (INIS)

    Ostro, S.J.

    1989-01-01

    This paper describes echoes from 33 main-belt asteroids (MBAs) and 19 near-Earth asteroids (NEAs) have provided a wealth of new information about these objects such as sizes, shapes, spin vectors, and such surface characteristics as decimeter-scale morphology, topographic relief, regolith porosity and metal concentrations. On average, small NEAs are much rougher at decimeter scales than MBAs, comets or terrestrial planets. Some of the largest MBAs (e.g., 1 Ceres and 2 Pallas ) are smoother than the moon at decimeter scales but much rougher than the Moon at some much larger scale. There is at least a five-fold variation in the radar albedos of MBAs, implying substantial variations in the surface porosities or metal concentrations of these objects. The highest MBA albedo estimate, for 16 Psyche, is consistent with a metal concentration near unity and lunar porosities

  3. Under the Radar

    CERN Document Server

    Goss, WM

    2010-01-01

    This is the biography of Ruby Payne-Scott (1912 to 1981). As the first female radio astronomer (and one of the first people in the world to consider radio astronomy), she made classic contributions to solar radio physics. She also played a major role in the design of the Australian government's Council for Scientific and Industrial Research radars, which were in turn of vital importance in the Southwest Pacific Theatre in World War II and were used by Australian, US and New Zealand personnel. From a sociological perspective, her career also offers many examples of the perils of being a female academic in the first half of the 20th century. Written in an engaging style and complemented by many historical photographs this book gives a fascinating insight into the beginning of radio astronomy and the role of a pioneering woman in astronomy.

  4. Material integrity verification radar

    International Nuclear Information System (INIS)

    Koppenjan, S.K.

    1999-01-01

    The International Atomic Energy Agency (IAEA) has the need for verification of 'as-built' spent fuel-dry storage containers and other concrete structures. The IAEA has tasked the Special Technologies Laboratory (STL) to fabricate, test, and deploy a stepped-frequency Material Integrity Verification Radar (MIVR) system to nondestructively verify the internal construction of these containers. The MIVR system is based on previously deployed high-frequency, ground penetrating radar (GPR) systems that have been developed by STL for the U.S. Department of Energy (DOE). Whereas GPR technology utilizes microwave radio frequency energy to create subsurface images, MTVR is a variation for which the medium is concrete instead of soil. The purpose is to nondestructively verify the placement of concrete-reinforcing materials, pipes, inner liners, and other attributes of the internal construction. The MIVR system underwent an initial field test on CANDU reactor spent fuel storage canisters at Atomic Energy of Canada Limited (AECL), Chalk River Laboratories, Ontario, Canada, in October 1995. A second field test at the Embalse Nuclear Power Plant in Embalse, Argentina, was completed in May 1996. The DOE GPR also was demonstrated at the site. Data collection and analysis were performed for the Argentine National Board of Nuclear Regulation (ENREN). IAEA and the Brazilian-Argentine Agency for the Control and Accounting of Nuclear Material (ABACC) personnel were present as observers during the test. Reinforcing materials were evident in the color, two-dimensional images produced by the MIVR system. A continuous pattern of reinforcing bars was evident and accurate estimates on the spacing, depth, and size were made. The potential uses for safeguard applications were jointly discussed. The MIVR system, as successfully demonstrated in the two field tests, can be used as a design verification tool for IAEA safeguards. A deployment of MIVR for Design Information Questionnaire (DIQ

  5. Photovoltaic electric power applied to Unmanned Aerial Vehicles (UAV)

    Science.gov (United States)

    Geis, Jack; Arnold, Jack H.

    1994-01-01

    Photovoltaic electric-powered flight is receiving a great deal of attention in the context of the United States' Unmanned Aerial Vehicle (UAV) program. This paper addresses some of the enabling technical areas and their potential solutions. Of particular interest are the long-duration, high-altitude class of UAV's whose mission it is to achieve altitudes between 60,000 and 100,000 feet, and to remain at those altitudes for prolonged periods performing various mapping and surveillance activities. Addressed herein are studies which reveal the need for extremely light-weight and efficient solar cells, high-efficiency electric motor-driven propeller modules, and power management and distribution control elements. Since the potential payloads vary dramatically in their power consumption and duty cycles, a typical load profile has been selected to provide commonality for the propulsion power comparisons. Since missions vary widely with respect to ground coverage requirements, from repeated orbiting over a localized target to long-distance routes over irregular terrain, we have also averaged the power requirements for on-board guidance and control power, as well as ground control and communication link utilization. In the context of the national technology reinvestment program, wherever possible we modeled components and materials which have been qualified for space and defense applications, yet are compatible with civilian UAV activities. These include, but are not limited to, solar cell developments, electric storage technology for diurnal operation, local and ground communications, power management and distribution, and control servo design. And finally, the results of tests conducted by Wright Laboratory on ultralight, highly efficient MOCVD GaAs solar cells purchased from EPI Materials Ltd. (EML) of the UK are presented. These cells were also used for modeling the flight characteristics of UAV aircraft.

  6. Multisensor Equipped Uav/ugv for Automated Exploration

    Science.gov (United States)

    Batzdorfer, S.; Bobbe, M.; Becker, M.; Harms, H.; Bestmann, U.

    2017-08-01

    The usage of unmanned systems for exploring disaster scenarios has become more and more important in recent times as a supporting system for action forces. These systems have to offer a well-balanced relationship between the quality of support and additional workload. Therefore within the joint research project ANKommEn - german acronym for Automated Navigation and Communication for Exploration - a system for exploration of disaster scenarios is build-up using multiple UAV und UGV controlled via a central ground station. The ground station serves as user interface for defining missions and tasks conducted by the unmanned systems, equipped with different environmental sensors like cameras - RGB as well as IR - or LiDAR. Depending on the exploration task results, in form of pictures, 2D stitched orthophoto or LiDAR point clouds will be transmitted via datalinks and displayed online at the ground station or will be processed in short-term after a mission, e.g. 3D photogrammetry. For mission planning and its execution, UAV/UGV monitoring and georeferencing of environmental sensor data, reliable positioning and attitude information is required. This is gathered using an integrated GNSS/IMU positioning system. In order to increase availability of positioning information in GNSS challenging scenarios, a GNSS-Multiconstellation based approach is used, amongst others. The present paper focuses on the overall system design including the ground station and sensor setups on the UAVs and UGVs, the underlying positioning techniques as well as 2D and 3D exploration based on a RGB camera mounted on board the UAV and its evaluation based on real world field tests.

  7. Photovoltaic electric power applied to Unmanned Aerial Vehicles (UAV)

    Science.gov (United States)

    Geis, Jack; Arnold, Jack H.

    1994-09-01

    Photovoltaic electric-powered flight is receiving a great deal of attention in the context of the United States' Unmanned Aerial Vehicle (UAV) program. This paper addresses some of the enabling technical areas and their potential solutions. Of particular interest are the long-duration, high-altitude class of UAV's whose mission it is to achieve altitudes between 60,000 and 100,000 feet, and to remain at those altitudes for prolonged periods performing various mapping and surveillance activities. Addressed herein are studies which reveal the need for extremely light-weight and efficient solar cells, high-efficiency electric motor-driven propeller modules, and power management and distribution control elements. Since the potential payloads vary dramatically in their power consumption and duty cycles, a typical load profile has been selected to provide commonality for the propulsion power comparisons. Since missions vary widely with respect to ground coverage requirements, from repeated orbiting over a localized target to long-distance routes over irregular terrain, we have also averaged the power requirements for on-board guidance and control power, as well as ground control and communication link utilization. In the context of the national technology reinvestment program, wherever possible we modeled components and materials which have been qualified for space and defense applications, yet are compatible with civilian UAV activities. These include, but are not limited to, solar cell developments, electric storage technology for diurnal operation, local and ground communications, power management and distribution, and control servo design. And finally, the results of tests conducted by Wright Laboratory on ultralight, highly efficient MOCVD GaAs solar cells purchased from EPI Materials Ltd. (EML) of the UK are presented. These cells were also used for modeling the flight characteristics of UAV aircraft.

  8. Beach Volume Change Using Uav Photogrammetry Songjung Beach, Korea

    Science.gov (United States)

    Yoo, C. I.; Oh, T. S.

    2016-06-01

    Natural beach is controlled by many factors related to wave and tidal forces, wind, sediment, and initial topography. For this reason, if numerous topographic data of beach is accurately collected, coastal erosion/acceleration is able to be assessed and clarified. Generally, however, many studies on coastal erosion have limitation to analyse the whole beach, carried out of partial area as like shoreline (horizontal 2D) and beach profile (vertical 2D) on account of limitation of numerical simulation. This is an important application for prevention of coastal erosion, and UAV photogrammetry is also used to 3D topographic data. This paper analyses the use of unmanned aerial vehicles (UAV) to 3D map and beach volume change. UAV (Quadcopter) equipped with a non-metric camera was used to acquire images in Songjung beach which is located south-east Korea peninsula. The dynamics of beach topography, its geometric properties and estimates of eroded and deposited sand volumes were determined by combining elevation data with quarterly RTK-VRS measurements. To explore the new possibilities for assessment of coastal change we have developed a methodology for 3D analysis of coastal topography evolution based on existing high resolution elevation data combined with low coast, UAV and on-ground RTK-VRS surveys. DSMs were obtained by stereo-matching using Agisoft Photoscan. Using GCPs the vertical accuracy of the DSMs was found to be 10 cm or better. The resulting datasets were integrated in a local coordinates and the method proved to be a very useful fool for the detection of areas where coastal erosion occurs and for the quantification of beach change. The value of such analysis is illustrated by applications to coastal of South Korea sites that face significant management challenges.

  9. BEACH VOLUME CHANGE USING UAV PHOTOGRAMMETRY SONGJUNG BEACH, KOREA

    Directory of Open Access Journals (Sweden)

    C. I. Yoo

    2016-06-01

    Full Text Available Natural beach is controlled by many factors related to wave and tidal forces, wind, sediment, and initial topography. For this reason, if numerous topographic data of beach is accurately collected, coastal erosion/acceleration is able to be assessed and clarified. Generally, however, many studies on coastal erosion have limitation to analyse the whole beach, carried out of partial area as like shoreline (horizontal 2D and beach profile (vertical 2D on account of limitation of numerical simulation. This is an important application for prevention of coastal erosion, and UAV photogrammetry is also used to 3D topographic data. This paper analyses the use of unmanned aerial vehicles (UAV to 3D map and beach volume change. UAV (Quadcopter equipped with a non-metric camera was used to acquire images in Songjung beach which is located south-east Korea peninsula. The dynamics of beach topography, its geometric properties and estimates of eroded and deposited sand volumes were determined by combining elevation data with quarterly RTK-VRS measurements. To explore the new possibilities for assessment of coastal change we have developed a methodology for 3D analysis of coastal topography evolution based on existing high resolution elevation data combined with low coast, UAV and on-ground RTK-VRS surveys. DSMs were obtained by stereo-matching using Agisoft Photoscan. Using GCPs the vertical accuracy of the DSMs was found to be 10 cm or better. The resulting datasets were integrated in a local coordinates and the method proved to be a very useful fool for the detection of areas where coastal erosion occurs and for the quantification of beach change. The value of such analysis is illustrated by applications to coastal of South Korea sites that face significant management challenges.

  10. Earthbound Unmanned Autonomous Vehicles (UAVS) As Planetary Science Testbeds

    Science.gov (United States)

    Pieri, D. C.; Bland, G.; Diaz, J. A.; Fladeland, M. M.

    2014-12-01

    Recent advances in the technology of unmanned vehicles have greatly expanded the range of contemplated terrestrial operational environments for their use, including aerial, surface, and submarine. The advances have been most pronounced in the areas of autonomy, miniaturization, durability, standardization, and ease of operation, most notably (especially in the popular press) for airborne vehicles. Of course, for a wide range of planetary venues, autonomy at high cost of both money and risk, has always been a requirement. Most recently, missions to Mars have also featured an unprecedented degree of mobility. Combining the traditional planetary surface deployment operational and science imperatives with emerging, very accessible, and relatively economical small UAV platforms on Earth can provide flexible, rugged, self-directed, test-bed platforms for landed instruments and strategies that will ultimately be directed elsewhere, and, in the process, provide valuable earth science data. While the most direct transfer of technology from terrestrial to planetary venues is perhaps for bodies with atmospheres (and oceans), with appropriate technology and strategy accommodations, single and networked UAVs can be designed to operate on even airless bodies, under a variety of gravities. In this presentation, we present and use results and lessons learned from our recent earth-bound UAV volcano deployments, as well as our future plans for such, to conceptualize a range of planetary and small-body missions. We gratefully acknowledge the assistance of students and colleagues at our home institutions, and the government of Costa Rica, without which our UAV deployments would not have been possible. This work was carried out, in part, at the Jet Propulsion Laboratory of the California Institute of Technology under contract to NASA.

  11. Possibilities of surface waters monitoring at mining areas using UAV

    Science.gov (United States)

    Lisiecka, Ewa; Motyka, Barbara; Motyka, Zbigniew; Pierzchała, Łukasz; Szade, Adam

    2018-04-01

    The selected, remote measurement methods are discussed, useful for determining surface water properties using mobile unmanned aerial platforms (UAV). The possibilities of using this type of solutions in the scope of measuring spatial, physicochemical and biological parameters of both natural and anthropogenic water reservoirs, including flood polders, water-filled pits, settling tanks and mining sinks were analyzed. Methods of remote identification of the process of overgrowing this type of ecosystems with water and coastal plant formations have also been proposed.

  12. Optimized UAV Communication Protocol Based on Prior Locations

    OpenAIRE

    Sboui, Lokman; Rabah, Abdullatif

    2015-01-01

    In this paper, we adopt a new communication protocol between the UAV and fixed on-ground nodes. This protocol tends to reduce communication power consumption by stopping communication if the channel is not good to communicate (i.e. far nodes, obstacles, etc.) The communication is performed using the XBee 868M standard and Libelium wapsmotes. Our designed protocol is based on a new communication model that we propose in this paper. The protocole decides wether to communicate or not after compu...

  13. MULTISENSOR EQUIPPED UAV/UGV FOR AUTOMATED EXPLORATION

    Directory of Open Access Journals (Sweden)

    S. Batzdorfer

    2017-08-01

    Full Text Available The usage of unmanned systems for exploring disaster scenarios has become more and more important in recent times as a supporting system for action forces. These systems have to offer a well-balanced relationship between the quality of support and additional workload. Therefore within the joint research project ANKommEn – german acronym for Automated Navigation and Communication for Exploration – a system for exploration of disaster scenarios is build-up using multiple UAV und UGV controlled via a central ground station. The ground station serves as user interface for defining missions and tasks conducted by the unmanned systems, equipped with different environmental sensors like cameras – RGB as well as IR – or LiDAR. Depending on the exploration task results, in form of pictures, 2D stitched orthophoto or LiDAR point clouds will be transmitted via datalinks and displayed online at the ground station or will be processed in short-term after a mission, e.g. 3D photogrammetry. For mission planning and its execution, UAV/UGV monitoring and georeferencing of environmental sensor data, reliable positioning and attitude information is required. This is gathered using an integrated GNSS/IMU positioning system. In order to increase availability of positioning information in GNSS challenging scenarios, a GNSS-Multiconstellation based approach is used, amongst others. The present paper focuses on the overall system design including the ground station and sensor setups on the UAVs and UGVs, the underlying positioning techniques as well as 2D and 3D exploration based on a RGB camera mounted on board the UAV and its evaluation based on real world field tests.

  14. Air and spaceborne radar systems an introduction

    CERN Document Server

    Lacomme, Philippe; Hardange, Jean-Philippe; Normant, Eric

    2001-01-01

    A practical tool on radar systems that will be of major help to technicians, student engineers and engineers working in industry and in radar research and development. The many users of radar as well as systems engineers and designers will also find it highly useful. Also of interest to pilots and flight engineers and military command personnel and military contractors. """"This introduction to the field of radar is intended for actual users of radar. It focuses on the history, main principles, functions, modes, properties and specific nature of modern airborne radar. The book examines radar's

  15. Signal processing in noise waveform radar

    CERN Document Server

    Kulpa, Krzysztof

    2013-01-01

    This book is devoted to the emerging technology of noise waveform radar and its signal processing aspects. It is a new kind of radar, which use noise-like waveform to illuminate the target. The book includes an introduction to basic radar theory, starting from classical pulse radar, signal compression, and wave radar. The book then discusses the properties, difficulties and potential of noise radar systems, primarily for low-power and short-range civil applications. The contribution of modern signal processing techniques to making noise radar practical are emphasized, and application examples

  16. Introduction to radar target recognition

    CERN Document Server

    Tait, P

    2006-01-01

    This new text provides an overview of the radar target recognition process and covers the key techniques being developed for operational systems. It is based on the fundamental scientific principles of high resolution radar, and explains how the techniques can be used in real systems, taking into account the characteristics of practical radar system designs and component limitations. It also addresses operational aspects, such as how high resolution modes would fit in with other functions such as detection and tracking. Mathematics is kept to a minimum and the complex techniques and issues are

  17. A Biologically Based Chemo-Sensing UAV for Humanitarian Demining

    Directory of Open Access Journals (Sweden)

    Paul F.M.J. Verschure

    2008-11-01

    Full Text Available Antipersonnel mines, weapons of cheap manufacture but lethal effect, have a high impact on the population even decades after the conflicts have finished. Here we investigate the use of a chemo-sensing Unmanned Aerial Vehicle (cUAV for demining tasks. We developed a blimp based UAV that is equipped with a broadly tuned metal-thin oxide chemo-sensor. A number of chemical mapping strategies were investigated including two biologically based localization strategies derived from the moth chemical search that can optimize the efficiency of the detection and localization of explosives and therefore be used in the demining process. Additionally, we developed a control layer that allows for both fully autonomous and manual controlled flight, as well as for the scheduling of a fleet of cUAVs. Our results confirm the feasibility of this technology for demining in real-world scenarios and give further support to a biologically based approach where the understanding of biological systems is used to solve difficult engineering problems.

  18. A Biologically Based Chemo-Sensing UAV for Humanitarian Demining

    Directory of Open Access Journals (Sweden)

    Sergi Bermúdez i Badia

    2007-06-01

    Full Text Available Antipersonnel mines, weapons of cheap manufacture but lethal effect, have a high impact on the population even decades after the conflicts have finished. Here we investigate the use of a chemo-sensing Unmanned Aerial Vehicle (cUAV for demining tasks. We developed a blimp based UAV that is equipped with a broadly tuned metal-thin oxide chemo-sensor. A number of chemical mapping strategies were investigated including two biologically based localization strategies derived from the moth chemical search that can optimize the efficiency of the detection and localization of explosives and therefore be used in the demining process. Additionally, we developed a control layer that allows for both fully autonomous and manual controlled flight, as well as for the scheduling of a fleet of cUAVs. Our results confirm the feasibility of this technology for demining in real-world scenarios and give further support to a biologically based approach where the understanding of biological systems is used to solve difficult engineering problems.

  19. APPLICATION OF SENSOR FUSION TO IMPROVE UAV IMAGE CLASSIFICATION

    Directory of Open Access Journals (Sweden)

    S. Jabari

    2017-08-01

    Full Text Available Image classification is one of the most important tasks of remote sensing projects including the ones that are based on using UAV images. Improving the quality of UAV images directly affects the classification results and can save a huge amount of time and effort in this area. In this study, we show that sensor fusion can improve image quality which results in increasing the accuracy of image classification. Here, we tested two sensor fusion configurations by using a Panchromatic (Pan camera along with either a colour camera or a four-band multi-spectral (MS camera. We use the Pan camera to benefit from its higher sensitivity and the colour or MS camera to benefit from its spectral properties. The resulting images are then compared to the ones acquired by a high resolution single Bayer-pattern colour camera (here referred to as HRC. We assessed the quality of the output images by performing image classification tests. The outputs prove that the proposed sensor fusion configurations can achieve higher accuracies compared to the images of the single Bayer-pattern colour camera. Therefore, incorporating a Pan camera on-board in the UAV missions and performing image fusion can help achieving higher quality images and accordingly higher accuracy classification results.

  20. Application of Sensor Fusion to Improve Uav Image Classification

    Science.gov (United States)

    Jabari, S.; Fathollahi, F.; Zhang, Y.

    2017-08-01

    Image classification is one of the most important tasks of remote sensing projects including the ones that are based on using UAV images. Improving the quality of UAV images directly affects the classification results and can save a huge amount of time and effort in this area. In this study, we show that sensor fusion can improve image quality which results in increasing the accuracy of image classification. Here, we tested two sensor fusion configurations by using a Panchromatic (Pan) camera along with either a colour camera or a four-band multi-spectral (MS) camera. We use the Pan camera to benefit from its higher sensitivity and the colour or MS camera to benefit from its spectral properties. The resulting images are then compared to the ones acquired by a high resolution single Bayer-pattern colour camera (here referred to as HRC). We assessed the quality of the output images by performing image classification tests. The outputs prove that the proposed sensor fusion configurations can achieve higher accuracies compared to the images of the single Bayer-pattern colour camera. Therefore, incorporating a Pan camera on-board in the UAV missions and performing image fusion can help achieving higher quality images and accordingly higher accuracy classification results.

  1. Optimizing Multiple Kernel Learning for the Classification of UAV Data

    Directory of Open Access Journals (Sweden)

    Caroline M. Gevaert

    2016-12-01

    Full Text Available Unmanned Aerial Vehicles (UAVs are capable of providing high-quality orthoimagery and 3D information in the form of point clouds at a relatively low cost. Their increasing popularity stresses the necessity of understanding which algorithms are especially suited for processing the data obtained from UAVs. The features that are extracted from the point cloud and imagery have different statistical characteristics and can be considered as heterogeneous, which motivates the use of Multiple Kernel Learning (MKL for classification problems. In this paper, we illustrate the utility of applying MKL for the classification of heterogeneous features obtained from UAV data through a case study of an informal settlement in Kigali, Rwanda. Results indicate that MKL can achieve a classification accuracy of 90.6%, a 5.2% increase over a standard single-kernel Support Vector Machine (SVM. A comparison of seven MKL methods indicates that linearly-weighted kernel combinations based on simple heuristics are competitive with respect to computationally-complex, non-linear kernel combination methods. We further underline the importance of utilizing appropriate feature grouping strategies for MKL, which has not been directly addressed in the literature, and we propose a novel, automated feature grouping method that achieves a high classification accuracy for various MKL methods.

  2. Concrete Crack Identification Using a UAV Incorporating Hybrid Image Processing.

    Science.gov (United States)

    Kim, Hyunjun; Lee, Junhwa; Ahn, Eunjong; Cho, Soojin; Shin, Myoungsu; Sim, Sung-Han

    2017-09-07

    Crack assessment is an essential process in the maintenance of concrete structures. In general, concrete cracks are inspected by manual visual observation of the surface, which is intrinsically subjective as it depends on the experience of inspectors. Further, it is time-consuming, expensive, and often unsafe when inaccessible structural members are to be assessed. Unmanned aerial vehicle (UAV) technologies combined with digital image processing have recently been applied to crack assessment to overcome the drawbacks of manual visual inspection. However, identification of crack information in terms of width and length has not been fully explored in the UAV-based applications, because of the absence of distance measurement and tailored image processing. This paper presents a crack identification strategy that combines hybrid image processing with UAV technology. Equipped with a camera, an ultrasonic displacement sensor, and a WiFi module, the system provides the image of cracks and the associated working distance from a target structure on demand. The obtained information is subsequently processed by hybrid image binarization to estimate the crack width accurately while minimizing the loss of the crack length information. The proposed system has shown to successfully measure cracks thicker than 0.1 mm with the maximum length estimation error of 7.3%.

  3. Rapid mapping of landslide disaster using UAV- photogrammetry

    Science.gov (United States)

    Cahyono, A. B.; Zayd, R. A.

    2018-03-01

    Unmanned Aerial Vehicle (UAV) systems offered many advantages in several mapping applications such as slope mapping, geohazard studies, etc. This study utilizes UAV system for landslide disaster occurred in Jombang Regency, East Java. This study concentrates on type of rotor-wing UAV, that is because rotor wing units are stable and able to capture images easily. Aerial photograph were acquired in the form of strips which followed the procedure of acquiring aerial photograph where taken 60 photos. Secondary data of ground control points using GPS Geodetic and check points established using Total Station technique was used. The digital camera was calibrated using close range photogrammetric software and the recovered camera calibration parameters were then used in the processing of digital images. All the aerial photographs were processed using digital photogrammetric software and the output in the form of orthophoto was produced. The final result shows a 1: 1500 scale orthophoto map from the data processing with SfM algorithm with GSD accuracy of 3.45 cm. And the calculated volume of contour line delineation of 10527.03 m3. The result is significantly different from the result of terrestrial methode equal to 964.67 m3 or 8.4% of the difference of both.

  4. Building Damage Extraction Triggered by Earthquake Using the Uav Imagery

    Science.gov (United States)

    Li, S.; Tang, H.

    2018-04-01

    When extracting building damage information, we can only determine whether the building is collapsed using the post-earthquake satellite images. Even the satellite images have the sub-meter resolution, the identification of slightly damaged buildings is still a challenge. As the complementary data to satellite images, the UAV images have unique advantages, such as stronger flexibility and higher resolution. In this paper, according to the spectral feature of UAV images and the morphological feature of the reconstructed point clouds, the building damage was classified into four levels: basically intact buildings, slightly damaged buildings, partially collapsed buildings and totally collapsed buildings, and give the rules of damage grades. In particular, the slightly damaged buildings are determined using the detected roof-holes. In order to verify the approach, we conduct experimental simulations in the cases of Wenchuan and Ya'an earthquakes. By analyzing the post-earthquake UAV images of the two earthquakes, the building damage was classified into four levels, and the quantitative statistics of the damaged buildings is given in the experiments.

  5. Automatic Hotspot and Sun Glint Detection in UAV Multispectral Images.

    Science.gov (United States)

    Ortega-Terol, Damian; Hernandez-Lopez, David; Ballesteros, Rocio; Gonzalez-Aguilera, Diego

    2017-10-15

    Last advances in sensors, photogrammetry and computer vision have led to high-automation levels of 3D reconstruction processes for generating dense models and multispectral orthoimages from Unmanned Aerial Vehicle (UAV) images. However, these cartographic products are sometimes blurred and degraded due to sun reflection effects which reduce the image contrast and colour fidelity in photogrammetry and the quality of radiometric values in remote sensing applications. This paper proposes an automatic approach for detecting sun reflections problems (hotspot and sun glint) in multispectral images acquired with an Unmanned Aerial Vehicle (UAV), based on a photogrammetric strategy included in a flight planning and control software developed by the authors. In particular, two main consequences are derived from the approach developed: (i) different areas of the images can be excluded since they contain sun reflection problems; (ii) the cartographic products obtained (e.g., digital terrain model, orthoimages) and the agronomical parameters computed (e.g., normalized vegetation index-NVDI) are improved since radiometric defects in pixels are not considered. Finally, an accuracy assessment was performed in order to analyse the error in the detection process, getting errors around 10 pixels for a ground sample distance (GSD) of 5 cm which is perfectly valid for agricultural applications. This error confirms that the precision in the detection of sun reflections can be guaranteed using this approach and the current low-cost UAV technology.

  6. Deep Learning Approach for Car Detection in UAV Imagery

    Directory of Open Access Journals (Sweden)

    Nassim Ammour

    2017-03-01

    Full Text Available This paper presents an automatic solution to the problem of detecting and counting cars in unmanned aerial vehicle (UAV images. This is a challenging task given the very high spatial resolution of UAV images (on the order of a few centimetres and the extremely high level of detail, which require suitable automatic analysis methods. Our proposed method begins by segmenting the input image into small homogeneous regions, which can be used as candidate locations for car detection. Next, a window is extracted around each region, and deep learning is used to mine highly descriptive features from these windows. We use a deep convolutional neural network (CNN system that is already pre-trained on huge auxiliary data as a feature extraction tool, combined with a linear support vector machine (SVM classifier to classify regions into “car” and “no-car” classes. The final step is devoted to a fine-tuning procedure which performs morphological dilation to smooth the detected regions and fill any holes. In addition, small isolated regions are analysed further using a few sliding rectangular windows to locate cars more accurately and remove false positives. To evaluate our method, experiments were conducted on a challenging set of real UAV images acquired over an urban area. The experimental results have proven that the proposed method outperforms the state-of-the-art methods, both in terms of accuracy and computational time.

  7. BENCHMARKING THE OPTICAL RESOLVING POWER OF UAV BASED CAMERA SYSTEMS

    Directory of Open Access Journals (Sweden)

    H. Meißner

    2017-08-01

    Full Text Available UAV based imaging and 3D object point generation is an established technology. Some of the UAV users try to address (very highaccuracy applications, i.e. inspection or monitoring scenarios. In order to guarantee such level of detail and accuracy high resolving imaging systems are mandatory. Furthermore, image quality considerably impacts photogrammetric processing, as the tie point transfer, mandatory for forming the block geometry, fully relies on the radiometric quality of images. Thus, empirical testing of radiometric camera performance is an important issue, in addition to standard (geometric calibration, which normally is covered primarily. Within this paper the resolving power of ten different camera/lens installations has been investigated. Selected systems represent different camera classes, like DSLRs, system cameras, larger format cameras and proprietary systems. As the systems have been tested in wellcontrolled laboratory conditions and objective quality measures have been derived, individual performance can be compared directly, thus representing a first benchmark on radiometric performance of UAV cameras. The results have shown, that not only the selection of appropriate lens and camera body has an impact, in addition the image pre-processing, i.e. the use of a specific debayering method, significantly influences the final resolving power.

  8. A NEW APPROACH TO FAST MOSAIC UAV IMAGES

    Directory of Open Access Journals (Sweden)

    Q. Liu

    2012-09-01

    Full Text Available Unmanned Aerial Vehicles (UAVs have been widely used to acquire high quality terrain images of the areas of interest, particularly when such a task could potentially risk human life or even impossible as the areas cannot be accessed easily by surveyors. Once the images have been obtained, traditional photogrammetric processing process can be used to establish a relative orientation model and then, absolute orientation model with the procedures of space resection and intersection. In many such applications, the geo- referenced images which are stitched together to represent the geospatial relationships for the feature objects are sufficient. A fast or near real-time processing approach for UAV images using GPS/INS data has being investigated for years. One beneficial application of such approach is the capability of quick production of geo-referenced images for various engineering or business activities, such as urban and road planning, the site selection of factories and bridges, etc. In this paper, we have proposed a new fast processing approach for the UAV images collected with an integrated GPS/INS/Vision system. The approach features that the corresponding points between images have been determined, and then coordinate transformation is carried out to implement image stitching. The accuracy of corresponding points normally affects the quality of stitched images, but the results of our experiments revealed that the image stitching errors were obvious even the accuracy of corresponding points was high. The stitching errors could be caused by the changes of surface elevation.

  9. Uav Positioning and Collision Avoidance Based on RSS Measurements

    Science.gov (United States)

    Masiero, A.; Fissore, F.; Guarnieri, A.; Pirotti, F.; Vettore, A.

    2015-08-01

    In recent years, Unmanned Aerial Vehicles (UAVs) are attracting more and more attention in both the research and industrial communities: indeed, the possibility to use them in a wide range of remote sensing applications makes them a very flexible and attractive solution in both civil and commercial cases (e.g. precision agriculture, security and control, monitoring of sites, exploration of areas difficult to reach). Most of the existing UAV positioning systems rely on the use of the GPS signal. Despite this can be a satisfactory solution in open environments where the GPS signal is available, there are several operating conditions of interest where it is unavailable or unreliable (e.g. close to high buildings, or mountains, in indoor environments). Consequently, a different approach has to be adopted in these cases. This paper considers the use ofWiFi measurements in order to obtain position estimations of the device of interest. More specifically, to limit the costs for the devices involved in the positioning operations, an approach based on radio signal strengths (RSS) measurements is considered. Thanks to the use of a Kalman filter, the proposed approach takes advantage of the temporal dynamic of the device of interest in order to improve the positioning results initially provided by means of maximum likelihood estimations. The considered UAVs are assumed to be provided with communication devices, which can allow them to communicate with each other in order to improve their cooperation abilities. In particular, the collision avoidance problem is examined in this work.

  10. Pricise Target Geolocation and Tracking Based on Uav Video Imagery

    Science.gov (United States)

    Hosseinpoor, H. R.; Samadzadegan, F.; Dadrasjavan, F.

    2016-06-01

    There is an increasingly large number of applications for Unmanned Aerial Vehicles (UAVs) from monitoring, mapping and target geolocation. However, most of commercial UAVs are equipped with low-cost navigation sensors such as C/A code GPS and a low-cost IMU on board, allowing a positioning accuracy of 5 to 10 meters. This low accuracy cannot be used in applications that require high precision data on cm-level. This paper presents a precise process for geolocation of ground targets based on thermal video imagery acquired by small UAV equipped with RTK GPS. The geolocation data is filtered using an extended Kalman filter, which provides a smoothed estimate of target location and target velocity. The accurate geo-locating of targets during image acquisition is conducted via traditional photogrammetric bundle adjustment equations using accurate exterior parameters achieved by on board IMU and RTK GPS sensors, Kalman filtering and interior orientation parameters of thermal camera from pre-flight laboratory calibration process. The results of this study compared with code-based ordinary GPS, indicate that RTK observation with proposed method shows more than 10 times improvement of accuracy in target geolocation.

  11. Radar spectrum opportunities for cognitive communications transmission

    OpenAIRE

    Wang, L; McGeehan, JP; Williams, C; Doufexi, A

    2008-01-01

    In relation to opportunistic access to radar spectrum, the impact of the radar on a communication system is investigated in this paper. This paper illustrates that by exploring the spatial and temporal opportunities in the radar spectrum and therefore improving the tolerance level to radar interference, a substantial increase on the throughput of a communication system is possible. Results are presented regarding the impact of swept radars on a WiMAX system. The results show the impact of SIR...

  12. PRECISE POSITIONING OF UAVS – DEALING WITH CHALLENGING RTK-GPS MEASUREMENT CONDITIONS DURING AUTOMATED UAV FLIGHTS

    Directory of Open Access Journals (Sweden)

    F. Zimmermann

    2017-08-01

    Full Text Available For some years now, UAVs (unmanned aerial vehicles are commonly used for different mobile mapping applications, such as in the fields of surveying, mining or archeology. To improve the efficiency of these applications an automation of the flight as well as the processing of the collected data is currently aimed at. One precondition for an automated mapping with UAVs is that the georeferencing is performed directly with cm-accuracies or better. Usually, a cm-accurate direct positioning of UAVs is based on an onboard multi-sensor system, which consists of an RTK-capable (real-time kinematic GPS (global positioning system receiver and additional sensors (e.g. inertial sensors. In this case, the absolute positioning accuracy essentially depends on the local GPS measurement conditions. Especially during mobile mapping applications in urban areas, these conditions can be very challenging, due to a satellite shadowing, non-line-of sight receptions, signal diffraction or multipath effects. In this paper, two straightforward and easy to implement strategies will be described and analyzed, which improve the direct positioning accuracies for UAV-based mapping and surveying applications under challenging GPS measurement conditions. Based on a 3D model of the surrounding buildings and vegetation in the area of interest, a GPS geometry map is determined, which can be integrated in the flight planning process, to avoid GPS challenging environments as far as possible. If these challenging environments cannot be avoided, the GPS positioning solution is improved by using obstruction adaptive elevation masks, to mitigate systematic GPS errors in the RTK-GPS positioning. Simulations and results of field tests demonstrate the profit of both strategies.

  13. Solid-state radar switchboard

    Science.gov (United States)

    Thiebaud, P.; Cross, D. C.

    1980-07-01

    A new solid-state radar switchboard equipped with 16 input ports which will output data to 16 displays is presented. Each of the ports will handle a single two-dimensional radar input, or three ports will accommodate a three-dimensional radar input. A video switch card of the switchboard is used to switch all signals, with the exception of the IFF-mode-control lines. Each card accepts inputs from up to 16 sources and can pass a signal with bandwidth greater than 20 MHz to the display assigned to that card. The synchro amplifier of current systems has been eliminated and in the new design each PPI receives radar data via a single coaxial cable. This significant reduction in cabling is achieved by adding a serial-to-parallel interface and a digital-to-synchro converter located at the PPI.

  14. SMAP RADAR Calibration and Validation

    Science.gov (United States)

    West, R. D.; Jaruwatanadilok, S.; Chaubel, M. J.; Spencer, M.; Chan, S. F.; Chen, C. W.; Fore, A.

    2015-12-01

    The Soil Moisture Active Passive (SMAP) mission launched on Jan 31, 2015. The mission employs L-band radar and radiometer measurements to estimate soil moisture with 4% volumetric accuracy at a resolution of 10 km, and freeze-thaw state at a resolution of 1-3 km. Immediately following launch, there was a three month instrument checkout period, followed by six months of level 1 (L1) calibration and validation. In this presentation, we will discuss the calibration and validation activities and results for the L1 radar data. Early SMAP radar data were used to check commanded timing parameters, and to work out issues in the low- and high-resolution radar processors. From April 3-13 the radar collected receive only mode data to conduct a survey of RFI sources. Analysis of the RFI environment led to a preferred operating frequency. The RFI survey data were also used to validate noise subtraction and scaling operations in the radar processors. Normal radar operations resumed on April 13. All radar data were examined closely for image quality and calibration issues which led to improvements in the radar data products for the beta release at the end of July. Radar data were used to determine and correct for small biases in the reported spacecraft attitude. Geo-location was validated against coastline positions and the known positions of corner reflectors. Residual errors at the time of the beta release are about 350 m. Intra-swath biases in the high-resolution backscatter images are reduced to less than 0.3 dB for all polarizations. Radiometric cross-calibration with Aquarius was performed using areas of the Amazon rain forest. Cross-calibration was also examined using ocean data from the low-resolution processor and comparing with the Aquarius wind model function. Using all a-priori calibration constants provided good results with co-polarized measurements matching to better than 1 dB, and cross-polarized measurements matching to about 1 dB in the beta release. During the

  15. Monitoring landslide dynamics using timeseries of UAV imagery

    Science.gov (United States)

    de Jong, S. M.; Van Beek, L. P.

    2017-12-01

    Landslides are worldwide occurring processes that can have large economic impact and sometimes result in fatalities. Multiple factors are important in landslide processes and can make an area prone to landslide activity. Human factors like drainage and removal of vegetation or land clearing are examples of factors that may cause a landslide. Other environmental factors such as topography and the shear strength of the slope material are more difficult to control. Triggering factors for landslides are typically heavy rainfall events or sometimes by earthquakes or under cutting processes by a river. The collection of data about existing landslides in a given area is important for predicting future landslides in that region. We have setup a monitoring program for landslide using cameras aboard Unmanned Airborne Vehicles. UAV with cameras are able to collect ultra-high resolution images and UAVs can be operated in a very flexible way, they just fit in the back of a car. Here, in this study we used Unmanned Aerial Vehicles to collect a time series of high-resolution images over landslides in France and Australia. The algorithm used to process the UAV images into OrthoMosaics and OrthoDEMs is Structure from Motion (SfM). The process generally results in centimeter precision in the horizontal and vertical direction. Such multi-temporal datasets enable the detection of landslide area, the leading edge slope, temporal patterns and volumetric changes of particular areas of the landslide. We measured and computed surface movement of the landslide using the COSI-Corr image correlation algorithm with ground validation. Our study shows the possibilities of generating accurate Digital Surface Models (DSMs) of landslides using images collected with an Unmanned Aerial Vehicle (UAV). The technique is robust and repeatable such that a substantial time series of datasets can be routinely collected. It is shown that a time-series of UAV images can be used to map landslide movements with

  16. Wetland Vegetation Integrity Assessment with Low Altitude Multispectral Uav Imagery

    Science.gov (United States)

    Boon, M. A.; Tesfamichael, S.

    2017-08-01

    The use of multispectral sensors on Unmanned Aerial Vehicles (UAVs) was until recently too heavy and bulky although this changed in recent times and they are now commercially available. The focus on the usage of these sensors is mostly directed towards the agricultural sector where the focus is on precision farming. Applications of these sensors for mapping of wetland ecosystems are rare. Here, we evaluate the performance of low altitude multispectral UAV imagery to determine the state of wetland vegetation in a localised spatial area. Specifically, NDVI derived from multispectral UAV imagery was used to inform the determination of the integrity of the wetland vegetation. Furthermore, we tested different software applications for the processing of the imagery. The advantages and disadvantages we experienced of these applications are also shortly presented in this paper. A JAG-M fixed-wing imaging system equipped with a MicaScene RedEdge multispectral camera were utilised for the survey. A single surveying campaign was undertaken in early autumn of a 17 ha study area at the Kameelzynkraal farm, Gauteng Province, South Africa. Structure-from-motion photogrammetry software was used to reconstruct the camera position's and terrain features to derive a high resolution orthoretified mosaic. MicaSense Atlas cloud-based data platform, Pix4D and PhotoScan were utilised for the processing. The WET-Health level one methodology was followed for the vegetation assessment, where wetland health is a measure of the deviation of a wetland's structure and function from its natural reference condition. An on-site evaluation of the vegetation integrity was first completed. Disturbance classes were then mapped using the high resolution multispectral orthoimages and NDVI. The WET-Health vegetation module completed with the aid of the multispectral UAV products indicated that the vegetation of the wetland is largely modified ("D" PES Category) and that the condition is expected to

  17. The NASA Polarimetric Radar (NPOL)

    Science.gov (United States)

    Petersen, Walter A.; Wolff, David B.

    2013-01-01

    Characteristics of the NASA NPOL S-band dual-polarimetric radar are presented including its operating characteristics, field configuration, scanning capabilities and calibration approaches. Examples of precipitation science data collections conducted using various scan types, and associated products, are presented for different convective system types and previous field campaign deployments. Finally, the NASA NPOL radar location is depicted in its home base configuration within the greater Wallops Flight Facility precipitation research array supporting NASA Global Precipitation Measurement Mission ground validation.

  18. Cost and effectiveness analysis on unmanned aerial vehicle (UAV) use at border security

    Science.gov (United States)

    Yilmaz, Bahadır.

    2013-06-01

    Drones and Remotely Piloted Vehicles are types of Unmanned Aerial Vehicles. UAVs began to be used with the war of Vietnam, they had a great interest when Israel used them in Bekaa Valley Operations of 1982. UAVs have been used by different countries with different aims with the help of emerging technology and investments. In this article, in the context of areas of UAV usage in national security, benefits and disadvantages of UAVs are put forward. Particularly, it has been evaluated on the basis of cost-effectiveness by focusing the use of UAV in the border security. UAVs have been studied by taking cost analysis, procurement and operational costs into consideration. Analysis of effectiveness has been done with illegal passages of people and drugs from flight times of UAVs. Although the procurement cost of the medium-level UAVs is low, its operational costs are high. For this reason, the idea of less costly alternative systems have been revealed for the border security. As the costs are reduced to acceptable level involving national security and border security in future with high-technology products in their structure, it will continue to be used in an increasing proportion.

  19. Optimizing the presentation of UAV images in an attack helicopter cockpit

    NARCIS (Netherlands)

    Jansen, C.; Vries, S.C. de; Duistermaat, M.

    2006-01-01

    Future Unmanned Aerial Vehicles (UAV) will collaborate more directly with military manned aircraft. TNO Defence, Security and Safety investigated how to present UAV sensor images in a fighter aircraft cockpit in order to maximize target identification and flying performance. Ten military pilots

  20. A hybrid Radio-vision fault tolerant localization for mini UAV flying in swarm

    DEFF Research Database (Denmark)

    Latroch, Maamar; Abdelhafid, Omari; Koivo, Heikki N.

    2013-01-01

    This paper discuss the localization of one Unmanned Aerial Vehicle (UAV) when a failure of its GPS occurs and will propose a new solution based on the information collected by the swarm to localize it. we propose here an architecture for localization of a UAV with GPS signal failure in three...

  1. Unmanned aerial vehicles: The next big thing? The benefits and detriments of military and commercial UAVs

    OpenAIRE

    Hassan, L.

    2014-01-01

    With law enforcement agencies around the world investing in Unmanned Aerial Vehicles (UAVs, also known as drones) and small commercial drone ventures popping up like weeds, the debate on the morality of drone usage has intensified in the recent months. What are the advantages of UAVs? Are they worth the disadvantages?

  2. Unmanned aerial vehicles : The next big thing? The benefits and detriments of military and commercial UAVs

    NARCIS (Netherlands)

    Hassan, L.

    2014-01-01

    With law enforcement agencies around the world investing in Unmanned Aerial Vehicles (UAVs, also known as drones) and small commercial drone ventures popping up like weeds, the debate on the morality of drone usage has intensified in the recent months. What are the advantages of UAVs? Are they worth

  3. UAV Swarm Tactics: An Agent-Based Simulation and Markov Process Analysis

    Science.gov (United States)

    2013-06-01

    research UAV platforms, namely the (a) Procerus Unicorn UAV and (b) modified Ritewing ZephyrII RC plane, for ongoing live-fly field experimentation of the...number of possible states would grow exponentially, but short excursions with baseline two-on-one models, as found in the literature, could provide

  4. Impact of Prior Flight Experience on Learning Predator UAV Operator Skills

    Science.gov (United States)

    2002-02-01

    UAVs are becoming a mainstay of intelligence , surveillance, and reconnaissance (ISR) information gathering, with the capability of supplying, in...indicators of UAV pilot skill, namely frequency and type of videogame playing, and experience with remote-controlled hobby aircraft. Experience with...indicator, artificial horizon, heading rate indicator, and engine revolutions per minute. The right monitor displays other useful information, such as a

  5. Multi-UAV Routing for Area Coverage and Remote Sensing with Minimum Time.

    Science.gov (United States)

    Avellar, Gustavo S C; Pereira, Guilherme A S; Pimenta, Luciano C A; Iscold, Paulo

    2015-11-02

    This paper presents a solution for the problem of minimum time coverage of ground areas using a group of unmanned air vehicles (UAVs) equipped with image sensors. The solution is divided into two parts: (i) the task modeling as a graph whose vertices are geographic coordinates determined in such a way that a single UAV would cover the area in minimum time; and (ii) the solution of a mixed integer linear programming problem, formulated according to the graph variables defined in the first part, to route the team of UAVs over the area. The main contribution of the proposed methodology, when compared with the traditional vehicle routing problem's (VRP) solutions, is the fact that our method solves some practical problems only encountered during the execution of the task with actual UAVs. In this line, one of the main contributions of the paper is that the number of UAVs used to cover the area is automatically selected by solving the optimization problem. The number of UAVs is influenced by the vehicles' maximum flight time and by the setup time, which is the time needed to prepare and launch a UAV. To illustrate the methodology, the paper presents experimental results obtained with two hand-launched, fixed-wing UAVs.

  6. Automated geographic registration and radiometric correction for UAV-based mosaics

    Science.gov (United States)

    Texas A&M University has been operating a large-scale, UAV-based, agricultural remote-sensing research project since 2015. To use UAV-based images in agricultural production, many high-resolution images must be mosaicked together to create an image of an agricultural field. Two key difficulties to s...

  7. Embedded, real-time UAV control for improved, image-based 3D scene reconstruction

    Science.gov (United States)

    Jean Liénard; Andre Vogs; Demetrios Gatziolis; Nikolay Strigul

    2016-01-01

    Unmanned Aerial Vehicles (UAVs) are already broadly employed for 3D modeling of large objects such as trees and monuments via photogrammetry. The usual workflow includes two distinct steps: image acquisition with UAV and computationally demanding postflight image processing. Insufficient feature overlaps across images is a common shortcoming in post-flight image...

  8. STRUCTURE FROM MOTION (SfM) PROCESSING FOR UNMANNED AERIAL VEHICLE (UAV)

    KAUST Repository

    Smith, Neil G.

    2016-04-07

    A method of imaging an area using an unmanned aerial vehicle (UAV) collects a plurality of images from a sensor mounted to the UAV. The plurality of images are processed to detect regions that require additional imaging and an updated flight plan and sensor gimbal position plan is created to capture portions of the area identified as requiring additional imaging.

  9. STRUCTURE FROM MOTION (SfM) PROCESSING FOR UNMANNED AERIAL VEHICLE (UAV)

    KAUST Repository

    Smith, Neil G.; Shalaby, Mohamed; Passone, Luca

    2016-01-01

    A method of imaging an area using an unmanned aerial vehicle (UAV) collects a plurality of images from a sensor mounted to the UAV. The plurality of images are processed to detect regions that require additional imaging and an updated flight plan and sensor gimbal position plan is created to capture portions of the area identified as requiring additional imaging.

  10. An Application of UAV Attitude Estimation Using a Low-Cost Inertial Navigation System

    Science.gov (United States)

    Eure, Kenneth W.; Quach, Cuong Chi; Vazquez, Sixto L.; Hogge, Edward F.; Hill, Boyd L.

    2013-01-01

    Unmanned Aerial Vehicles (UAV) are playing an increasing role in aviation. Various methods exist for the computation of UAV attitude based on low cost microelectromechanical systems (MEMS) and Global Positioning System (GPS) receivers. There has been a recent increase in UAV autonomy as sensors are becoming more compact and onboard processing power has increased significantly. Correct UAV attitude estimation will play a critical role in navigation and separation assurance as UAVs share airspace with civil air traffic. This paper describes attitude estimation derived by post-processing data from a small low cost Inertial Navigation System (INS) recorded during the flight of a subscale commercial off the shelf (COTS) UAV. Two discrete time attitude estimation schemes are presented here in detail. The first is an adaptation of the Kalman Filter to accommodate nonlinear systems, the Extended Kalman Filter (EKF). The EKF returns quaternion estimates of the UAV attitude based on MEMS gyro, magnetometer, accelerometer, and pitot tube inputs. The second scheme is the complementary filter which is a simpler algorithm that splits the sensor frequency spectrum based on noise characteristics. The necessity to correct both filters for gravity measurement errors during turning maneuvers is demonstrated. It is shown that the proposed algorithms may be used to estimate UAV attitude. The effects of vibration on sensor measurements are discussed. Heuristic tuning comments pertaining to sensor filtering and gain selection to achieve acceptable performance during flight are given. Comparisons of attitude estimation performance are made between the EKF and the complementary filter.

  11. IMPLEMENTATION AND TESTING OF LOW COST UAV PLATFORM FOR ORTHOPHOTO IMAGING

    Directory of Open Access Journals (Sweden)

    D. Brucas

    2013-08-01

    Full Text Available Implementation of Unmanned Aerial Vehicles for civilian applications is rapidly increasing. Technologies which were expensive and available only for military use have recently spread on civilian market. There is a vast number of low cost open source components and systems for implementation on UAVs available. Using of low cost hobby and open source components ensures considerable decrease of UAV price, though in some cases compromising its reliability. In Space Science and Technology Institute (SSTI in collaboration with Vilnius Gediminas Technical University (VGTU researches have been performed in field of constructing and implementation of small UAVs composed of low cost open source components (and own developments. Most obvious and simple implementation of such UAVs – orthophoto imaging with data download and processing after the flight. The construction, implementation of UAVs, flight experience, data processing and data implementation will be further covered in the paper and presentation.

  12. Implementation and Testing of Low Cost Uav Platform for Orthophoto Imaging

    Science.gov (United States)

    Brucas, D.; Suziedelyte-Visockiene, J.; Ragauskas, U.; Berteska, E.; Rudinskas, D.

    2013-08-01

    Implementation of Unmanned Aerial Vehicles for civilian applications is rapidly increasing. Technologies which were expensive and available only for military use have recently spread on civilian market. There is a vast number of low cost open source components and systems for implementation on UAVs available. Using of low cost hobby and open source components ensures considerable decrease of UAV price, though in some cases compromising its reliability. In Space Science and Technology Institute (SSTI) in collaboration with Vilnius Gediminas Technical University (VGTU) researches have been performed in field of constructing and implementation of small UAVs composed of low cost open source components (and own developments). Most obvious and simple implementation of such UAVs - orthophoto imaging with data download and processing after the flight. The construction, implementation of UAVs, flight experience, data processing and data implementation will be further covered in the paper and presentation.

  13. Image-based tracking and sensor resource management for UAVs in an urban environment

    Science.gov (United States)

    Samant, Ashwin; Chang, K. C.

    2010-04-01

    Coordination and deployment of multiple unmanned air vehicles (UAVs) requires a lot of human resources in order to carry out a successful mission. The complexity of such a surveillance mission is significantly increased in the case of an urban environment where targets can easily escape from the UAV's field of view (FOV) due to intervening building and line-of-sight obstruction. In the proposed methodology, we focus on the control and coordination of multiple UAVs having gimbaled video sensor onboard for tracking multiple targets in an urban environment. We developed optimal path planning algorithms with emphasis on dynamic target prioritizations and persistent target updates. The command center is responsible for target prioritization and autonomous control of multiple UAVs, enabling a single operator to monitor and control a team of UAVs from a remote location. The results are obtained using extensive 3D simulations in Google Earth using Tangent plus Lyapunov vector field guidance for target tracking.

  14. Design of Electric Patrol UAVs Based on a Dual Antenna System

    Directory of Open Access Journals (Sweden)

    Yongjie Zhai

    2018-04-01

    Full Text Available China completed the construction of more than 1.15 million kilometers of transmission lines with conventional voltage levels spanning its vast territory in 2014. This large and complicated power grid structure relies mainly on manual operation and maintenance of lines. Unmanned aerial vehicles (UAVs equipped with high-definition digital video cameras and cameras and GPS positioning systems can conduct autonomous patrols along the grid. However, the presence of electromagnetic fields around high-voltage transmission lines can affect the UAV’s magnetometer, resulting in a wrong heading and thus unsafe flight. In this paper, the traditional method of UAV heading calculation using a magnetometer was analyzed, and a novel method for calculating UAV heading based on dual antennas was proposed. Experimental data showed that the proposed method improves the anti-magnetic interference characteristics of UAVs and increases UAV security and stability for power inspection applications.

  15. An analysis of the development and application of plant protection UAV based on advanced materials

    Science.gov (United States)

    Huang, Yuan-hui; Wei, Neng; Quan, Zhi-cheng; Huang, Yu-rong

    2018-06-01

    The development and application of a number of advanced materials plant protection unmanned aerial vehicle (UAV) is an important part of the comprehensive production of agricultural modernization. The paper is taken as an example of Guangxi No. 1 agricultural service aviation science and Technology Co., Ltd. This paper introduces the internal and external environment of the research and development of the plant protection UAV for the advanced materials of the company. The external environment focuses on the role of the plant protection UAV on the development of the agricultural mechanization; the internal environment focuses on the advantages of the UAV in technology research, market promotion and application, which is imperative. Finally, according to the background of the whole industry, we put forward some suggestions for the developing opportunities and challenges faced by plant protection UAV, hoping to proving some ideas for operators, experts and scholars engaged in agricultural industry.

  16. Establishing a disruptive new capability for NASA to fly UAV's into hazardous conditions

    Science.gov (United States)

    Ely, Jay; Nguyen, Truong; Wilson, Jennifer; Brown, Robert; Laughter, Sean; Teets, Ed; Parker, Allen; Chan, Hon M.; Richards, Lance

    2015-05-01

    A 2015 NASA Aeronautics Mission "Seedling" Proposal is described for a Severe-Environment UAV (SE-UAV) that can perform in-situ measurements in hazardous atmospheric conditions like lightning, volcanic ash and radiation. Specifically, this paper describes the design of a proof-of-concept vehicle and measurement system that can survive lightning attachment during flight operations into thunderstorms. Elements from three NASA centers draw together for the SE-UAV concept. 1) The NASA KSC Genesis UAV was developed in collaboration with the DARPA Nimbus program to measure electric field and X-rays present within thunderstorms. 2) A novel NASA LaRC fiber-optic sensor uses Faraday-effect polarization rotation to measure total lightning electric current on an air vehicle fuselage. 3) NASA AFRC's state-of-the-art Fiber Optics and Systems Integration Laboratory is envisioned to transition the Faraday system to a compact, light-weight, all-fiber design. The SE-UAV will provide in-flight lightning electric-current return stroke and recoil leader data, and serve as a platform for development of emerging sensors and new missions into hazardous environments. NASA's Aeronautics and Science Missions are interested in a capability to perform in-situ volcanic plume measurements and long-endurance UAV operations in various weather conditions. (Figure 1 shows an artist concept of a SE-UAV flying near a volcano.) This paper concludes with an overview of the NASA Aeronautics Strategic Vision, Programs, and how a SE-UAV is envisioned to impact them. The SE-UAV concept leverages high-value legacy research products into a new capability for NASA to fly a pathfinder UAV into hazardous conditions, and is presented in the SPIE DSS venue to explore teaming, collaboration and advocacy opportunities outside NASA.

  17. Establishing a Disruptive New Capability for NASA to Fly UAV's into Hazardous Conditions

    Science.gov (United States)

    Ely, Jay; Nguyen, Truong; Wilson, Jennifer; Brown, Robert; Laughter, Sean; Teets, Ed; Parker, Allen; Chan, Patrick Hon Man; Richards, Lance

    2015-01-01

    A 2015 NASA Aeronautics Mission "Seedling" Proposal is described for a Severe-Environment UAV (SE-UAV) that can perform in-situ measurements in hazardous atmospheric conditions like lightning, volcanic ash and radiation. Specifically, this paper describes the design of a proof-of-concept vehicle and measurement system that can survive lightning attachment during flight operations into thunderstorms. Elements from three NASA centers draw together for the SE-UAV concept. 1) The NASA KSC Genesis UAV was developed in collaboration with the DARPA Nimbus program to measure electric field and X-rays present within thunderstorms. 2) A novel NASA LaRC fiber-optic sensor uses Faraday-effect polarization rotation to measure total lightning electric current on an air vehicle fuselage. 3) NASA AFRC's state-of-the-art Fiber Optics and Systems Integration Laboratory is envisioned to transition the Faraday system to a compact, light-weight, all-fiber design. The SE-UAV will provide in-flight lightning electric-current return stroke and recoil leader data, and serve as a platform for development of emerging sensors and new missions into hazardous environments. NASA's Aeronautics and Science Missions are interested in a capability to perform in-situ volcanic plume measurements and long-endurance UAV operations in various weather conditions. (Figure 1 shows an artist concept of a SE-UAV flying near a volcano.) This paper concludes with an overview of the NASA Aeronautics Strategic Vision, Programs, and how a SE-UAV is envisioned to impact them. The SE-UAV concept leverages high-value legacy research products into a new capability for NASA to fly a pathfinder UAV into hazardous conditions, and is presented in the SPIE DSS venue to explore teaming, collaboration and advocacy opportunities outside NASA.

  18. Borehole radar diffraction tomography

    Energy Technology Data Exchange (ETDEWEB)

    Cho, Seong Jun; Kim, Jung Ho; Yi, Myeong Jong; Chung, Seung Hwan; Lee, Hee Il [Korea Institute of Geology Mining and Materials, Taejon (Korea, Republic of)

    1997-12-01

    Tomography is widely used as imaging method for determining subsurface structure. Among the reconstruction algorithms for tomographic imaging, travel time tomography is almost applied to imaging subsurface. But isolated small body comparable with the wavelength could not be well recognized by travel time tomography. Other tomographic method are need to improve the imaging process. In the study of this year, diffraction tomography was investigated. The theory for diffraction tomography is based on the 1st-order Born approximation. Multisource holography, which is similar to Kirchihoff migration, is compared with diffraction tomography. To improve 1st-order Born diffraction tomography, two kinds of filter designed from multisource holography and 2-D green function, respectively, applied on the reconstructed image. The algorithm was tested for the numerical modeling data of which algorithm consists of the analytic computation of radar signal in transmitter and receiver regions and 2-D FDM scheme for the propagation of electromagnetic waves in media. The air-filled cavity model to show a typical diffraction pattern was applied to diffraction tomography imaging, and the result shows accurate location and area of cavity. But the calculated object function is not well matched the real object function, because the air-filled cavity model is not satisfied week scattered inhomogeneity for 1st born approximation, and the error term is included in estimating source wavelet from received signals. In spite of the object function error, the diffraction tomography assist for interpretation of subsurface as if conducted with travel time tomography. And the fracture model was tested, 1st born diffraction tomographic image is poor because of limited view angle coverage and violation of week scatter assumption, but the filtered image resolve the fracture somewhat better. The tested diffraction tomography image confirms effectiveness of filter for enhancing resolution. (author). 14

  19. Radar rainfall image repair techniques

    Directory of Open Access Journals (Sweden)

    Stephen M. Wesson

    2004-01-01

    Full Text Available There are various quality problems associated with radar rainfall data viewed in images that include ground clutter, beam blocking and anomalous propagation, to name a few. To obtain the best rainfall estimate possible, techniques for removing ground clutter (non-meteorological echoes that influence radar data quality on 2-D radar rainfall image data sets are presented here. These techniques concentrate on repairing the images in both a computationally fast and accurate manner, and are nearest neighbour techniques of two sub-types: Individual Target and Border Tracing. The contaminated data is estimated through Kriging, considered the optimal technique for the spatial interpolation of Gaussian data, where the 'screening effect' that occurs with the Kriging weighting distribution around target points is exploited to ensure computational efficiency. Matrix rank reduction techniques in combination with Singular Value Decomposition (SVD are also suggested for finding an efficient solution to the Kriging Equations which can cope with near singular systems. Rainfall estimation at ground level from radar rainfall volume scan data is of interest and importance in earth bound applications such as hydrology and agriculture. As an extension of the above, Ordinary Kriging is applied to three-dimensional radar rainfall data to estimate rainfall rate at ground level. Keywords: ground clutter, data infilling, Ordinary Kriging, nearest neighbours, Singular Value Decomposition, border tracing, computation time, ground level rainfall estimation

  20. Hydrologic applications of weather radar

    Science.gov (United States)

    Seo, Dong-Jun; Habib, Emad; Andrieu, Hervé; Morin, Efrat

    2015-12-01

    By providing high-resolution quantitative precipitation information (QPI), weather radars have revolutionized hydrology in the last two decades. With the aid of GIS technology, radar-based quantitative precipitation estimates (QPE) have enabled routine high-resolution hydrologic modeling in many parts of the world. Given the ever-increasing need for higher-resolution hydrologic and water resources information for a wide range of applications, one may expect that the use of weather radar will only grow. Despite the tremendous progress, a number of significant scientific, technological and engineering challenges remain to realize its potential. New challenges are also emerging as new areas of applications are discovered, explored and pursued. The purpose of this special issue is to provide the readership with some of the latest advances, lessons learned, experiences gained, and science issues and challenges related to hydrologic applications of weather radar. The special issue features 20 contributions on various topics which reflect the increasing diversity as well as the areas of focus in radar hydrology today. The contributions may be grouped as follows:

  1. UAV applications for thermodynamic profiling: Emphasis on ice fog research

    Science.gov (United States)

    Gultepe, Ismail; Heymsfield, Andrew J.; Fernando, Harindra J. S.; Hoch, Sebastian W.; Ware, Randolph

    2016-04-01

    Ice fog occurs often over the Arctic, cold climatic, and mountainous regions for about 30% of time where temperature (T) can go down to -10°C or below. Ice Nucleation (IN) and cooling processes play an important role by the controlling the intensity of ice fog conditions that affect aviation application, transportation, and local climate. Ice fog can also occur at T above -10°C but close to 0°C it occurs due to freezing of supercooled droplets that include an IN. To better document ice fog conditions, observations from the ice fog events of the Indirect and Semi-Direct Aerosol effects on Climate (ISDAC) project, Barrow, Alaska, Fog Remote Sensing And Modeling (FRAM) project Yellowknife, Northwest Territories, and the Mountain Terrain Atmospheric Modeling and Observations (MATERHORN) project, Heber City, Utah, were analyzed.. Measurements difficulties of small ice fog particles at cold temperatures and low-level flying restrictions prevent observations from aircraft within the surface boundary layer. However, unmanned Aerial Vehicles (UAVs) can be operated safely to measure IN number concentration, Relative Humidity with respect to ice (RHi), T, horizontal wind speed (Uh) and direction, and ice crystal spectra less than about 500 micron. Thermodynamic profiling by a Radiometrics Profiling Microwave Radiometer (PMWR) and Vaisala CL51 ceilometer was used to describe ice fog conditions in the vertical and its time development. In this presentation, ice fog characteristics and its thermodynamic environment will be presented using both ground-based and airborne platforms such as a UAV with new sensors. Some examples of measurements from the UAV for future research, and challenges related to both ice fog measurements and visibility parameterization will also be presented.

  2. An accelerated image matching technique for UAV orthoimage registration

    Science.gov (United States)

    Tsai, Chung-Hsien; Lin, Yu-Ching

    2017-06-01

    Using an Unmanned Aerial Vehicle (UAV) drone with an attached non-metric camera has become a popular low-cost approach for collecting geospatial data. A well-georeferenced orthoimage is a fundamental product for geomatics professionals. To achieve high positioning accuracy of orthoimages, precise sensor position and orientation data, or a number of ground control points (GCPs), are often required. Alternatively, image registration is a solution for improving the accuracy of a UAV orthoimage, as long as a historical reference image is available. This study proposes a registration scheme, including an Accelerated Binary Robust Invariant Scalable Keypoints (ABRISK) algorithm and spatial analysis of corresponding control points for image registration. To determine a match between two input images, feature descriptors from one image are compared with those from another image. A "Sorting Ring" is used to filter out uncorrected feature pairs as early as possible in the stage of matching feature points, to speed up the matching process. The results demonstrate that the proposed ABRISK approach outperforms the vector-based Scale Invariant Feature Transform (SIFT) approach where radiometric variations exist. ABRISK is 19.2 times and 312 times faster than SIFT for image sizes of 1000 × 1000 pixels and 4000 × 4000 pixels, respectively. ABRISK is 4.7 times faster than Binary Robust Invariant Scalable Keypoints (BRISK). Furthermore, the positional accuracy of the UAV orthoimage after applying the proposed image registration scheme is improved by an average of root mean square error (RMSE) of 2.58 m for six test orthoimages whose spatial resolutions vary from 6.7 cm to 10.7 cm.

  3. Demonstrations of bio-inspired perching landing gear for UAVs

    Science.gov (United States)

    Tieu, Mindy; Michael, Duncan M.; Pflueger, Jeffery B.; Sethi, Manik S.; Shimazu, Kelli N.; Anthony, Tatiana M.; Lee, Christopher L.

    2016-04-01

    Results are presented which demonstrate the feasibility and performance of two concepts of biologically-inspired landing-gear systems that enable bird-sized, unmanned aerial vehicles (UAV's) to land, perch, and take-off from branchlike structures and/or ledges. The first concept follows the anatomy of birds that can grasp ahold of a branch and perch as tendons in their legs are tensioned. This design involves a gravity-activated, cable-driven, underactuated, graspingfoot mechanism. As the UAV lands, its weight collapses a four-bar linkage pulling a cable which curls two opposing, multi-segmented feet to grasp the landing target. Each foot is a single, compliant mechanism fabricated by simultaneouly 3D-printing a flexible thermo-plastic and a stiffer ABS plastic. The design is optimized to grasp structures over a range of shapes and sizes. Quasi-static and flight tests of this landing gear affixed to RC rotorcraft (24 cm to 550 cm in diameter) demonstrate that the aircraft can land, perch, and take-off from a tree branch, rectangular wood board, PVC pipe, metal hand rail, chair armrest, and in addition, a stone wall ledge. Stability tests show that perching is maintained under base and wind disturbances. The second design concept, inspired by roosting bats, is a two-material, 3D-printed hooking mechanism that enables the UAV to stably suspend itself from a wire or small-diameter branch. The design balances structural stiffness for support and flexibility for the perching process. A flight-test demonstrates the attaching and dis-engaging of a small, RC quadcopter from a suspended line.

  4. Modelling multi-rotor UAVs swarm deployment using virtual pheromones

    Science.gov (United States)

    Pujol, Mar; Rizo, Ramón; Rizo, Carlos

    2018-01-01

    In this work, a swarm behaviour for multi-rotor Unmanned Aerial Vehicles (UAVs) deployment will be presented. The main contribution of this behaviour is the use of a virtual device for quantitative sematectonic stigmergy providing more adaptable behaviours in complex environments. It is a fault tolerant highly robust behaviour that does not require prior information of the area to be covered, or to assume the existence of any kind of information signals (GPS, mobile communication networks …), taking into account the specific features of UAVs. This behaviour will be oriented towards emergency tasks. Their main goal will be to cover an area of the environment for later creating an ad-hoc communication network, that can be used to establish communications inside this zone. Although there are several papers on robotic deployment it is more difficult to find applications with UAV systems, mainly because of the existence of various problems that must be overcome including limitations in available sensory and on-board processing capabilities and low flight endurance. In addition, those behaviours designed for UAVs often have significant limitations on their ability to be used in real tasks, because they assume specific features, not easily applicable in a general way. Firstly, in this article the characteristics of the simulation environment will be presented. Secondly, a microscopic model for deployment and creation of ad-hoc networks, that implicitly includes stigmergy features, will be shown. Then, the overall swarm behaviour will be modeled, providing a macroscopic model of this behaviour. This model can accurately predict the number of agents needed to cover an area as well as the time required for the deployment process. An experimental analysis through simulation will be carried out in order to verify our models. In this analysis the influence of both the complexity of the environment and the stigmergy system will be discussed, given the data obtained in the

  5. UAV Communication Management and Coordination for Multitarget Tracking

    Science.gov (United States)

    2009-02-26

    6.3 Weighted Trace Penalty 16 6.4 Results with WTP for ECTG 17 7 Multiple UAV Case 20 7.1 Extension of WTP 20 7.2 Coordinated sensor motion...growth by a weighted trace penalty ( WTP ) term, which is a product of the current covariancc trace and the minimum distance to observability (MDO) for a...Specifically, the terminal cost or ECTG term using the WTP has the form J(b) = JWTP(b) := iD(s, e) Tfc P\\ (6.1) where 7 is a positive constant, i is the

  6. Possibilities of surface waters monitoring at mining areas using UAV

    Directory of Open Access Journals (Sweden)

    Lisiecka Ewa

    2018-01-01

    Full Text Available The selected, remote measurement methods are discussed, useful for determining surface water properties using mobile unmanned aerial platforms (UAV. The possibilities of using this type of solutions in the scope of measuring spatial, physicochemical and biological parameters of both natural and anthropogenic water reservoirs, including flood polders, water-filled pits, settling tanks and mining sinks were analyzed. Methods of remote identification of the process of overgrowing this type of ecosystems with water and coastal plant formations have also been proposed.

  7. Calculating e-flow using UAV and ground monitoring

    Science.gov (United States)

    Zhao, C. S.; Zhang, C. B.; Yang, S. T.; Liu, C. M.; Xiang, H.; Sun, Y.; Yang, Z. Y.; Zhang, Y.; Yu, X. Y.; Shao, N. F.; Yu, Q.

    2017-09-01

    Intense human activity has led to serious degradation of basin water ecosystems and severe reduction in the river flow available for aquatic biota. As an important water ecosystem index, environmental flows (e-flows) are crucial for maintaining sustainability. However, most e-flow measurement methods involve long cycles, low efficiency, and transdisciplinary expertise. This makes it impossible to rapidly assess river e-flows at basin or larger scales. This study presents a new method to rapidly assessing e-flows coupling UAV and ground monitorings. UAV was firstly used to calculate river-course cross-sections with high-resolution stereoscopic images. A dominance index was then used to identify key fish species. Afterwards a habitat suitability index, along with biodiversity and integrity indices, was used to determine an appropriate flow velocity with full consideration of the fish spawning period. The cross-sections and flow velocity values were then combined into AEHRA, an e-flow assessment method for studying e-flows and supplying-rate. To verify the results from this new method, the widely used Tennant method was employed. The root-mean-square errors of river cross-sections determined by UAV are less than 0.25 m, which constitutes 3-5% water-depth of the river cross-sections. In the study area of Jinan city, the ecological flow velocity (VE) is equal to or greater than 0.11 m/s, and the ecological water depth (HE) is greater than 0.8 m. The river ecosystem is healthy with the minimum e-flow requirements being always met when it is close to large rivers, which is beneficial for the sustainable development of the water ecosystem. In the south river channel of Jinan, the upstream flow mostly meets the minimum e-flow requirements, and the downstream flow always meets the minimum e-flow requirements. The north of Jinan consists predominantly of artificial river channels used for irrigation. Rainfall rarely meets the minimum e-flow and irrigation water requirements

  8. Monitoring ground deformation of cultural heritage sites using UAVs and geodetic techniques: the case study of Choirokoitia, JPI PROTHEGO project

    Science.gov (United States)

    Themistocleous, Kyriacos; Danezis, Chris; Mendonidis, Evangelos; Lymperopoulou, Efstathia

    2017-10-01

    This paper presents the integrated methods using UAVs and geodetic techniques to monitor ground deformation within the Choirokoitia UNESCO World Heritage Site in Cyprus. The Neolithic settlement of Choirokoitia, occupied from the 7th to the 4th millennium B.C., is one of the most important prehistoric sites in the eastern Mediterranean. The study is conducted under the PROTHEGO (PROTection of European Cultural HEritage from GeO-hazards) project, which is a collaborative research project funded in the framework of the Joint Programming Initiative on Cultural Heritage and Global Change (JPICH) - Heritage Plus in 2015-2018 (www.prothego.eu) and through the Cyprus Research Promotion Foundation. PROTHEGO aims to make an innovative contribution towards the analysis of geo-hazards in areas of cultural heritage, and uses novel space technology based on radar interferometry to retrieve information on ground stability and motion in the 400+ UNESCO's World Heritage List monuments and sites of Europe. The field measurements collected at the Choirokoitia site will be later compared with SAR data to verify micro-movements in the area to monitor potential geo-hazards. The site is located on a steep hill, which makes it vulnerable to rock falls and landslides.

  9. Damage assessment using advanced non-intrusive inspection methods: integration of space, UAV, GPR, and field spectroscopy

    Science.gov (United States)

    Themistocleous, Kyriacos; Neocleous, Kyriacos; Pilakoutas, Kypros; Hadjimitsis, Diofantos G.

    2014-08-01

    The predominant approach for conducting road condition surveys and analyses is still largely based on extensive field observations. However, visual assessment alone cannot identify the actual extent and severity of damage. New non-invasive and cost-effective non-destructive (NDT) remote sensing technologies can be used to monitor road pavements across their life cycle, including remotely sensed aerial and satellite visual and thermal image (AI) data, Unmanned Aerial Vehicles (UAVs), Spectroscopy and Ground Penetrating Radar (GRP). These non-contact techniques can be used to obtain surface and sub-surface information about damage in road pavements, including the crack depth, and in-depth structural failure. Thus, a smart and cost-effective methodology is required that integrates several of these non-destructive/ no-contact techniques for the damage assessment and monitoring at different levels. This paper presents an overview of how an integration of the above technologies can be used to conduct detailed road condition surveys. The proposed approach can also be used to predict the future needs for road maintenance; this information is proven to be valuable to a strategic decision making tools that optimizes maintenance based on resources and environmental issues.

  10. Extended Target Recognition in Cognitive Radar Networks

    Directory of Open Access Journals (Sweden)

    Xiqin Wang

    2010-11-01

    Full Text Available We address the problem of adaptive waveform design for extended target recognition in cognitive radar networks. A closed-loop active target recognition radar system is extended to the case of a centralized cognitive radar network, in which a generalized likelihood ratio (GLR based sequential hypothesis testing (SHT framework is employed. Using Doppler velocities measured by multiple radars, the target aspect angle for each radar is calculated. The joint probability of each target hypothesis is then updated using observations from different radar line of sights (LOS. Based on these probabilities, a minimum correlation algorithm is proposed to adaptively design the transmit waveform for each radar in an amplitude fluctuation situation. Simulation results demonstrate performance improvements due to the cognitive radar network and adaptive waveform design. Our minimum correlation algorithm outperforms the eigen-waveform solution and other non-cognitive waveform design approaches.

  11. German Radar Observation Shuttle Experiment (ROSE)

    Science.gov (United States)

    Sleber, A. J.; Hartl, P.; Haydn, R.; Hildebrandt, G.; Konecny, G.; Muehlfeld, R.

    1984-01-01

    The success of radar sensors in several different application areas of interest depends on the knowledge of the backscatter of radar waves from the targets of interest, the variance of these interaction mechanisms with respect to changing measurement parameters, and the determination of the influence of he measuring systems on the results. The incidence-angle dependency of the radar cross section of different natural targets is derived. Problems involved by the combination of data gained with different sensors, e.g., MSS-, TM-, SPOTand SAR-images are analyzed. Radar cross-section values gained with ground-based radar spectrometers and spaceborne radar imaging, and non-imaging scatterometers and spaceborne radar images from the same areal target are correlated. The penetration of L-band radar waves into vegetated and nonvegetated surfaces is analyzed.

  12. NOAA NEXt-Generation RADar (NEXRAD) Products

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — This dataset consists of Level III weather radar products collected from Next-Generation Radar (NEXRAD) stations located in the contiguous United States, Alaska,...

  13. MST radar data-base management

    Science.gov (United States)

    Wickwar, V. B.

    1983-01-01

    Data management for Mesospheric-Stratospheric-Tropospheric, (MST) radars is addressed. An incoherent-scatter radar data base is discussed in terms of purpose, centralization, scope, and nature of the data base management system.

  14. Design of multi-frequency CW radars

    CERN Document Server

    Jankiraman, Mohinder

    2007-01-01

    This book deals with the basic theory for design and analysis of Low Probability of Intercept (LPI) radar systems. The design of one such multi-frequency high resolution LPI radar, PANDORA, is covered.

  15. Modern approach to relativity theory (radar formulation)

    International Nuclear Information System (INIS)

    Strel'tsov, V.N.

    1991-01-01

    The main peculiarities of the radar formulation of the relativity theory are presented. This formulation operates with the retarded (light) distances and relativistic or radar length introduced on their basis. 21 refs.; 1 tab

  16. Meteor detection on ST (MST) radars

    International Nuclear Information System (INIS)

    Avery, S.K.

    1987-01-01

    The ability to detect radar echoes from backscatter due to turbulent irregularities of the radio refractive index in the clear atmosphere has lead to an increasing number of established mesosphere - stratosphere - troposphere (MST or ST) radars. Humidity and temperature variations are responsible for the echo in the troposphere and stratosphere and turbulence acting on electron density gradients provides the echo in the mesosphere. The MST radar and its smaller version, the ST radar, are pulsed Doppler radars operating in the VHF - UHF frequency range. These echoes can be used to determine upper atmosphere winds at little extra cost to the ST radar configuration. In addition, the meteor echoes can supplement mesospheric data from an MST radar. The detection techniques required on the ST radar for delineating meteor echo returns are described

  17. An Ecological Approach to the Design of UAV Ground Control Station (GCS) Status Displays

    Science.gov (United States)

    Dowell, Susan; Morphew, Ephimia; Shively, Jay

    2003-01-01

    Use of UAVs in military and commercial applications will continue to increase. However, there has been limited research devoted to UAV GCS design. The current study employed an ecological approach to interfac e design. Ecological Interface Design (EID) can be characterized as r epresenting the properties of a system, such that an operator is enco uraged to use skill-based behavior when problem solving. When more ef fortful cognitive processes become necessary due to unfamiliar situations, the application of EID philosophy supports the application of kn owledge-based behavior. With advances toward multiple UAV command and control, operators need GCS interfaces designed to support understan ding of complex systems. We hypothesized that use of EID principles f or the display of UAV status information would result in better opera tor performance and situational awareness, while decreasing workload. Pilots flew a series of missions with three UAV GCS displays of statu s information (Alphanumeric, Ecological, and Hybrid display format). Measures of task performance, Situational Awareness, and workload dem onstrated the benefits of using an ecological approach to designing U AV GCS displays. The application of ecological principles to the design of UAV GCSs is a promising area for improving UAV operations.

  18. Single and Multiple UAV Cyber-Attack Simulation and Performance Evaluation

    Directory of Open Access Journals (Sweden)

    Ahmad Y. Javaid

    2015-02-01

    Full Text Available Usage of ground, air and underwater unmanned vehicles (UGV, UAV and UUV has increased exponentially in the recent past with industries producing thousands of these unmanned vehicles every year.With the ongoing discussion of integration of UAVs in the US National Airspace, the need of a cost-effective way to verify the security and resilience of a group of communicating UAVs under attack has become very important. The answer to this need is a simulation testbed which can be used to simulate the UAV Network (UAVNet. One of these attempts is - UAVSim (Unmanned Aerial Vehicle Simulation testbed developed at the University of Toledo. It has the capability of simulating large UAV networks as well as small UAV networks with large number of attack nodes. In this paper, we analyse the performance of the simulation testbed for two attacks, targeting single and multiple UAVs. Traditional and generic computing resource available in a regular computer laboratory was used. Various evaluation results have been presented and analysed which suggest the suitability of UAVSim for UAVNet attack and swarm simulation applications.

  19. Autonomous target tracking of UAVs based on low-power neural network hardware

    Science.gov (United States)

    Yang, Wei; Jin, Zhanpeng; Thiem, Clare; Wysocki, Bryant; Shen, Dan; Chen, Genshe

    2014-05-01

    Detecting and identifying targets in unmanned aerial vehicle (UAV) images and videos have been challenging problems due to various types of image distortion. Moreover, the significantly high processing overhead of existing image/video processing techniques and the limited computing resources available on UAVs force most of the processing tasks to be performed by the ground control station (GCS) in an off-line manner. In order to achieve fast and autonomous target identification on UAVs, it is thus imperative to investigate novel processing paradigms that can fulfill the real-time processing requirements, while fitting the size, weight, and power (SWaP) constrained environment. In this paper, we present a new autonomous target identification approach on UAVs, leveraging the emerging neuromorphic hardware which is capable of massively parallel pattern recognition processing and demands only a limited level of power consumption. A proof-of-concept prototype was developed based on a micro-UAV platform (Parrot AR Drone) and the CogniMemTMneural network chip, for processing the video data acquired from a UAV camera on the y. The aim of this study was to demonstrate the feasibility and potential of incorporating emerging neuromorphic hardware into next-generation UAVs and their superior performance and power advantages towards the real-time, autonomous target tracking.

  20. Accuracy assessment of topographic mapping using UAV image integrated with satellite images

    International Nuclear Information System (INIS)

    Azmi, S M; Ahmad, Baharin; Ahmad, Anuar

    2014-01-01

    Unmanned Aerial Vehicle or UAV is extensively applied in various fields such as military applications, archaeology, agriculture and scientific research. This study focuses on topographic mapping and map updating. UAV is one of the alternative ways to ease the process of acquiring data with lower operating costs, low manufacturing and operational costs, plus it is easy to operate. Furthermore, UAV images will be integrated with QuickBird images that are used as base maps. The objective of this study is to make accuracy assessment and comparison between topographic mapping using UAV images integrated with aerial photograph and satellite image. The main purpose of using UAV image is as a replacement for cloud covered area which normally exists in aerial photograph and satellite image, and for updating topographic map. Meanwhile, spatial resolution, pixel size, scale, geometric accuracy and correction, image quality and information contents are important requirements needed for the generation of topographic map using these kinds of data. In this study, ground control points (GCPs) and check points (CPs) were established using real time kinematic Global Positioning System (RTK-GPS) technique. There are two types of analysis that are carried out in this study which are quantitative and qualitative assessments. Quantitative assessment is carried out by calculating root mean square error (RMSE). The outputs of this study include topographic map and orthophoto. From this study, the accuracy of UAV image is ± 0.460 m. As conclusion, UAV image has the potential to be used for updating of topographic maps

  1. UAV-guided navigation for ground robot tele-operation in a military reconnaissance environment.

    Science.gov (United States)

    Chen, Jessie Y C

    2010-08-01

    A military reconnaissance environment was simulated to examine the performance of ground robotics operators who were instructed to utilise streaming video from an unmanned aerial vehicle (UAV) to navigate his/her ground robot to the locations of the targets. The effects of participants' spatial ability on their performance and workload were also investigated. Results showed that participants' overall performance (speed and accuracy) was better when she/he had access to images from larger UAVs with fixed orientations, compared with other UAV conditions (baseline- no UAV, micro air vehicle and UAV with orbiting views). Participants experienced the highest workload when the UAV was orbiting. Those individuals with higher spatial ability performed significantly better and reported less workload than those with lower spatial ability. The results of the current study will further understanding of ground robot operators' target search performance based on streaming video from UAVs. The results will also facilitate the implementation of ground/air robots in military environments and will be useful to the future military system design and training community.

  2. Recording animal vocalizations from a UAV: bat echolocation during roost re-entry.

    Science.gov (United States)

    Kloepper, Laura N; Kinniry, Morgan

    2018-05-17

    Unmanned aerial vehicles (UAVs) are rising in popularity for wildlife monitoring, but direct recordings of animal vocalizations have not yet been accomplished, likely due to the noise generated by the UAV. Echolocating bats, especially Tadarida brasiliensis, are good candidates for UAV recording due to their high-speed, high-altitude flight. Here, we use a UAV to record the signals of bats during morning roost re-entry. We designed a UAV to block the noise of the propellers from the receiving microphone, and report on the characteristics of bioacoustic recordings from a UAV. We report the first published characteristics of echolocation signals from bats during group flight and cave re-entry. We found changes in inter-individual time-frequency shape, suggesting that bats may use differences in call design when sensing in complex groups. Furthermore, our first documented successful recordings of animals in their natural habitat demonstrate that UAVs can be important tools for bioacoustic monitoring, and we discuss the ethical considerations for such monitoring.

  3. A Novel Method for Vertical Acceleration Noise Suppression of a Thrust-Vectored VTOL UAV.

    Science.gov (United States)

    Li, Huanyu; Wu, Linfeng; Li, Yingjie; Li, Chunwen; Li, Hangyu

    2016-12-02

    Acceleration is of great importance in motion control for unmanned aerial vehicles (UAVs), especially during the takeoff and landing stages. However, the measured acceleration is inevitably polluted by severe noise. Therefore, a proper noise suppression procedure is required. This paper presents a novel method to reduce the noise in the measured vertical acceleration for a thrust-vectored tail-sitter vertical takeoff and landing (VTOL) UAV. In the new procedure, a Kalman filter is first applied to estimate the UAV mass by using the information in the vertical thrust and measured acceleration. The UAV mass is then used to compute an estimate of UAV vertical acceleration. The estimated acceleration is finally fused with the measured acceleration to obtain the minimum variance estimate of vertical acceleration. By doing this, the new approach incorporates the thrust information into the acceleration estimate. The method is applied to the data measured in a VTOL UAV takeoff experiment. Two other denoising approaches developed by former researchers are also tested for comparison. The results demonstrate that the new method is able to suppress the acceleration noise substantially. It also maintains the real-time performance in the final estimated acceleration, which is not seen in the former denoising approaches. The acceleration treated with the new method can be readily used in the motion control applications for UAVs to achieve improved accuracy.

  4. Visual navigation of the UAVs on the basis of 3D natural landmarks

    Science.gov (United States)

    Karpenko, Simon; Konovalenko, Ivan; Miller, Alexander; Miller, Boris; Nikolaev, Dmitry

    2015-12-01

    This work considers the tracking of the UAV (unmanned aviation vehicle) on the basis of onboard observations of natural landmarks including azimuth and elevation angles. It is assumed that UAV's cameras are able to capture the angular position of reference points and to measure the angles of the sight line. Such measurements involve the real position of UAV in implicit form, and therefore some of nonlinear filters such as Extended Kalman filter (EKF) or others must be used in order to implement these measurements for UAV control. Recently it was shown that modified pseudomeasurement method may be used to control UAV on the basis of the observation of reference points assigned along the UAV path in advance. However, the use of such set of points needs the cumbersome recognition procedure with the huge volume of on-board memory. The natural landmarks serving as such reference points which may be determined on-line can significantly reduce the on-board memory and the computational difficulties. The principal difference of this work is the usage of the 3D reference points coordinates which permits to determine the position of the UAV more precisely and thereby to guide along the path with higher accuracy which is extremely important for successful performance of the autonomous missions. The article suggests the new RANSAC for ISOMETRY algorithm and the use of recently developed estimation and control algorithms for tracking of given reference path under external perturbation and noised angular measurements.

  5. Study on the aerodynamic behavior of a UAV with an applied seeder for agricultural practices

    Science.gov (United States)

    Felismina, Raimundo; Silva, Miguel; Mateus, Artur; Malça, Cândida

    2017-06-01

    It is irrefutable that the use of Unmanned Airborne Vehicle Systems (UAVs) in agricultural tasks and on the analysis of health and vegetative conditions represents a powerful tool in modern agriculture. To contribute to the growth of the agriculture economic sector a seeder to be coupled to any type of UAV was previously developed and designed by the authors. This seeder allows for the deposition of seeds with positional accuracy, i.e., seeds are accurately deposited at pre-established distances between plants [1]. This work aims at analyzing the aerodynamic behavior of UAV/Seeder assembly to determine the suitable inclination - among 0°, 15° and 30° - for its takeoff and for its motion during the seeding operation and, in turn, to define the suitable flight plan that increases the batteries autonomy. For this the ANSYS® FLUENT computational tool was used to simulate a wind tunnel which has as principle the Navier-Stokes differential equations, that designates the fluid flow around the UAV/Seeder assembly. The aerodynamic results demonstrated that for take-off the UAV inclination of 30° is the aerodynamically most favorable position due to the lower aerodynamic drag during the climb. Concerning flying motion during the seeding procedure the UAV inclination of 0° is that which leads to lower UAV/Seeder frontal area and drag coefficient.

  6. A Novel Method for Vertical Acceleration Noise Suppression of a Thrust-Vectored VTOL UAV

    Directory of Open Access Journals (Sweden)

    Huanyu Li

    2016-12-01

    Full Text Available Acceleration is of great importance in motion control for unmanned aerial vehicles (UAVs, especially during the takeoff and landing stages. However, the measured acceleration is inevitably polluted by severe noise. Therefore, a proper noise suppression procedure is required. This paper presents a novel method to reduce the noise in the measured vertical acceleration for a thrust-vectored tail-sitter vertical takeoff and landing (VTOL UAV. In the new procedure, a Kalman filter is first applied to estimate the UAV mass by using the information in the vertical thrust and measured acceleration. The UAV mass is then used to compute an estimate of UAV vertical acceleration. The estimated acceleration is finally fused with the measured acceleration to obtain the minimum variance estimate of vertical acceleration. By doing this, the new approach incorporates the thrust information into the acceleration estimate. The method is applied to the data measured in a VTOL UAV takeoff experiment. Two other denoising approaches developed by former researchers are also tested for comparison. The results demonstrate that the new method is able to suppress the acceleration noise substantially. It also maintains the real-time performance in the final estimated acceleration, which is not seen in the former denoising approaches. The acceleration treated with the new method can be readily used in the motion control applications for UAVs to achieve improved accuracy.

  7. Trilateration-based localization algorithm for ADS-B radar systems

    Science.gov (United States)

    Huang, Ming-Shih

    Rapidly increasing growth and demand in various unmanned aerial vehicles (UAV) have pushed governmental regulation development and numerous technology research advances toward integrating unmanned and manned aircraft into the same civil airspace. Safety of other airspace users is the primary concern; thus, with the introduction of UAV into the National Airspace System (NAS), a key issue to overcome is the risk of a collision with manned aircraft. The challenge of UAV integration is global. As automatic dependent surveillance-broadcast (ADS-B) system has gained wide acceptance, additional exploitations of the radioed satellite-based information are topics of current interest. One such opportunity includes the augmentation of the communication ADS-B signal with a random bi-phase modulation for concurrent use as a radar signal for detecting other aircraft in the vicinity. This dissertation provides detailed discussion about the ADS-B radar system, as well as the formulation and analysis of a suitable non-cooperative multi-target tracking method for the ADS-B radar system using radar ranging techniques and particle filter algorithms. In order to deal with specific challenges faced by the ADS-B radar system, several estimation algorithms are studied. Trilateration-based localization algorithms are proposed due to their easy implementation and their ability to work with coherent signal sources. The centroid of three most closely spaced intersections of constant-range loci is conventionally used as trilateration estimate without rigorous justification. In this dissertation, we address the quality of trilateration intersections through range scaling factors. A number of well-known triangle centers, including centroid, incenter, Lemoine point (LP), and Fermat point (FP), are discussed in detail. To the author's best knowledge, LP was never associated with trilateration techniques. According our study, LP is proposed as the best trilateration estimator thanks to the

  8. SAR Ambiguity Study for the Cassini Radar

    Science.gov (United States)

    Hensley, Scott; Im, Eastwood; Johnson, William T. K.

    1993-01-01

    The Cassini Radar's synthetic aperture radar (SAR) ambiguity analysis is unique with respect to other spaceborne SAR ambiguity analyses owing to the non-orbiting spacecraft trajectory, asymmetric antenna pattern, and burst mode of data collection. By properly varying the pointing, burst mode timing, and radar parameters along the trajectory this study shows that the signal-to-ambiguity ratio of better than 15 dB can be achieved for all images obtained by the Cassini Radar.

  9. Radar operation in a hostile electromagnetic environment

    Energy Technology Data Exchange (ETDEWEB)

    Doerry, Armin Walter

    2014-03-01

    Radar ISR does not always involve cooperative or even friendly targets. An adversary has numerous techniques available to him to counter the effectiveness of a radar ISR sensor. These generally fall under the banner of jamming, spoofing, or otherwise interfering with the EM signals required by the radar sensor. Consequently mitigation techniques are prudent to retain efficacy of the radar sensor. We discuss in general terms a number of mitigation techniques.

  10. Radar reflection off extensive air showers

    CERN Document Server

    Stasielak, J; Bertaina, M; Blümer, J; Chiavassa, A; Engel, R; Haungs, A; Huege, T; Kampert, K -H; Klages, H; Kleifges, M; Krömer, O; Ludwig, M; Mathys, S; Neunteufel, P; Pekala, J; Rautenberg, J; Riegel, M; Roth, M; Salamida, F; Schieler, H; Šmída, R; Unger, M; Weber, M; Werner, F; Wilczyński, H; Wochele, J

    2012-01-01

    We investigate the possibility of detecting extensive air showers by the radar technique. Considering a bistatic radar system and different shower geometries, we simulate reflection of radio waves off the static plasma produced by the shower in the air. Using the Thomson cross-section for radio wave reflection, we obtain the time evolution of the signal received by the antennas. The frequency upshift of the radar echo and the power received are studied to verify the feasibility of the radar detection technique.

  11. Experiment on Uav Photogrammetry and Terrestrial Laser Scanning for Ict-Integrated Construction

    Science.gov (United States)

    Takahashi, N.; Wakutsu, R.; Kato, T.; Wakaizumi, T.; Ooishi, T.; Matsuoka, R.

    2017-08-01

    In the 2016 fiscal year the Ministry of Land, Infrastructure, Transport and Tourism of Japan started a program integrating construction and ICT in earthwork and concrete placing. The new program named "i-Construction" focusing on productivity improvement adopts such new technologies as UAV photogrammetry and TLS. We report a field experiment to investigate whether the procedures of UAV photogrammetry and TLS following the standards for "i-Construction" are feasible or not. In the experiment we measured an embankment of about 80 metres by 160 metres immediately after earthwork was done on the embankment. We used two sets of UAV and camera in the experiment. One is a larger UAV enRoute Zion QC730 and its onboard camera Sony α6000. The other is a smaller UAV DJI Phantom 4 and its dedicated onboard camera. Moreover, we used a terrestrial laser scanner FARO Focus3D X330 based on the phase shift principle. The experiment results indicate that the procedures of UAV photogrammetry using a QC730 with an α6000 and TLS using a Focus3D X330 following the standards for "i-Construction" would be feasible. Furthermore, the experiment results show that UAV photogrammetry using a lower price UAV Phantom 4 was unable to satisfy the accuracy requirement for "i-Construction." The cause of the low accuracy by Phantom 4 is under investigation. We also found that the difference of image resolution on the ground would not have a great influence on the measurement accuracy in UAV photogrammetry.

  12. Multi-UAV Flight using Virtual Structure Combined with Behavioral Approach

    Directory of Open Access Journals (Sweden)

    Kownacki Cezary

    2016-06-01

    Full Text Available Implementations of multi-UAV systems can be divided mainly into two different approaches, centralised system that synchronises positions of each vehicle by a ground station and an autonomous system based on decentralised control, which offers more flexibility and independence. Decentralisation of multi-UAV control entails the need for information sharing between all vehicles, what in some cases could be problematic due to a significant amount of data to be sent over the wireless network. To improve the reliability and the throughput of information sharing inside the formation of UAVs, this paper proposes an approach that combines virtual structure with a leader and two flocking behaviours. Each UAV has assigned different virtual migration point referenced to the leader's position which is simultaneously the origin of a formation reference frame. All migration points create together a virtual rigid structure. Each vehicle uses local behaviours of cohesion and repulsion respectively, to track its own assigned point in the structure and to avoid a collision with the previous UAV in the structure. To calculate parameters of local behaviours, each UAV should know position and attitude of the leader to define the formation reference frame and also the actual position of the previous UAV in the structure. Hence, information sharing can be based on a chain of local peer-to-peer communication between two consecutive vehicles in the structure. In such solution, the information about the leader could be sequentially transmitted from one UAV to another. Numerical simulations were prepared and carried out to verify the effectiveness of the presented approach. Trajectories recorded during those simulations show collective, coherence and collision-free flights of the formation created with five UAVs.

  13. Compressive sensing for urban radar

    CERN Document Server

    Amin, Moeness

    2014-01-01

    With the emergence of compressive sensing and sparse signal reconstruction, approaches to urban radar have shifted toward relaxed constraints on signal sampling schemes in time and space, and to effectively address logistic difficulties in data acquisition. Traditionally, these challenges have hindered high resolution imaging by restricting both bandwidth and aperture, and by imposing uniformity and bounds on sampling rates.Compressive Sensing for Urban Radar is the first book to focus on a hybrid of two key areas: compressive sensing and urban sensing. It explains how reliable imaging, tracki

  14. Wind Turbine Radar Cross Section

    Directory of Open Access Journals (Sweden)

    David Jenn

    2012-01-01

    Full Text Available The radar cross section (RCS of a wind turbine is a figure of merit for assessing its effect on the performance of electronic systems. In this paper, the fundamental equations for estimating the wind turbine clutter signal in radar and communication systems are presented. Methods of RCS prediction are summarized, citing their advantages and disadvantages. Bistatic and monostatic RCS patterns for two wind turbine configurations, a horizontal axis three-blade design and a vertical axis helical design, are shown. The unique electromagnetic scattering features, the effect of materials, and methods of mitigating wind turbine clutter are also discussed.

  15. Principles of modern radar advanced techniques

    CERN Document Server

    Melvin, William

    2012-01-01

    Principles of Modern Radar: Advanced Techniques is a professional reference for practicing engineers that provides a stepping stone to advanced practice with in-depth discussions of the most commonly used advanced techniques for radar design. It will also serve advanced radar academic and training courses with a complete set of problems for students as well as solutions for instructors.

  16. Efficient Ways to Learn Weather Radar Polarimetry

    Science.gov (United States)

    Cao, Qing; Yeary, M. B.; Zhang, Guifu

    2012-01-01

    The U.S. weather radar network is currently being upgraded with dual-polarization capability. Weather radar polarimetry is an interdisciplinary area of engineering and meteorology. This paper presents efficient ways to learn weather radar polarimetry through several basic and practical topics. These topics include: 1) hydrometeor scattering model…

  17. Radar geomorphology of coastal and wetland environments

    Science.gov (United States)

    Lewis, A. J.; Macdonald, H. C.

    1973-01-01

    Details regarding the collection of radar imagery over the past ten years are considered together with the geomorphic, geologic, and hydrologic data which have been extracted from radar imagery. Recent investigations were conducted of the Louisiana swamp marsh and the Oregon coast. It was found that radar imagery is a useful tool to the scientist involved in wetland research.

  18. 46 CFR 184.404 - Radars.

    Science.gov (United States)

    2010-10-01

    ... within one mile of land must be fitted with a FCC Type Accepted general marine radar system for surface... Federal Communications Commission (FCC) type accepted general marine radar system for surface navigation... 46 Shipping 7 2010-10-01 2010-10-01 false Radars. 184.404 Section 184.404 Shipping COAST GUARD...

  19. Brief communication: Landslide motion from cross correlation of UAV-derived morphological attributes

    Science.gov (United States)

    Peppa, Maria V.; Mills, Jon P.; Moore, Phil; Miller, Pauline E.; Chambers, Jonathan E.

    2017-12-01

    Unmanned aerial vehicles (UAVs) can provide observations of high spatio-temporal resolution to enable operational landslide monitoring. In this research, the construction of digital elevation models (DEMs) and orthomosaics from UAV imagery is achieved using structure-from-motion (SfM) photogrammetric procedures. The study examines the additional value that the morphological attribute of openness, amongst others, can provide to surface deformation analysis. Image-cross-correlation functions and DEM subtraction techniques are applied to the SfM outputs. Through the proposed integrated analysis, the automated quantification of a landslide's motion over time is demonstrated, with implications for the wider interpretation of landslide kinematics via UAV surveys.

  20. Evaluation of resampling applied to UAV imagery for weed detection using OBIA

    OpenAIRE

    Borra, I.; Peña Barragán, José Manuel; Torres Sánchez, Jorge; López Granados, Francisca

    2015-01-01

    Los vehículos aéreos no tripulados (UAVs) son una tecnología emergente en el estudio de parámetros agrícolas por sus características y por portar sensores en diferente rango espectral. En este trabajo se ha detectado y cartografiado rodales de malas hierbas en fase temprana mediante análisis OBIA para elaborar mapas que optimicen el tratamiento herbicida localizado. Se ha aplicado resampling (resampleo) sobre imágenes tomadas en campo desde un UAV (UAV-I) para crear una nueva imagen con disti...

  1. Development of a variable stability, modular UAV airframe for local research purposes

    CSIR Research Space (South Africa)

    Monk, John S

    2008-11-01

    Full Text Available /DPSS Wind tunnel Test CAD Patterns &Moulds Future partners Manufacture XDM 1 Auto pilot spec. A/P design Univ. Stellenbosch A/P manufacture A/P update Manufacture UAVs 1&2 Integrate XM 2D Structural Design A/P integrate Iron Bird... Manufacture XDM 2 Slide 30 © CSIR 2008 www.csir.co.za UAV Systems Integration Laboratory Servos UAV Flight SimulatorIron Bird (XDM) Motors and Controllers Looms Wind Tunnel? Control algorithms Flight models Atmospheric...

  2. Geometry correction Algorithm for UAV Remote Sensing Image Based on Improved Neural Network

    Science.gov (United States)

    Liu, Ruian; Liu, Nan; Zeng, Beibei; Chen, Tingting; Yin, Ninghao

    2018-03-01

    Aiming at the disadvantage of current geometry correction algorithm for UAV remote sensing image, a new algorithm is proposed. Adaptive genetic algorithm (AGA) and RBF neural network are introduced into this algorithm. And combined with the geometry correction principle for UAV remote sensing image, the algorithm and solving steps of AGA-RBF are presented in order to realize geometry correction for UAV remote sensing. The correction accuracy and operational efficiency is improved through optimizing the structure and connection weight of RBF neural network separately with AGA and LMS algorithm. Finally, experiments show that AGA-RBF algorithm has the advantages of high correction accuracy, high running rate and strong generalization ability.

  3. UAV Control on the Basis of 3D Landmark Bearing-Only Observations.

    Science.gov (United States)

    Karpenko, Simon; Konovalenko, Ivan; Miller, Alexander; Miller, Boris; Nikolaev, Dmitry

    2015-11-27

    The article presents an approach to the control of a UAV on the basis of 3D landmark observations. The novelty of the work is the usage of the 3D RANSAC algorithm developed on the basis of the landmarks' position prediction with the aid of a modified Kalman-type filter. Modification of the filter based on the pseudo-measurements approach permits obtaining unbiased UAV position estimation with quadratic error characteristics. Modeling of UAV flight on the basis of the suggested algorithm shows good performance, even under significant external perturbations.

  4. Solar Cell to Support Perpetual Flight of High Altitude Long Endurance UAV ITB

    Science.gov (United States)

    Luqmanul Hakim, Muhammad; Silitonga, Faber Y.; Rosid, Nurhayyan H.; Mochammad Agoes Moelyadi, Ing., Dr.

    2018-04-01

    Research on a High Altitude Long Endurance (HALE) Unmanned Aerial Vehicle (UAV) is currently being conducted at Bandung Institute of Technology to reach the flight duration needed and to get the solution of today’s challenges, minimizing pollution. Besides the good aerodynamic efficiency needed, energy resource is now becoming important. The energy resource must have a good endurance, easy to get, and of course, less pollution. Discussion in this paper is about the analysis of power needed by HALE UAV while takeoff and cruise flight conditions, and then determine the amount of solar cell and battery needed by the UAV.

  5. Positional quality assessment of orthophotos obtained from sensors onboard multi-rotor UAV platforms.

    Science.gov (United States)

    Mesas-Carrascosa, Francisco Javier; Rumbao, Inmaculada Clavero; Berrocal, Juan Alberto Barrera; Porras, Alfonso García-Ferrer

    2014-11-26

    In this study we explored the positional quality of orthophotos obtained by an unmanned aerial vehicle (UAV). A multi-rotor UAV was used to obtain images using a vertically mounted digital camera. The flight was processed taking into account the photogrammetry workflow: perform the aerial triangulation, generate a digital surface model, orthorectify individual images and finally obtain a mosaic image or final orthophoto. The UAV orthophotos were assessed with various spatial quality tests used by national mapping agencies (NMAs). Results showed that the orthophotos satisfactorily passed the spatial quality tests and are therefore a useful tool for NMAs in their production flowchart.

  6. Recommendation on Transition from Primary/Secondary Radar to Secondary- Only Radar Capability

    Science.gov (United States)

    1994-10-01

    Radar Beacon Performance Monitor RCIU Remote Control Interface Unit RCL Remote Communications Link R E&D Research, Engineering and Development RML Radar...rate. 3.1.2.5 Maintenance The current LRRs have limited remote maintenance monitoring (RMM) capabilities via the Remote Control Interface Unit ( RCIU ...1, -2 and FPS-20 radars required an upgrade of some of the radar subsystems, namely the RCIU to respond as an RMS and the CD to interface with radar

  7. Increasing the UAV data value by an OBIA methodology

    Science.gov (United States)

    García-Pedrero, Angel; Lillo-Saavedra, Mario; Rodriguez-Esparragon, Dionisio; Rodriguez-Gonzalez, Alejandro; Gonzalo-Martin, Consuelo

    2017-10-01

    Recently, there has been a noteworthy increment of using images registered by unmanned aerial vehicles (UAV) in different remote sensing applications. Sensors boarded on UAVs has lower operational costs and complexity than other remote sensing platforms, quicker turnaround times as well as higher spatial resolution. Concerning this last aspect, particular attention has to be paid on the limitations of classical algorithms based on pixels when they are applied to high resolution images. The objective of this study is to investigate the capability of an OBIA methodology developed for the automatic generation of a digital terrain model of an agricultural area from Digital Elevation Model (DEM) and multispectral images registered by a Parrot Sequoia multispectral sensor board on a eBee SQ agricultural drone. The proposed methodology uses a superpixel approach for obtaining context and elevation information used for merging superpixels and at the same time eliminating objects such as trees in order to generate a Digital Terrain Model (DTM) of the analyzed area. Obtained results show the potential of the approach, in terms of accuracy, when it is compared with a DTM generated by manually eliminating objects.

  8. REMOTE SPECTRAL IMAGING USING A LOW COST UAV SYSTEM

    Directory of Open Access Journals (Sweden)

    C. Tsouvaltsidis

    2015-08-01

    Full Text Available The purpose of this scientific survey is to support the research being conducted at York University in the field of spectroscopy and nanosatellites using Argus 1000 micro- spectrometer and low cost unmanned aerial vehicle (UAV system. On the CanX-2 mission, the Argus spectrometer observes reflected infrared solar radiation emitted by Earth surface targets as small as 1.5 km within the 0.9-1.7 μm range. However, limitations in the volume of data due to onboard power constraints and a lack of an onboard camera system make it very difficult to verify these objectives using ground truth. In the last five years that Argus has been in operation, we have made over 200 observations over a series of land and ocean targets. We have recently examined algorithms to improve the geolocation accuracy of the spectrometer payload and began to conduct an analysis of soil health content using Argus spectral data. A field campaign is used to obtain data to assess geolocation accuracy using coastline crossing detection and to obtain airborne bare soil spectra in ground truth form. The payload system used for the field campaign consists of an Argus spectrometer, optical camera, GPS, and attitude sensors, integrated into a low-cost, unmanned aerial vehicle (UAV, which will be presented along with the experimental procedure and field campaign results.

  9. MULTI-TEMPORAL CLASSIFICATION AND CHANGE DETECTION USING UAV IMAGES

    Directory of Open Access Journals (Sweden)

    S. Makuti

    2018-05-01

    Full Text Available In this paper different methodologies for the classification and change detection of UAV image blocks are explored. UAV is not only the cheapest platform for image acquisition but it is also the easiest platform to operate in repeated data collections over a changing area like a building construction site. Two change detection techniques have been evaluated in this study: the pre-classification and the post-classification algorithms. These methods are based on three main steps: feature extraction, classification and change detection. A set of state of the art features have been used in the tests: colour features (HSV, textural features (GLCM and 3D geometric features. For classification purposes Conditional Random Field (CRF has been used: the unary potential was determined using the Random Forest algorithm while the pairwise potential was defined by the fully connected CRF. In the performed tests, different feature configurations and settings have been considered to assess the performance of these methods in such challenging task. Experimental results showed that the post-classification approach outperforms the pre-classification change detection method. This was analysed using the overall accuracy, where by post classification have an accuracy of up to 62.6 % and the pre classification change detection have an accuracy of 46.5 %. These results represent a first useful indication for future works and developments.

  10. PERFORMANCE CHARACTERISTIC MEMS-BASED IMUs FOR UAVs NAVIGATION

    Directory of Open Access Journals (Sweden)

    H. A. Mohamed

    2015-08-01

    Full Text Available Accurate 3D reconstruction has become essential for non-traditional mapping applications such as urban planning, mining industry, environmental monitoring, navigation, surveillance, pipeline inspection, infrastructure monitoring, landslide hazard analysis, indoor localization, and military simulation. The needs of these applications cannot be satisfied by traditional mapping, which is based on dedicated data acquisition systems designed for mapping purposes. Recent advances in hardware and software development have made it possible to conduct accurate 3D mapping without using costly and high-end data acquisition systems. Low-cost digital cameras, laser scanners, and navigation systems can provide accurate mapping if they are properly integrated at the hardware and software levels. Unmanned Aerial Vehicles (UAVs are emerging as a mobile mapping platform that can provide additional economical and practical advantages. However, such economical and practical requirements need navigation systems that can provide uninterrupted navigation solution. Hence, testing the performance characteristics of Micro-Electro-Mechanical Systems (MEMS or low cost navigation sensors for various UAV applications is important research. This work focuses on studying the performance characteristics under different manoeuvres using inertial measurements integrated with single point positioning, Real-Time-Kinematic (RTK, and additional navigational aiding sensors. Furthermore, the performance of the inertial sensors is tested during Global Positioning System (GPS signal outage.

  11. CLOSE-RANGE MINI-UAVS PHOTOGRAMMETRY FOR ARCHITECTURE SURVEY

    Directory of Open Access Journals (Sweden)

    L. Carnevali

    2018-05-01

    Full Text Available The survey of historical façades contains several bottlenecks, mainly related to the geometrical structure, the decorative framework, the presence of natural or artificial obstacles, the environment limitations. Urban context presents additional restrictions, binding by ground acquisition activity and leading to building data loss. The integration of TLS and close-range photogrammetry allows to go over such stuff, not overcoming the shadows effect due to the ground point of view. In the last year the massive use of UAVs in survey activity has permitted to enlarge survey capabilities, reaching a deeper knowledge in the architecture analysis. In the meanwhile, several behaviour rules have been introduced in different countries, regulating the UAVs use in different field, strongly restricting their application in urban areas. Recently very small and light platforms have been presented, which can partially overcome these rules restrictions, opening to very interesting future scenarios. This article presents the application of one of these very small RPAS (less than 300 g, equipped with a low-cost camera, in a close range photogrammetric survey of an historical building façade in Bologna (Italy. The suggested analysis tries to point out the system accuracy and details acquisition capacity. The final aim of the paper is to validate the application of this new platform in an architectonic survey pipeline, widening the future application of close-range photogrammetry in the architecture acquisition process.

  12. Damage Degree Evaluation of Earthquake Area Using UAV Aerial Image

    Directory of Open Access Journals (Sweden)

    Jinhong Chen

    2016-01-01

    Full Text Available An Unmanned Aerial Vehicle (UAV system and its aerial image analysis method are developed to evaluate the damage degree of earthquake area. Both the single-rotor and the six-rotor UAVs are used to capture the visible light image of ground targets. Five types of typical ground targets are considered for the damage degree evaluation: the building, the road, the mountain, the riverway, and the vegetation. When implementing the image analysis, first the Image Quality Evaluation Metrics (IQEMs, that is, the image contrast, the image blur, and the image noise, are used to assess the imaging definition. Second, once the image quality is qualified, the Gray Level Cooccurrence Matrix (GLCM texture feature, the Tamura texture feature, and the Gabor wavelet texture feature are computed. Third, the Support Vector Machine (SVM classifier is employed to evaluate the damage degree. Finally, a new damage degree evaluation (DDE index is defined to assess the damage intensity of earthquake. Many experiment results have verified the correctness of proposed system and method.

  13. UAV Flight Control Based on RTX System Simulation Platform

    Directory of Open Access Journals (Sweden)

    Xiaojun Duan

    2014-03-01

    Full Text Available This paper proposes RTX and Matlab UAV flight control system simulation platform based on the advantages and disadvantages of Windows and real-time system RTX. In the simulation platform, we set the RTW toolbox configuration and modify grt_main.c in order to make simulation platform endowed with online parameter adjustment, fault injection. Meanwhile, we develop the interface of the system simulation platform by CVI, thus it makes effective and has good prospects in application. In order to improve the real-time performance of simulation system, the current computer of real-time simulation mostly use real-time operating system to solve simulation model, as well as dual- framework containing in Host and target machine. The system is complex, high cost, and generally used for the control and half of practical system simulation. For the control system designers, they expect to design control law at a computer with Windows-based environment and conduct real-time simulation. This paper proposes simulation platform for UAV flight control system based on RTX and Matlab for this demand.

  14. Real-time people and vehicle detection from UAV imagery

    Science.gov (United States)

    Gaszczak, Anna; Breckon, Toby P.; Han, Jiwan

    2011-01-01

    A generic and robust approach for the real-time detection of people and vehicles from an Unmanned Aerial Vehicle (UAV) is an important goal within the framework of fully autonomous UAV deployment for aerial reconnaissance and surveillance. Here we present an approach for the automatic detection of vehicles based on using multiple trained cascaded Haar classifiers with secondary confirmation in thermal imagery. Additionally we present a related approach for people detection in thermal imagery based on a similar cascaded classification technique combining additional multivariate Gaussian shape matching. The results presented show the successful detection of vehicle and people under varying conditions in both isolated rural and cluttered urban environments with minimal false positive detection. Performance of the detector is optimized to reduce the overall false positive rate by aiming at the detection of each object of interest (vehicle/person) at least once in the environment (i.e. per search patter flight path) rather than every object in each image frame. Currently the detection rate for people is ~70% and cars ~80% although the overall episodic object detection rate for each flight pattern exceeds 90%.

  15. POTENTIAL OF UAV BASED CONVERGENT PHOTOGRAMMETRY IN MONITORING REGENERATION STANDARDS

    Directory of Open Access Journals (Sweden)

    U. Vepakomma

    2015-08-01

    Full Text Available Several thousand hectares of forest blocks are regenerating after harvest in Canada. Monitoring their performance over different stages of growth is critical in ensuring future productivity and ecological balance. Tools for rapid evaluation can support timely and reliable planning of interventions. Conventional ground surveys or visual image assessments are either time intensive or inaccurate, while alternate operational remote sensing tools are unavailable. In this study, we test the feasibility and strength of UAV-based photogrammetry with an EO camera on a UAV platform in assessing regeneration performance. Specifically we evaluated stocking, spatial density and height distribution of naturally growing (irregularly spaced stems or planted (regularly spaced stems conifer regeneration in different phases of growth. Standard photogrammetric workflow was applied on the 785 acquired images for 3D reconstruction of the study sites. The required parameters were derived based on automated single stem detection algorithm developed in-house. Comparing with field survey data, preliminary results hold promise. Future studies are planned to expand the scope to larger areas and different stand conditions.

  16. Uavs to Assess the Evolution of Embryo Dunes

    Science.gov (United States)

    Taddia, Y.; Corbau, C.; Zambello, E.; Russo, V.; Simeoni, U.; Russo, P.; Pellegrinelli, A.

    2017-08-01

    The balance of a coastal environment is particularly complex: the continuous formation of dunes, their destruction as a result of violent storms, the growth of vegetation and the consequent growth of the dunes themselves are phenomena that significantly affect this balance. This work presents an approach to the long-term monitoring of a complex dune system by means of Unmanned Aerial Vehicles (UAVs). Four different surveys were carried out between November 2015 and November 2016. Aerial photogrammetric data were acquired during flights by a DJI Phantom 2 and a DJI Phantom 3 with cameras in a nadiral arrangement. GNSS receivers in Network Real Time Kinematic (NRTK) mode were used to frame models in the European Terrestrial Reference System. Processing of the captured images consisted in reconstruction of a three-dimensional model using the principles of Structure from Motion (SfM). Particular care was necessary due to the vegetation: filtering of the dense cloud, mainly based on slope detection, was performed to minimize this issue. Final products of the SfM approach were represented by Digital Elevation Models (DEMs) of the sandy coastal environment. Each model was validated by comparison through specially surveyed points. Other analyses were also performed, such as cross sections and computing elevation variations over time. The use of digital photogrammetry by UAVs is particularly reliable: fast acquisition of the images, reconstruction of high-density point clouds, high resolution of final elevation models, as well as flexibility, low cost and accuracy comparable with other available techniques.

  17. The New Evolution for SIA Rotorcraft UAV Project

    Directory of Open Access Journals (Sweden)

    Juntong Qi

    2010-01-01

    Full Text Available This paper describes recent research on the design, implement, and testing of a new small-scaled rotorcraft Unmanned Aerial Vehicle (RUAV system—ServoHeli-40. A turbine-powered UAV weighted less than 15 kg was designed, and its major components were tested at the Shenyang Institute of Automation, Chinese Academy of Sciences in Shenyang, China. The aircraft was designed to reach a top speed of more than 20 mps, flying a distance of more than 10 kilometers, and it is going to be used as a test-bed for experimentally evaluating advanced control methodologies dedicated on improving the maneuverability, reliability, as well as autonomy of RUAV. Sensors and controller are all onboard. The full system has been tested successfully in the autonomous mode using the multichannel active modeling controller. The results show that in a real windy environment the rotorcraft UAV can follow the trajectory which was assigned by the ground control station exactly, and the new control method is obviously more effective than the one in the past year's research.

  18. Assessing UAV platform types and optical sensor specifications

    Science.gov (United States)

    Altena, B.; Goedemé, T.

    2014-05-01

    Photogrammetric acquisition with unmanned aerial vehicles (UAV) has grown extensively over the last couple of years. Such mobile platforms and their processing software have matured, resulting in a market which offers off-the-shelf mapping solutions to surveying companies and geospatial enterprises. Different approaches in platform type and optical instruments exist, though its resulting products have similar specifications. To demonstrate differences in acquisitioning practice, a case study over an open mine was flown with two different off-the-shelf UAVs (a fixed-wing and a multi-rotor). The resulting imagery is analyzed to clarify the differences in collection quality. We look at image settings, and stress the fact of photographic experience if manual setting are applied. For mapping production it might be safest to set the camera on automatic. Furthermore, we try to estimate if blur is present due to image motion. A subtle trend seems to be present, for the fast flying platform though its extent is of similar order to the slow moving one. It shows both systems operate at their limits. Finally, the lens distortion is assessed with special attention to chromatic aberration. Here we see that through calibration such aberrations could be present, however detecting this phenomena directly on imagery is not straightforward. For such effects a normal lens is sufficient, though a better lens and collimator does give significant improvement.

  19. UAVS TO ASSESS THE EVOLUTION OF EMBRYO DUNES

    Directory of Open Access Journals (Sweden)

    Y. Taddia

    2017-08-01

    Full Text Available The balance of a coastal environment is particularly complex: the continuous formation of dunes, their destruction as a result of violent storms, the growth of vegetation and the consequent growth of the dunes themselves are phenomena that significantly affect this balance. This work presents an approach to the long-term monitoring of a complex dune system by means of Unmanned Aerial Vehicles (UAVs. Four different surveys were carried out between November 2015 and November 2016. Aerial photogrammetric data were acquired during flights by a DJI Phantom 2 and a DJI Phantom 3 with cameras in a nadiral arrangement. GNSS receivers in Network Real Time Kinematic (NRTK mode were used to frame models in the European Terrestrial Reference System. Processing of the captured images consisted in reconstruction of a three-dimensional model using the principles of Structure from Motion (SfM. Particular care was necessary due to the vegetation: filtering of the dense cloud, mainly based on slope detection, was performed to minimize this issue. Final products of the SfM approach were represented by Digital Elevation Models (DEMs of the sandy coastal environment. Each model was validated by comparison through specially surveyed points. Other analyses were also performed, such as cross sections and computing elevation variations over time. The use of digital photogrammetry by UAVs is particularly reliable: fast acquisition of the images, reconstruction of high-density point clouds, high resolution of final elevation models, as well as flexibility, low cost and accuracy comparable with other available techniques.

  20. Stability analysis of chalk sea cliffs using UAV photogrammetry

    Science.gov (United States)

    Barlow, John; Gilham, Jamie

    2017-04-01

    Cliff erosion and instability poses a significant hazard to communities and infrastructure located is coastal areas. We use point cloud and spectral data derived from close range digital photogrammetry to assess the stability of chalk sea cliffs located at Telscombe, UK. Data captured from an unmanned aerial vehicle (UAV) were used to generate dense point clouds for a 712 m section of cliff face which ranges from 20 to 49 m in height. Generated models fitted our ground control network within a standard error of 0.03 m. Structural features such as joints, bedding planes, and faults were manually mapped and are consistent with results from other studies that have been conducted using direct measurement in the field. Kinematic analysis of these data was used to identify the primary modes of failure at the site. Our results indicate that wedge failure is by far the most likely mode of slope instability. An analysis of sequential surveys taken from the summer of 2016 to the winter of 2017 indicate several large failures have occurred at the site. We establish the volume of failure through change detection between sequential data sets and use back analysis to determine the strength of shear surfaces for each failure. Our results show that data capture through UAV photogrammetry can provide useful information for slope stability analysis over long sections of cliff. The use of this technology offers significant benefits in equipment costs and field time over existing methods.

  1. Performance Characteristic Mems-Based IMUs for UAVs Navigation

    Science.gov (United States)

    Mohamed, H. A.; Hansen, J. M.; Elhabiby, M. M.; El-Sheimy, N.; Sesay, A. B.

    2015-08-01

    Accurate 3D reconstruction has become essential for non-traditional mapping applications such as urban planning, mining industry, environmental monitoring, navigation, surveillance, pipeline inspection, infrastructure monitoring, landslide hazard analysis, indoor localization, and military simulation. The needs of these applications cannot be satisfied by traditional mapping, which is based on dedicated data acquisition systems designed for mapping purposes. Recent advances in hardware and software development have made it possible to conduct accurate 3D mapping without using costly and high-end data acquisition systems. Low-cost digital cameras, laser scanners, and navigation systems can provide accurate mapping if they are properly integrated at the hardware and software levels. Unmanned Aerial Vehicles (UAVs) are emerging as a mobile mapping platform that can provide additional economical and practical advantages. However, such economical and practical requirements need navigation systems that can provide uninterrupted navigation solution. Hence, testing the performance characteristics of Micro-Electro-Mechanical Systems (MEMS) or low cost navigation sensors for various UAV applications is important research. This work focuses on studying the performance characteristics under different manoeuvres using inertial measurements integrated with single point positioning, Real-Time-Kinematic (RTK), and additional navigational aiding sensors. Furthermore, the performance of the inertial sensors is tested during Global Positioning System (GPS) signal outage.

  2. Application of UAVs at the Savannah River Site

    International Nuclear Information System (INIS)

    Hofstetter, K.J.; Pendergast, M.M.

    1996-01-01

    Small, unmanned aerial vehicles (UAVs) equipped with sensors for physical, chemical, and radiochemical measurements of remote environments have been tested at the Savannah River Site (SRS). A miniature helicopter was used as an aerial platform for testing a variety of sensors with outputs integrated with the flight control system for real-time data acquisition and evaluation. The sensors included a precision magnetometer, two broad band infra-red radiometers, a 1-inch by 1-inch Nal(TI) scintillation detector, and an on-board color video camera. Included in the avionics package was an ultrasonic altimeter, a precision barometer, and a portable Global Positioning System. Two separate demonstration locations at SRS were flown that had been previously characterized by careful sampling and analyses and by aerial surveys at high altitudes. The Steed Pond demonstration site contains elevated levels of uranium in the soil and pond silt due to runoff from one of the site's uranium fuel and target production areas. The soil at the other site is contaminated with oil bearing materials and contains some buried objects. The results and limitations of the UAV surveys are presented and improvements for future measurements are discussed

  3. UAV BASED BRDF-MEASUREMENTS OF AGRICULTURAL SURFACES WITH PFIFFIKUS

    Directory of Open Access Journals (Sweden)

    G. J. Grenzdörffer

    2012-09-01

    Full Text Available BRDF is a common problem in remote sensing and also in oblique photogrammetry. Common approaches of BRDF-measurement with a field goniometer are costly and rather cumbersome. UAVs may offer an interesting alternative by using a special flight pattern of oblique and converging images. The main part of this paper is the description of a photogrammetric workflow in order to determine the anisotropic reflection properties of a given surface. Due to the relatively low flying heights standard procedures from close range photogrammetry were adopted for outdoor usage. The photogrammetric processing delivered automatic and highly accurate orientation information with the aid of coded targets. The interior orientation of the consumer grade camera is more or less stable. The radiometrically corrected oblique images are converted into ortho photos. The azimuth and elevation angle of every point may then be computed. The calculated anisotropy of a winter wheat plot is shown. A system four diagonally-looking cameras (Four Vision and an additional nadir looking camera is under development. The multi camera system especially designed for a Micro- UAV with a payload of min 1 kg. The system is composed of five industrial digital frame cameras (1.3 Mpix CCD-chips, 15 fp/s with fixed lenses. Also special problems with the construction of a light weight housing of the multi camera solution are covered in the paper.

  4. ALIGNMENT OF POINT CLOUD DSMs FROM TLS AND UAV PLATFORMS

    Directory of Open Access Journals (Sweden)

    R. A. Persad

    2015-08-01

    Full Text Available The co-registration of 3D point clouds has received considerable attention from various communities, particularly those in photogrammetry, computer graphics and computer vision. Although significant progress has been made, various challenges such as coarse alignment using multi-sensory data with different point densities and minimal overlap still exist. There is a need to address such data integration issues, particularly with the advent of new data collection platforms such as the unmanned aerial vehicles (UAVs. In this study, we propose an approach to align 3D point clouds derived photogrammetrically from UAV approximately vertical images with point clouds measured by terrestrial laser scanners (TLS. The method begins by automatically extracting 3D surface keypoints on both point cloud datasets. Afterwards, regions of interest around each keypoint are established to facilitate the establishment of scale-invariant descriptors for each of them. We use the popular SURF descriptor for matching the keypoints. In our experiments, we report the accuracies of the automatically derived transformation parameters in comparison to manually-derived reference parameter data.

  5. Survey on the novel hybrid aquatic-aerial amphibious aircraft: Aquatic unmanned aerial vehicle (AquaUAV)

    Science.gov (United States)

    Yang, Xingbang; Wang, Tianmiao; Liang, Jianhong; Yao, Guocai; Liu, Miao

    2015-04-01

    The aquatic unmanned aerial vehicle (AquaUAV), a kind of vehicle that can operate both in the air and the water, has been regarded as a new breakthrough to broaden the application scenario of UAV. Wide application prospects in military and civil field are more than bright, therefore many institutions have focused on the development of such a vehicle. However, due to the significant difference of the physical properties between the air and the water, it is rather difficult to design a fully-featured AquaUAV. Until now, majority of partially-featured AquaUAVs have been developed and used to verify the feasibility of an aquatic-aerial vehicle. In the present work, we classify the current partially-featured AquaUAV into three categories from the scope of the whole UAV field, i.e., the seaplane UAV, the submarine-launched UAV, and the submersible UAV. Then the recent advancements and common characteristics of the three kinds of AquaUAVs are reviewed in detail respectively. Then the applications of bionics in the design of AquaUAV, the transition mode between the air and the water, the morphing wing structure for air-water adaptation, and the power source and the propulsion type are summarized and discussed. The tradeoff analyses for different transition methods between the air and the water are presented. Furthermore, it indicates that applying the bionics into the design and development of the AquaUAV will be essential and significant. Finally, the significant technical challenges for the AquaUAV to change from a conception to a practical prototype are indicated.

  6. Uav Photogrammetry for Mapping and Monitoring of Northern Permafrost Landscapes

    Science.gov (United States)

    Fraser, R. H.; Olthof, I.; Maloley, M.; Fernandes, R.; Prevost, C.; van der Sluijs, J.

    2015-08-01

    Northern environments are changing in response to recent climate warming, resource development, and natural disturbances. The Arctic climate has warmed by 2-3°C since the 1950's, causing a range of cryospheric changes including declines in sea ice extent, snow cover duration, and glacier mass, and warming permafrost. The terrestrial Arctic has also undergone significant temperature-driven changes in the form of increased thermokarst, larger tundra fires, and enhanced shrub growth. Monitoring these changes to inform land managers and decision makers is challenging due to the vast spatial extents involved and difficult access. Environmental monitoring in Canada's North is often based on local-scale measurements derived from aerial reconnaissance and photography, and ecological, hydrologic, and geologic sampling and surveying. Satellite remote sensing can provide a complementary tool for more spatially comprehensive monitoring but at coarser spatial resolutions. Satellite remote sensing has been used to map Arctic landscape changes related to vegetation productivity, lake expansion and drainage, glacier retreat, thermokarst, and wildfire activity. However, a current limitation with existing satellite-based techniques is the measurement gap between field measurements and high resolution satellite imagery. Bridging this gap is important for scaling up field measurements to landscape levels, and validating and calibrating satellite-based analyses. This gap can be filled to a certain extent using helicopter or fixed-wing aerial surveys, but at a cost that is often prohibitive. Unmanned aerial vehicle (UAV) technology has only recently progressed to the point where it can provide an inexpensive and efficient means of capturing imagery at this middle scale of measurement with detail that is adequate to interpret Arctic vegetation (i.e. 1-5 cm) and coverage that can be directly related to satellite imagery (1-10 km2). Unlike satellite measurements, UAVs permit frequent

  7. UAV PHOTOGRAMMETRY FOR MAPPING AND MONITORING OF NORTHERN PERMAFROST LANDSCAPES

    Directory of Open Access Journals (Sweden)

    R. H. Fraser

    2015-08-01

    Full Text Available Northern environments are changing in response to recent climate warming, resource development, and natural disturbances. The Arctic climate has warmed by 2–3°C since the 1950’s, causing a range of cryospheric changes including declines in sea ice extent, snow cover duration, and glacier mass, and warming permafrost. The terrestrial Arctic has also undergone significant temperature-driven changes in the form of increased thermokarst, larger tundra fires, and enhanced shrub growth. Monitoring these changes to inform land managers and decision makers is challenging due to the vast spatial extents involved and difficult access. Environmental monitoring in Canada’s North is often based on local-scale measurements derived from aerial reconnaissance and photography, and ecological, hydrologic, and geologic sampling and surveying. Satellite remote sensing can provide a complementary tool for more spatially comprehensive monitoring but at coarser spatial resolutions. Satellite remote sensing has been used to map Arctic landscape changes related to vegetation productivity, lake expansion and drainage, glacier retreat, thermokarst, and wildfire activity. However, a current limitation with existing satellite-based techniques is the measurement gap between field measurements and high resolution satellite imagery. Bridging this gap is important for scaling up field measurements to landscape levels, and validating and calibrating satellite-based analyses. This gap can be filled to a certain extent using helicopter or fixed-wing aerial surveys, but at a cost that is often prohibitive. Unmanned aerial vehicle (UAV technology has only recently progressed to the point where it can provide an inexpensive and efficient means of capturing imagery at this middle scale of measurement with detail that is adequate to interpret Arctic vegetation (i.e. 1–5 cm and coverage that can be directly related to satellite imagery (1–10 km2. Unlike satellite measurements

  8. Radioprotection and radar: practical aspects

    International Nuclear Information System (INIS)

    Pepersack, J.P.

    1979-01-01

    The author, on basis of his experience in radar-radioprotection, exposes the standard and security norms and recommendations to be applied for the preventive adapation of the work-areas as well as for the follow-up of the exposed workers. (author)

  9. Synthetic aperture radar capabilities in development

    Energy Technology Data Exchange (ETDEWEB)

    Miller, M. [Lawrence Livermore National Lab., CA (United States)

    1994-11-15

    The Imaging and Detection Program (IDP) within the Laser Program is currently developing an X-band Synthetic Aperture Radar (SAR) to support the Joint US/UK Radar Ocean Imaging Program. The radar system will be mounted in the program`s Airborne Experimental Test-Bed (AETB), where the initial mission is to image ocean surfaces and better understand the physics of low grazing angle backscatter. The Synthetic Aperture Radar presentation will discuss its overall functionality and a brief discussion on the AETB`s capabilities. Vital subsystems including radar, computer, navigation, antenna stabilization, and SAR focusing algorithms will be examined in more detail.

  10. Radar application in void and bar detection

    International Nuclear Information System (INIS)

    Amry Amin Abas; Mohamad Pauzi Ismail; Suhairy Sani

    2003-01-01

    Radar is one of the new non-destructive testing techniques for concrete and structures inspection. Radar is a non-ionizing electromagnetic wave that can penetrate deep into concrete or soil in about several tenths of meters. Method of inspection using radar enables us to perform high resolution detection, imaging and mapping of subsurface concrete and soil condition. This paper will discuss the use of radar for void and bar detection and sizing. The samples used in this paper are custom made samples and comparison will be made to validate the use of radar in detecting, locating and also size determination of voids and bars. (Author)

  11. Radar meteor rates and solar activity

    International Nuclear Information System (INIS)

    Prikryl, P.

    1983-01-01

    The short-term variation of diurnal radar meteor rates with solar activity represented by solar microwave flux Fsub(10.7), and sunspots relative number Rsub(z), is investigated. Applying the superposed-epoch analysis to the observational material of radar meteor rates from Christchurch (1960-61 and 1963-65), a decrease in the recorded radar rates is found during days of enhanced solar activity. No effect of geomagnetic activity similar to the one reported for the Swedish and Canadian radar meteor data was found by the author in the Christchurch data. A possible explanation of the absence of the geomagnetic effect on radar meteor rates from New Zealand due to a lower echo ceiling height of the Christchurch radar is suggested. The variation of the atmospheric parameters as a possible cause of the observed variation in radar meteor rates is also discussed. (author)

  12. Using Multi-Spectral UAV Imagery to Extract Tree Crop Structural Properties and Assess Pruning Effects

    KAUST Repository

    Johansen, Kasper; Raharjo, Tri; McCabe, Matthew

    2018-01-01

    Unmanned aerial vehicles (UAV) provide an unprecedented capacity to monitor the development and dynamics of tree growth and structure through time. It is generally thought that the pruning of tree crops encourages new growth, has a positive effect

  13. Optimization of a Turboprop UAV for Maximum Loiter and Specific Power Using Genetic Algorithm

    Science.gov (United States)

    Dinc, Ali

    2016-09-01

    In this study, a genuine code was developed for optimization of selected parameters of a turboprop engine for an unmanned aerial vehicle (UAV) by employing elitist genetic algorithm. First, preliminary sizing of a UAV and its turboprop engine was done, by the code in a given mission profile. Secondly, single and multi-objective optimization were done for selected engine parameters to maximize loiter duration of UAV or specific power of engine or both. In single objective optimization, as first case, UAV loiter time was improved with an increase of 17.5% from baseline in given boundaries or constraints of compressor pressure ratio and burner exit temperature. In second case, specific power was enhanced by 12.3% from baseline. In multi-objective optimization case, where previous two objectives are considered together, loiter time and specific power were increased by 14.2% and 9.7% from baseline respectively, for the same constraints.

  14. A Robust Vision-based Runway Detection and Tracking Algorithm for Automatic UAV Landing

    KAUST Repository

    Abu Jbara, Khaled F.

    2015-01-01

    and attitude angle estimates to allow a more robust tracking of the runway under turbulence. We illustrate the performance of the proposed lane detection and tracking scheme on various experimental UAV flights conducted by the Saudi Aerospace Research Center

  15. COMPARISON OF DIGITAL SURFACE MODELS FOR SNOW DEPTH MAPPING WITH UAV AND AERIAL CAMERAS

    Directory of Open Access Journals (Sweden)

    R. Boesch

    2016-06-01

    Full Text Available Photogrammetric workflows for aerial images have improved over the last years in a typically black-box fashion. Most parameters for building dense point cloud are either excessive or not explained and often the progress between software releases is poorly documented. On the other hand, development of better camera sensors and positional accuracy of image acquisition is significant by comparing product specifications. This study shows, that hardware evolutions over the last years have a much stronger impact on height measurements than photogrammetric software releases. Snow height measurements with airborne sensors like the ADS100 and UAV-based DSLR cameras can achieve accuracies close to GSD * 2 in comparison with ground-based GNSS reference measurements. Using a custom notch filter on the UAV camera sensor during image acquisition does not yield better height accuracies. UAV based digital surface models are very robust. Different workflow parameter variations for ADS100 and UAV camera workflows seem to have only random effects.

  16. Fighter Pilot Inventory and Requirements Model; A Ten Year Look with Impact of UAV Increase

    National Research Council Canada - National Science Library

    Garner, Russell S; Villem, Paul A

    2005-01-01

    .... In recent years, Unmanned Aerial Vehicles have become a highly sought after commodity, and the number of UAV billets have increased, with more increases expected in the near future. Currently 45...

  17. Online stochastic UAV mission planning with time windows and time-sensitive targets

    NARCIS (Netherlands)

    Evers, L.; Barros, A.I.; Monsuur, H.; Wagelmans, A.

    2014-01-01

    In this paper we simultaneously consider three extensions to the standard Orienteering Problem (OP) to model characteristics that are of practical relevance in planning reconnaissance missions of Unmanned Aerial Vehicles (UAVs). First, travel and recording times are uncertain. Secondly, the

  18. Pilot Dependence on Imperfect Diagnostic Automation in Simulated UAV Flights: An Attentional Visual Scanning Analysis

    National Research Council Canada - National Science Library

    Wickens, Christopher; Dixon, Stephen; Goh, Juliana; Hammer, Ben

    2005-01-01

    An unmanned air vehicle (UAV) simulation was designed to reveal the effects of imperfectly reliable diagnostic automation a monitor of system health parameters on pilot attention, as the latter was assessed via visual scanning...

  19. Easy-to-Use UAV Ground Station Software for Low-Altitude Civil Operations, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — We propose to design and develop easy-to-use Ground Control Station (GCS) software for low-altitude civil Unmanned Aerial Vehicle (UAV) operations. The GCS software...

  20. Exploitation of Self Organization in UAV Swarms for Optimization in Combat Environments

    National Research Council Canada - National Science Library

    Nowak, Dustin J

    2008-01-01

    ...) swarms using autonomous self-organized cooperative control. This development required the design of a new abstract UAV swarm control model which flows from an abstract Markov structure, a Partially Observable Markov Decision Process...

  1. Generació de mapes a partir d'imatges preses amb un UAV

    OpenAIRE

    Perarnau, Guim; Universitat Autònoma de Barcelona. Escola d'Enginyeria

    2015-01-01

    En els darrers anys s'ha popularitzat l'ús dels UAVs (drones) en una gran varietat d'àmbits. Aquest treball se centra en el camp de generació de mapes (vistes àrees) òptima basat en imatges enregistrades amb un UAV. Per millorar la qualitat del mapa resultant es vol treure profit de la instal•lació de sensors en l'UAV que proporcionin informació que pugui ser útil en el procés, com la posició i l'orientació de l'UAV. Com a tal, es descriuran tots els passos emprats per tal d'aprofitar les dad...

  2. A meta-analysis of human-system interfaces in unmanned aerial vehicle (UAV) swarm management.

    Science.gov (United States)

    Hocraffer, Amy; Nam, Chang S

    2017-01-01

    A meta-analysis was conducted to systematically evaluate the current state of research on human-system interfaces for users controlling semi-autonomous swarms composed of groups of drones or unmanned aerial vehicles (UAVs). UAV swarms pose several human factors challenges, such as high cognitive demands, non-intuitive behavior, and serious consequences for errors. This article presents findings from a meta-analysis of 27 UAV swarm management papers focused on the human-system interface and human factors concerns, providing an overview of the advantages, challenges, and limitations of current UAV management interfaces, as well as information on how these interfaces are currently evaluated. In general allowing user and mission-specific customization to user interfaces and raising the swarm's level of autonomy to reduce operator cognitive workload are beneficial and improve situation awareness (SA). It is clear more research is needed in this rapidly evolving field. Copyright © 2016 Elsevier Ltd. All rights reserved.

  3. Wavelength-Adaptive Dehazing Using Histogram Merging-Based Classification for UAV Images

    Directory of Open Access Journals (Sweden)

    Inhye Yoon

    2015-03-01

    Full Text Available Since incoming light to an unmanned aerial vehicle (UAV platform can be scattered by haze and dust in the atmosphere, the acquired image loses the original color and brightness of the subject. Enhancement of hazy images is an important task in improving the visibility of various UAV images. This paper presents a spatially-adaptive dehazing algorithm that merges color histograms with consideration of the wavelength-dependent atmospheric turbidity. Based on the wavelength-adaptive hazy image acquisition model, the proposed dehazing algorithm consists of three steps: (i image segmentation based on geometric classes; (ii generation of the context-adaptive transmission map; and (iii intensity transformation for enhancing a hazy UAV image. The major contribution of the research is a novel hazy UAV image degradation model by considering the wavelength of light sources. In addition, the proposed transmission map provides a theoretical basis to differentiate visually important regions from others based on the turbidity and merged classification results.

  4. Swift Ultra Long Endurance (SULE) Unmanned Air Vehicle (UAV), Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — Ever since UAV's emerged as a reliable science instrument, the technology has been used to augment satellites, balloon flights, and provide spatial/resolution data...

  5. Falco UAV Low Reynolds Airfoil Design and Testing at Galileo Avionica

    National Research Council Canada - National Science Library

    Cistriani, Luca

    2007-01-01

    UAV operations are examined from a performance and logistic flexibility point of view in order to set up requirements to be input for the multiobjective optimization of a two component simple rotation...

  6. Wavelength-adaptive dehazing using histogram merging-based classification for UAV images.

    Science.gov (United States)

    Yoon, Inhye; Jeong, Seokhwa; Jeong, Jaeheon; Seo, Doochun; Paik, Joonki

    2015-03-19

    Since incoming light to an unmanned aerial vehicle (UAV) platform can be scattered by haze and dust in the atmosphere, the acquired image loses the original color and brightness of the subject. Enhancement of hazy images is an important task in improving the visibility of various UAV images. This paper presents a spatially-adaptive dehazing algorithm that merges color histograms with consideration of the wavelength-dependent atmospheric turbidity. Based on the wavelength-adaptive hazy image acquisition model, the proposed dehazing algorithm consists of three steps: (i) image segmentation based on geometric classes; (ii) generation of the context-adaptive transmission map; and (iii) intensity transformation for enhancing a hazy UAV image. The major contribution of the research is a novel hazy UAV image degradation model by considering the wavelength of light sources. In addition, the proposed transmission map provides a theoretical basis to differentiate visually important regions from others based on the turbidity and merged classification results.

  7. A Comparative Study of All-Accelerometer Strapdowns for UAV INS

    National Research Council Canada - National Science Library

    Cardou, Philippe; Angeles, Jorge

    2005-01-01

    ...) for Unmanned Aerial Vehicles (UAV). Benefiting from the fabrication processes of MEMS technologies, accelerometers now offer several advantages over gyroscopes, such as low weight, compactness, high reliability and low cost, for example...

  8. Development of an Experimental Platform for Testing Autonomous UAV Guidance and Control Algorithms

    National Research Council Canada - National Science Library

    Rufa, Justin R

    2007-01-01

    With the United States? push towards using unmanned aerial vehicles (UAVs) for more military missions, wide area search theory is being researched to determine the viability of multiple vehicle autonomous searches over the battle area...

  9. Real-time UAV trajectory generation using feature points matching between video image sequences

    Science.gov (United States)

    Byun, Younggi; Song, Jeongheon; Han, Dongyeob

    2017-09-01

    Unmanned aerial vehicles (UAVs), equipped with navigation systems and video capability, are currently being deployed for intelligence, reconnaissance and surveillance mission. In this paper, we present a systematic approach for the generation of UAV trajectory using a video image matching system based on SURF (Speeded up Robust Feature) and Preemptive RANSAC (Random Sample Consensus). Video image matching to find matching points is one of the most important steps for the accurate generation of UAV trajectory (sequence of poses in 3D space). We used the SURF algorithm to find the matching points between video image sequences, and removed mismatching by using the Preemptive RANSAC which divides all matching points to outliers and inliers. The inliers are only used to determine the epipolar geometry for estimating the relative pose (rotation and translation) between image sequences. Experimental results from simulated video image sequences showed that our approach has a good potential to be applied to the automatic geo-localization of the UAVs system

  10. Cooperative control of UAVs for localization of intermittently emitting mobile targets.

    Science.gov (United States)

    Pack, Daniel J; Delima, Pedro; Toussaint, Gregory J; York, George

    2009-08-01

    Compared with a single platform, cooperative autonomous unmanned aerial vehicles (UAVs) offer efficiency and robustness in performing complex tasks. Focusing on ground mobile targets that intermittently emit radio frequency signals, this paper presents a decentralized control architecture for multiple UAVs, equipped only with rudimentary sensors, to search, detect, and locate targets over large areas. The proposed architecture has in its core a decision logic which governs the state of operation for each UAV based on sensor readings and communicated data. To support the findings, extensive simulation results are presented, focusing primarily on two success measures that the UAVs seek to minimize: overall time to search for a group of targets and the final target localization error achieved. The results of the simulations have provided support for hardware flight tests.

  11. Implementation Of Vision-Based Landing Target Detection For VTOL UAV Using Raspberry Pi

    Directory of Open Access Journals (Sweden)

    Ei Ei Nyein

    2017-04-01

    Full Text Available This paper presents development and implementation of a real-time vision-based landing system for VTOL UAV. We use vision for precise target detection and recognition. A UAV is equipped with the onboard raspberry pi camera to take images and raspberry pi platform to operate the image processing techniques. Today image processing is used for various applications in this paper it is used for landing target extraction. And vision system is also used for take-off and landing function in VTOL UAV. Our landing target design is used as the helipad H shape. Firstly the image is captured to detect the target by the onboard camera. Next the capture image is operated in the onboard processor. Finally the alert sound signal is sent to the remote control RC for landing VTOL UAV. The information obtained from vision system is used to navigate a safe landing. The experimental results from real tests are presented.

  12. Distributed UAV-Swarm Real-Time Geomatic Data Collection Under Dynamically Changing Resolution Requirements

    Science.gov (United States)

    Almeida, Miguel; Hildmann, Hanno; Solmaz, Gürkan

    2017-08-01

    Unmanned Aerial Vehicles (UAVs) have been used for reconnaissance and surveillance missions as far back as the Vietnam War, but with the recent rapid increase in autonomy, precision and performance capabilities - and due to the massive reduction in cost and size - UAVs have become pervasive products, available and affordable for the general public. The use cases for UAVs are in the areas of disaster recovery, environmental mapping & protection and increasingly also as extended eyes and ears of civil security forces such as fire-fighters and emergency response units. In this paper we present a swarm algorithm that enables a fleet of autonomous UAVs to collectively perform sensing tasks related to environmental and rescue operations and to dynamically adapt to e.g. changing resolution requirements. We discuss the hardware used to build our own drones and the settings under which we validate the proposed approach.

  13. Design of attitude solution algorithm for tail-sitter VTOL UAV

    Directory of Open Access Journals (Sweden)

    Donghui LIU

    2016-02-01

    Full Text Available The tail-sitter Vertical Takeoff and Landing (VTOL Unmanned Aerial Vehicle(UAV, flying in a fixed-wing model, overcomes many shortcomings of traditional fixed-wing UAVs, and inherits the advantage of high overall efficiency, which means it has great development potential and very broad application prospects. The attitude of tail-sitter VTOL UAV shows a wide change range in its takeoff and landing stages, and when the attitude sensor changes more than 90 degrees in pitch direction, the Euler angles converted by the Quaternions will have singular points, which means gimbal deadlock appears. From the solution algorithm, this paper provides a method of changing the order of rotation to avoid the appearance of singular points. The results show that this method can be well applied to the attitude solution of the VTOL UAV.

  14. Demonstration of Linked UAV Observations and Atmospheric Model Predictions in Chem/Bio Attack Response

    National Research Council Canada - National Science Library

    Davidson, Kenneth

    2003-01-01

    ... meteorological data, and the means for linking the UAV data to real-time dispersion prediction. The primary modeling effort focused on an adaptation of the 'Wind On Constant Streamline Surfaces...

  15. Output Feedback Tracking Control of an Underactuated Quad-Rotor UAV

    National Research Council Canada - National Science Library

    Lee, DongBin; Burg, Timothy; Xian, Bin; Dawson, Darren

    2006-01-01

    ...) using output feedback (OFB). Specifically, an observer is designed to estimate the velocities and an output feedback controller is designed for a nonlinear UAV system in which only position and angles are measurable...

  16. PROCESSING OF UAV BASED RANGE IMAGING DATA TO GENERATE DETAILED ELEVATION MODELS OF COMPLEX NATURAL STRUCTURES

    Directory of Open Access Journals (Sweden)

    T. K. Kohoutek

    2012-07-01

    Full Text Available Unmanned Aerial Vehicles (UAVs are more and more used in civil areas like geomatics. Autonomous navigated platforms have a great flexibility in flying and manoeuvring in complex environments to collect remote sensing data. In contrast to standard technologies such as aerial manned platforms (airplanes and helicopters UAVs are able to fly closer to the object and in small-scale areas of high-risk situations such as landslides, volcano and earthquake areas and floodplains. Thus, UAVs are sometimes the only practical alternative in areas where access is difficult and where no manned aircraft is available or even no flight permission is given. Furthermore, compared to terrestrial platforms, UAVs are not limited to specific view directions and could overcome occlusions from trees, houses and terrain structures. Equipped with image sensors and/or laser scanners they are able to provide elevation models, rectified images, textured 3D-models and maps. In this paper we will describe a UAV platform, which can carry a range imaging (RIM camera including power supply and data storage for the detailed mapping and monitoring of complex structures, such as alpine riverbed areas. The UAV platform NEO from Swiss UAV was equipped with the RIM camera CamCube 2.0 by PMD Technologies GmbH to capture the surface structures. Its navigation system includes an autopilot. To validate the UAV-trajectory a 360° prism was installed and tracked by a total station. Within the paper a workflow for the processing of UAV-RIM data is proposed, which is based on the processing of differential GNSS data in combination with the acquired range images. Subsequently, the obtained results for the trajectory are compared and verified with a track of a UAV (Falcon 8, Ascending Technologies carried out with a total station simultaneously to the GNSS data acquisition. The results showed that the UAV's position using differential GNSS could be determined in the centimetre to the decimetre

  17. Flight route Designing and mission planning Of power line inspecting system Based On multi-sensor UAV

    International Nuclear Information System (INIS)

    Xiaowei, Xie; Zhengjun, Liu; Zhiquan, Zuo

    2014-01-01

    In order to obtain various information of power facilities such as spatial location, geometry, images data and video information in the infrared and ultraviolet band and so on, Unmanned Aerial Vehicle (UAV) power line inspecting system needs to integrate a variety of sensors for data collection. Low altitude and side-looking imaging are required for UAV flight to ensure sensors to acquire high-quality data and device security. In this paper, UAV power line inspecting system is deferent from existing ones that used in Surveying and Mapping. According to characteristics of UAV for example equipped multiple sensor, side-looking imaging, working at low altitude, complex terrain conditions and corridor type flight, this paper puts forward a UAV power line inspecting scheme which comprehensively considered of the UAV performance, sensor parameters and task requirements. The scheme is finally tested in a region of Guangdong province, and the preliminary results show that the scheme is feasible

  18. Enabling UAV Navigation with Sensor and Environmental Uncertainty in Cluttered and GPS-Denied Environments

    Directory of Open Access Journals (Sweden)

    Fernando Vanegas

    2016-05-01

    Full Text Available Unmanned Aerial Vehicles (UAV can navigate with low risk in obstacle-free environments using ground control stations that plan a series of GPS waypoints as a path to follow. This GPS waypoint navigation does however become dangerous in environments where the GPS signal is faulty or is only present in some places and when the airspace is filled with obstacles. UAV navigation then becomes challenging because the UAV uses other sensors, which in turn generate uncertainty about its localisation and motion systems, especially if the UAV is a low cost platform. Additional uncertainty affects the mission when the UAV goal location is only partially known and can only be discovered by exploring and detecting a target. This navigation problem is established in this research as a Partially-Observable Markov Decision Process (POMDP, so as to produce a policy that maps a set of motion commands to belief states and observations. The policy is calculated and updated on-line while flying with a newly-developed system for UAV Uncertainty-Based Navigation (UBNAV, to navigate in cluttered and GPS-denied environments using observations and executing motion commands instead of waypoints. Experimental results in both simulation and real flight tests show that the UAV finds a path on-line to a region where it can explore and detect a target without colliding with obstacles. UBNAV provides a new method and an enabling technology for scientists to implement and test UAV navigation missions with uncertainty where targets must be detected using on-line POMDP in real flight scenarios.

  19. Cooperative Search by UAV Teams: A Model Predictive Approach Using Dynamic Graphs

    Science.gov (United States)

    2011-10-01

    Consequently , target estimation is a challenging problem and a rich field of study in itself. We refer the reader to [1] and [11] for a deeper analysis of...decentralized processing and control architecture. SLAMEM asset models accurately represent the Unicorn UAV platforms and other standard military platforms in...IMPLEMENTATION The CGBMPS algorithm has been successfully field-tested using both Unicorn [27] and Raven [20] UAV platforms. This section describes

  20. Comprehensive UAV agricultural remote-sensing research at Texas A M University

    Science.gov (United States)

    Thomasson, J. Alex; Shi, Yeyin; Olsenholler, Jeffrey; Valasek, John; Murray, Seth C.; Bishop, Michael P.

    2016-05-01

    Unmanned aerial vehicles (UAVs) have advantages over manned vehicles for agricultural remote sensing. Flying UAVs is less expensive, is more flexible in scheduling, enables lower altitudes, uses lower speeds, and provides better spatial resolution for imaging. The main disadvantage is that, at lower altitudes and speeds, only small areas can be imaged. However, on large farms with contiguous fields, high-quality images can be collected regularly by using UAVs with appropriate sensing technologies that enable high-quality image mosaics to be created with sufficient metadata and ground-control points. In the United States, rules governing the use of aircraft are promulgated and enforced by the Federal Aviation Administration (FAA), and rules governing UAVs are currently in flux. Operators must apply for appropriate permissions to fly UAVs. In the summer of 2015 Texas A&M University's agricultural research agency, Texas A&M AgriLife Research, embarked on a comprehensive program of remote sensing with UAVs at its 568-ha Brazos Bottom Research Farm. This farm is made up of numerous fields where various crops are grown in plots or complete fields. The crops include cotton, corn, sorghum, and wheat. After gaining FAA permission to fly at the farm, the research team used multiple fixed-wing and rotary-wing UAVs along with various sensors to collect images over all parts of the farm at least once per week. This article reports on details of flight operations and sensing and analysis protocols, and it includes some lessons learned in the process of developing a UAV remote-sensing effort of this sort.

  1. Enabling UAV Navigation with Sensor and Environmental Uncertainty in Cluttered and GPS-Denied Environments.

    Science.gov (United States)

    Vanegas, Fernando; Gonzalez, Felipe

    2016-05-10

    Unmanned Aerial Vehicles (UAV) can navigate with low risk in obstacle-free environments using ground control stations that plan a series of GPS waypoints as a path to follow. This GPS waypoint navigation does however become dangerous in environments where the GPS signal is faulty or is only present in some places and when the airspace is filled with obstacles. UAV navigation then becomes challenging because the UAV uses other sensors, which in turn generate uncertainty about its localisation and motion systems, especially if the UAV is a low cost platform. Additional uncertainty affects the mission when the UAV goal location is only partially known and can only be discovered by exploring and detecting a target. This navigation problem is established in this research as a Partially-Observable Markov Decision Process (POMDP), so as to produce a policy that maps a set of motion commands to belief states and observations. The policy is calculated and updated on-line while flying with a newly-developed system for UAV Uncertainty-Based Navigation (UBNAV), to navigate in cluttered and GPS-denied environments using observations and executing motion commands instead of waypoints. Experimental results in both simulation and real flight tests show that the UAV finds a path on-line to a region where it can explore and detect a target without colliding with obstacles. UBNAV provides a new method and an enabling technology for scientists to implement and test UAV navigation missions with uncertainty where targets must be detected using on-line POMDP in real flight scenarios.

  2. Omnidirectional vision applied to Unmanned Aerial Vehicles (UAVs) attitude and heading estimation

    OpenAIRE

    Mondragon, Ivan F.; Campoy, Pascual; Martinez, Carol; Olivares Mendez, Miguel Angel

    2010-01-01

    This paper presents an aircraft attitude and heading estimator using catadioptric images as a principal sensor for UAV or as a redundant system for IMU (Inertial Measure Unit) and gyro sensors. First, we explain how the unified theory for central catadioptric cameras is used for attitude and heading estimation, explaining how the skyline is projected on the catadioptric image and how it is segmented and used to calculate the UAV's attitude. Then, we use appearance images to obtain a visual co...

  3. An Integrated Multi-Sensor Approach to Monitor Desert Environments by UAV and Satellite Sensors: Case Study Kubuqi Desert, China

    Science.gov (United States)

    Kim, J.; Lin, C. W.; vanGasselt, S.; Lin, S.; Lan, C. W.

    2017-12-01

    Expanding deserts have been causing significant socio-economical threats by, e.g., hampering anthropogenic activities or causing decline of agricultural productivity. Countries in the Asian-Pacific regions in particular have been suffering from dust storms originating in the arid deserts of China, Mongolia and central Asia. In order to mitigate such environmental interferences by means of, e.g. combat desertification activities and early warning systems, the establishment of reliable desert monitoring schemes is needed. In this study, we report on a remote sensing data fusion approach to constantly and precisely monitor desert environments. We have applied this approach over a test site located in the Kubuqi desert located in Northeast China and which is considered to be a major contributor of dust storms today. In order to understand spatial and temporal trends of desertification, the planimetric distribution and 3D shape and size of sand dunes were reconstructed using Digital Terrain Models (DTM) derived from stereo observations made by Unmanned Aerial Vehicles (UAV). Based on this, the volumetric change of sand dunes was directly estimated through co-registered DTMs. We furthermore derived and investigated topographic parameters, such as the aerodynamic roughness length, the protrusion coefficient, the Normalized Difference Angular Index, and the phase coherence derived from spaceborne optical/synthetic aperture radar (SAR) remote sensing assets with the calibration index from UAV observation. Throughout such a multi-data approach, temporal changes of a target's environmental parameters can be traced, analyzed and correlated with weather conditions. An improved understanding of aeolian processes in sand deserts will be a valuable contribution for desertification combat activities and early warning systems for dust storm generation. Future research needs to be conducted over more extensive spatial and temporal domains, also by combining investigations on the

  4. Fielding An Amphibious UAV: Development, Results, and Lessons Learned

    Science.gov (United States)

    Pisanich, Greg; Morris, Stephen

    2002-01-01

    This report summarizes the work completed on the design and flight-testing of a small, unmanned, amphibious demonstrator aircraft that flies autonomously. The aircraft named ACAT (Autonomous Cargo Amphibious Transport) is intended to be a large cargo carrying unmanned aircraft that operates from water to avoid airspace and airfield conflict issues between manned and unmanned aircraft. To demonstrate the feasibility of this concept, a demonstrator ACAT was designed, built, and flown that has a six-foot wingspan and can fly autonomously from land or water airfield. The demonstrator was designed for a 1-hour duration and 1-mile telemetry range. A sizing code was used to design the smallest demonstrator UAV to achieve these goals. The final design was a six-foot wingspan, twin hull configuration that distributes the cargo weight across the span, reducing the wing structural weight. The demonstrator airframe was constructed from balsa wood, fiberglass, and plywood. A 4-stroke model airplane engine powered by methanol fuel was mounted in a pylon above the wing and powers the ACAT UAV. Initial flight tests from land and water were conducted under manual radio control and confirmed the amphibious capability of the design. Flight avionics that were developed by MLB for production UAVs were installed in the ACAT demonstrator. The flight software was also enhanced to permit autonomous takeoff and landing from water. A complete autonomous flight from ahard runway was successfully completed on July 5, 2001 and consisted of a take-off, rectangular flight pattern, and landing under complete computer control. A completely autonomous flight that featured a water takeoff and landing was completed on October 4, 2001. This report describes these activities in detail and highlights the challenges encountered and solved during the development of the ACAT demonstrator. hard runway was successfully completed on July 5, 2001 and consisted of a take-off, rectangular flight pattern, and

  5. Digital Counts of Maize Plants by Unmanned Aerial Vehicles (UAVs

    Directory of Open Access Journals (Sweden)

    Friederike Gnädinger

    2017-05-01

    Full Text Available Precision phenotyping, especially the use of image analysis, allows researchers to gain information on plant properties and plant health. Aerial image detection with unmanned aerial vehicles (UAVs provides new opportunities in precision farming and precision phenotyping. Precision farming has created a critical need for spatial data on plant density. The plant number reflects not only the final field emergence but also allows a more precise assessment of the final yield parameters. The aim of this work is to advance UAV use and image analysis as a possible high-throughput phenotyping technique. In this study, four different maize cultivars were planted in plots with different seeding systems (in rows and equidistantly spaced and different nitrogen fertilization levels (applied at 50, 150 and 250 kg N/ha. The experimental field, encompassing 96 plots, was overflown at a 50-m height with an octocopter equipped with a 10-megapixel camera taking a picture every 5 s. Images were recorded between BBCH 13–15 (it is a scale to identify the phenological development stage of a plant which is here the 3- to 5-leaves development stage when the color of young leaves differs from older leaves. Close correlations up to R2 = 0.89 were found between in situ and image-based counted plants adapting a decorrelation stretch contrast enhancement procedure, which enhanced color differences in the images. On average, the error between visually and digitally counted plants was ≤5%. Ground cover, as determined by analyzing green pixels, ranged between 76% and 83% at these stages. However, the correlation between ground cover and digitally counted plants was very low. The presence of weeds and blurry effects on the images represent possible errors in counting plants. In conclusion, the final field emergence of maize can rapidly be assessed and allows more precise assessment of the final yield parameters. The use of UAVs and image processing has the potential to

  6. ARCHAEOLOGICAL SITE MONITORING: UAV PHOTOGRAMMETRY CAN BE AN ANSWER

    Directory of Open Access Journals (Sweden)

    F. Rinaudo

    2012-07-01

    Full Text Available During archaeological excavations it is important to monitor the new excavated areas and findings day by day in order to be able to plan future excavation activities. At present, this daily activity is usually performed by using total stations, which survey the changes of the archaeological site: the surveyors are asked to produce day by day draft plans and sections which allow archaeologists to plan their future activities. The survey is realized during the excavations or just at the end of every working day and drawings have to be produced as soon as possible in order to allow the comprehension of the work done and to plan the activities for the following day. By using this technique, all the measurements, even those not necessary for the day after, have to be acquired in order to avoid a ‘loss of memory’. A possible alternative to this traditional approach is aerial photogrammetry, if the images can be acquired quickly and at a taken distance able to guarantee the necessary accuracy of a few centimeters. Today the use of UAVs (Unmanned Aerial Vehicles can be considered a proven technology able to acquire images at distances ranging from 4 m up to 20 m: and therefore as a possible monitoring system to provide the necessary information to the archaeologists day by day. The control network, usually present at each archaeological site, can give the stable control points useful for orienting a photogrammetric block acquired by using an UAV equipped with a calibrated digital camera and a navigation control system able to drive the aircraft following a pre-planned flight scheme. Modern digital photogrammetric software can solve for the block orientation and generate a DSM automatically, allowing rapid orthophoto generation and the possibility of producing sections and plans. The present paper describes a low cost UAV system realized by the research group of the Politecnico di Torino and tested on a Roman villa archaeological site located in

  7. APPLICABILITY ANALYSIS OF ULTRA-LIGHT UAV FOR FLOODING SITE SURVEY IN SOUTH KOREA

    Directory of Open Access Journals (Sweden)

    I. Lee

    2013-05-01

    Full Text Available Recently, UAV (Unmanned Aerial Vehicle is used in a variety of fields such as the military service, fire prevention, traffic supervision, mapping, and etc. The increased demand for UAVs is typically attributed to the low manufacturing and operational costs, flexibility of the platforms to accommodate the consumer’s particular needs and the elimination of the risk to pilots’ lives in difficult missions. But, in South Korea, UAV might be first introduced to military service, and is still in its infancy, just being available for construction site monitoring, landscape photographing, spraying agricultural chemicals, broadcasting fields. This study presents the background and the aim of flood mapping, and presents the possibility analysis of how to use UAV effectively for flooding area. And author tries to overlap UAV image with the flooding area trace surveyed by ground surveys. As a result, it is expected that UAV photogrammetry will contributes to investigating the flooded area by providing images, which is describing the flooded area in near real-time and also making a decision like paying compensation.

  8. Secure Utilization of Beacons and UAVs in Emergency Response Systems for Building Fire Hazard.

    Science.gov (United States)

    Seo, Seung-Hyun; Choi, Jung-In; Song, Jinseok

    2017-09-25

    An intelligent emergency system for hazard monitoring and building evacuation is a very important application area in Internet of Things (IoT) technology. Through the use of smart sensors, such a system can provide more vital and reliable information to first-responders and also reduce the incidents of false alarms. Several smart monitoring and warning systems do already exist, though they exhibit key weaknesses such as a limited monitoring coverage and security, which have not yet been sufficiently addressed. In this paper, we propose a monitoring and emergency response method for buildings by utilizing beacons and Unmanned Aerial Vehicles (UAVs) on an IoT security platform. In order to demonstrate the practicability of our method, we also implement a proof of concept prototype, which we call the UAV-EMOR (UAV-assisted Emergency Monitoring and Response) system. Our UAV-EMOR system provides the following novel features: (1) secure communications between UAVs, smart sensors, the control server and a smartphone app for security managers; (2) enhanced coordination between smart sensors and indoor/outdoor UAVs to expand real-time monitoring coverage; and (3) beacon-aided rescue and building evacuation.

  9. Cross Validation on the Equality of Uav-Based and Contour-Based Dems

    Science.gov (United States)

    Ma, R.; Xu, Z.; Wu, L.; Liu, S.

    2018-04-01

    Unmanned Aerial Vehicles (UAV) have been widely used for Digital Elevation Model (DEM) generation in geographic applications. This paper proposes a novel framework of generating DEM from UAV images. It starts with the generation of the point clouds by image matching, where the flight control data are used as reference for searching for the corresponding images, leading to a significant time saving. Besides, a set of ground control points (GCP) obtained from field surveying are used to transform the point clouds to the user's coordinate system. Following that, we use a multi-feature based supervised classification method for discriminating non-ground points from ground ones. In the end, we generate DEM by constructing triangular irregular networks and rasterization. The experiments are conducted in the east of Jilin province in China, which has been suffered from soil erosion for several years. The quality of UAV based DEM (UAV-DEM) is compared with that generated from contour interpolation (Contour-DEM). The comparison shows a higher resolution, as well as higher accuracy of UAV-DEMs, which contains more geographic information. In addition, the RMSE errors of the UAV-DEMs generated from point clouds with and without GCPs are ±0.5 m and ±20 m, respectively.

  10. a Three-Dimensional Simulation and Visualization System for Uav Photogrammetry

    Science.gov (United States)

    Liang, Y.; Qu, Y.; Cui, T.

    2017-08-01

    Nowadays UAVs has been widely used for large-scale surveying and mapping. Compared with manned aircraft, UAVs are more cost-effective and responsive. However, UAVs are usually more sensitive to wind condition, which greatly influences their positions and orientations. The flight height of a UAV is relative low, and the relief of the terrain may result in serious occlusions. Moreover, the observations acquired by the Position and Orientation System (POS) are usually less accurate than those acquired in manned aerial photogrammetry. All of these factors bring in uncertainties to UAV photogrammetry. To investigate these uncertainties, a three-dimensional simulation and visualization system has been developed. The system is demonstrated with flight plan evaluation, image matching, POS-supported direct georeferencing, and ortho-mosaicing. Experimental results show that the presented system is effective for flight plan evaluation. The generated image pairs are accurate and false matches can be effectively filtered. The presented system dynamically visualizes the results of direct georeferencing in three-dimensions, which is informative and effective for real-time target tracking and positioning. The dynamically generated orthomosaic can be used in emergency applications. The presented system has also been used for teaching theories and applications of UAV photogrammetry.

  11. Robust drone detection for day/night counter-UAV with static VIS and SWIR cameras

    Science.gov (United States)

    Müller, Thomas

    2017-05-01

    Recent progress in the development of unmanned aerial vehicles (UAVs) has led to more and more situations in which drones like quadrocopters or octocopters pose a potential serious thread or could be used as a powerful tool for illegal activities. Therefore, counter-UAV systems are required in a lot of applications to detect approaching drones as early as possible. In this paper, an efficient and robust algorithm is presented for UAV detection using static VIS and SWIR cameras. Whereas VIS cameras with a high resolution enable to detect UAVs in the daytime in further distances, surveillance at night can be performed with a SWIR camera. First, a background estimation and structural adaptive change detection process detects movements and other changes in the observed scene. Afterwards, the local density of changes is computed used for background density learning and to build up the foreground model which are compared in order to finally get the UAV alarm result. The density model is used to filter out noise effects, on the one hand. On the other hand, moving scene parts like moving leaves in the wind or driving cars on a street can easily be learned in order to mask such areas out and suppress false alarms there. This scene learning is done automatically simply by processing without UAVs in order to capture the normal situation. The given results document the performance of the presented approach in VIS and SWIR in different situations.

  12. Cloud-Assisted UAV Data Collection for Multiple Emerging Events in Distributed WSNs.

    Science.gov (United States)

    Cao, Huiru; Liu, Yongxin; Yue, Xuejun; Zhu, Wenjian

    2017-08-07

    In recent years, UAVs (Unmanned Aerial Vehicles) have been widely applied for data collection and image capture. Specifically, UAVs have been integrated with wireless sensor networks (WSNs) to create data collection platforms with high flexibility. However, most studies in this domain focus on system architecture and UAVs' flight trajectory planning while event-related factors and other important issues are neglected. To address these challenges, we propose a cloud-assisted data gathering strategy for UAV-based WSN in the light of emerging events. We also provide a cloud-assisted approach for deriving UAV's optimal flying and data acquisition sequence of a WSN cluster. We validate our approach through simulations and experiments. It has been proved that our methodology outperforms conventional approaches in terms of flying time, energy consumption, and integrity of data acquisition. We also conducted a real-world experiment using a UAV to collect data wirelessly from multiple clusters of sensor nodes for monitoring an emerging event, which are deployed in a farm. Compared against the traditional method, this proposed approach requires less than half the flying time and achieves almost perfect data integrity.

  13. Doppler Effect-Based Automatic Landing Procedure for UAV in Difficult Access Environments

    Directory of Open Access Journals (Sweden)

    Jan M. Kelner

    2017-01-01

    Full Text Available Currently, almost unrestricted access to low-lying areas of airspace creates an opportunity to use unmanned aerial vehicles (UAVs, especially those capable of vertical take-off and landing (VTOL, in transport services. UAVs become increasingly popular for transporting postal items over small, medium, and large distances. It is forecasted that, in the near future, VTOL UAVs with a high take-off weight will also deliver goods to very distant and hard-to-reach locations. Therefore, UAV navigation plays a very important role in the process of carrying out transport services. At present, during the flight phase, drones make use of the integrated global navigation satellite system (GNSS and the inertial navigation system (INS. However, the inaccuracy of GNSS + INS makes it unsuitable for landing and take-off, necessitating the guidance of a human UAV operator during those phases. Available navigation systems do not provide sufficiently high positioning accuracy for an UAV. For this reason, full automation of the landing approach is not possible. This paper puts forward a proposal to solve this problem. The authors show the structure of an autonomous system and a Doppler-based navigation procedure that allows for automatic landing approaches. An accuracy evaluation of the developed solution for VTOL is made on the basis of simulation studies.

  14. Acquisition and Processing Protocols for Uav Images: 3d Modeling of Historical Buildings Using Photogrammetry

    Science.gov (United States)

    Murtiyoso, A.; Koehl, M.; Grussenmeyer, P.; Freville, T.

    2017-08-01

    Photogrammetry has seen an increase in the use of UAVs (Unmanned Aerial Vehicles) for both large and smaller scale cartography. The use of UAVs is also advantageous because it may be used for tasks requiring quick response, including in the case of the inspection and monitoring of buildings. The objective of the project is to study the acquisition and processing protocols which exist in the literature and to adapt them for UAV projects. This implies a study on the calibration of the sensors, flight planning, comparison of software solutions, data management, and analysis on the different products of a UAV project. Two historical buildings of the city of Strasbourg were used as case studies: a part of the Rohan Palace façade and the St-Pierre-le-Jeune Catholic church. In addition, a preliminary test was performed on the Josephine Pavilion. Two UAVs were used in this research; namely the Sensefly Albris and the DJI Phantom 3 Professional. The experiments have shown that the calibration parameters tend to be unstable for small sensors. Furthermore, the dense matching of images remains a particular problem to address in a close range photogrammetry project, more so in the presence of noise on the images. Data management in cases where the number of images is high is also very important. The UAV is nevertheless a suitable solution for the surveying and recording of historical buildings because it is able to take images from points of view which are normally inaccessible to classical terrestrial techniques.

  15. Data Gathering and Energy Transfer Dilemma in UAV-Assisted Flying Access Network for IoT.

    Science.gov (United States)

    Arabi, Sara; Sabir, Essaid; Elbiaze, Halima; Sadik, Mohamed

    2018-05-11

    Recently, Unmanned Aerial Vehicles (UAVs) have emerged as an alternative solution to assist wireless networks, thanks to numerous advantages they offer in comparison to terrestrial fixed base stations. For instance, a UAV can be used to embed a flying base station providing an on-demand nomadic access to network services. A UAV can also be used to wirelessly recharge out-of-battery ground devices. In this paper, we aim to deal with both data collection and recharging depleted ground Internet-of-Things (IoT) devices through a UAV station used as a flying base station. To extend the network lifetime, we present a novel use of UAV with energy harvesting module and wireless recharging capabilities. However, the UAV is used as an energy source to empower depleted IoT devices. On one hand, the UAV charges depleted ground IoT devices under three policies: (1) low-battery first scheme; (2) high-battery first scheme; and (3) random scheme. On the other hand, the UAV station collects data from IoT devices that have sufficient energy to transmit their packets, and in the same phase, the UAV exploits the Radio Frequency (RF) signals transmitted by IoT devices to extract and harvest energy. Furthermore, and as the UAV station has a limited coverage time due to its energy constraints, we propose and investigate an efficient trade-off between ground users recharging time and data gathering time. Furthermore, we suggest to control and optimize the UAV trajectory in order to complete its travel within a minimum time, while minimizing the energy spent and/or enhancing the network lifetime. Extensive numerical results and simulations show how the system behaves under different scenarios and using various metrics in which we examine the added value of UAV with energy harvesting module.

  16. High-Fidelity Solar Power Income Modeling for Solar-Electric UAVs: Development and Flight Test Based Verification

    OpenAIRE

    Oettershagen, Philipp

    2017-01-01

    Solar power models are a crucial element of solar-powered UAV design and performance analysis. During the conceptual design phase, their accuracy directly relates to the accuracy of the predicted performance metrics and thus the final design characteristics of the solar-powered UAV. Likewise, during the operations phase of a solar-powered UAV accurate solar power income models are required to predict and assess the solar power system performance. However, the existing literature on solar-powe...

  17. Data Gathering and Energy Transfer Dilemma in UAV-Assisted Flying Access Network for IoT

    Directory of Open Access Journals (Sweden)

    Sara Arabi

    2018-05-01

    Full Text Available Recently, Unmanned Aerial Vehicles (UAVs have emerged as an alternative solution to assist wireless networks, thanks to numerous advantages they offer in comparison to terrestrial fixed base stations. For instance, a UAV can be used to embed a flying base station providing an on-demand nomadic access to network services. A UAV can also be used to wirelessly recharge out-of-battery ground devices. In this paper, we aim to deal with both data collection and recharging depleted ground Internet-of-Things (IoT devices through a UAV station used as a flying base station. To extend the network lifetime, we present a novel use of UAV with energy harvesting module and wireless recharging capabilities. However, the UAV is used as an energy source to empower depleted IoT devices. On one hand, the UAV charges depleted ground IoT devices under three policies: (1 low-battery first scheme; (2 high-battery first scheme; and (3 random scheme. On the other hand, the UAV station collects data from IoT devices that have sufficient energy to transmit their packets, and in the same phase, the UAV exploits the Radio Frequency (RF signals transmitted by IoT devices to extract and harvest energy. Furthermore, and as the UAV station has a limited coverage time due to its energy constraints, we propose and investigate an efficient trade-off between ground users recharging time and data gathering time. Furthermore, we suggest to control and optimize the UAV trajectory in order to complete its travel within a minimum time, while minimizing the energy spent and/or enhancing the network lifetime. Extensive numerical results and simulations show how the system behaves under different scenarios and using various metrics in which we examine the added value of UAV with energy harvesting module.

  18. Thrust Control Loop Design for Electric-Powered UAV

    Science.gov (United States)

    Byun, Heejae; Park, Sanghyuk

    2018-04-01

    This paper describes a process of designing a thrust control loop for an electric-powered fixed-wing unmanned aerial vehicle equipped with a propeller and a motor. In particular, the modeling method of the thrust system for thrust control is described in detail and the propeller thrust and torque force are modeled using blade element theory. A relation between current and torque of the motor is obtained using an experimental setup. Another relation between current, voltage and angular velocity is also obtained. The electric motor and the propeller dynamics are combined to model the thrust dynamics. The associated trim and linearization equations are derived. Then, the thrust dynamics are coupled with the flight dynamics to allow a proper design for the thrust loop in the flight control. The proposed method is validated by an application to a testbed UAV through simulations and flight test.

  19. UAV – a useful tool for monitoring woodlands

    Directory of Open Access Journals (Sweden)

    Zmarz Anna

    2014-06-01

    Full Text Available Unmanned aerial systems are in many countries one of the most dynamically developing branches of technology. They have also been recognized and are being utilized by scientists who find remote sensing indispensable in their work. Today, it is increasingly common to find research teams utilizing so-called drones in field research. Unmanned systems are becoming ever more important for environment monitoring by, on the one hand, providing data from inaccessible or remote areas, and, on the other hand, reducing the human costs required by traditional large field teams while also increasing the efficiency of the work. This paper presents the possibility of utilizing UAVs for image data collection in woodland areas.

  20. LUNA: low-flying UAV-based forest monitoring system

    Science.gov (United States)

    Keizer, Jan Jacob; Pereira, Luísa; Pinto, Glória; Alves, Artur; Barros, Antonio; Boogert, Frans-Joost; Cambra, Sílvia; de Jesus, Cláudia; Frankenbach, Silja; Mesquita, Raquel; Serôdio, João; Martins, José; Almendra, Ricardo

    2015-04-01

    The LUNA project is aiming to develop an information system for precision forestry and, in particular, the monitoring of eucalypt plantations that is first and foremost based on multi-spectral imagery acquired using low-flying uav's. The presentation will focus on the first phase of image acquisition, processing and analysis for a series of pot experiments addressing main threats for early-stage eucalypt plantations in Portugal, i.e. acute , chronic and cyclic hydric stress, nutrient stress, fungal infections and insect plague attacks. The imaging results will be compared with spectroscopic measurements as well as with eco-physiological and plant morphological measurements. Furthermore, the presentation will show initial results of the project's second phase, comprising field tests in existing eucalypt plantations in north-central Portugal.