ifgicopter @ Software Freedom Day 2011

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ifgicopter presentation at the Softwainvolving

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ifgicopter @ Software Freedom Day 2011

  1. 1. ifgicopter – open source software for unmanned aerial vehicles Matthes Rieke, Institute for Geoinformatics – University of MuensterSoftware Freedom Day 2011 – September 17, 2011 – produktivhaus muenster http://purl.net/ifgi/copter
  2. 2. Unmanned Aerial Vehicleshttp://purl.net/ifgi/copter
  3. 3. Civil UAV systems http://purl.net/ifgi/copter
  4. 4. Mikrokopter UAV – mikrokopter.de● big and active community project● dealing with hard- and software components for different purposes● Modulized construction kit● Components for ● Steering the UAV ● Automatic navigation ● GPS communication http://purl.net/ifgi/copter
  5. 5. Mikrokopter UAV● Firmware part / microcontroller ● FlightCtrl – general control of the UAV and its attitude ● NaviCtrl – dediacted computing unit for automatic navigation ● completely written in C● „Desktop“ components ● Running on ground station, using communication link ● Default tool – „MikrokopterTool“ – is closed source ● Several alternative approaches developed in the community http://purl.net/ifgi/copter
  6. 6. Mikrokopter UAV● MikrokopterTool http://purl.net/ifgi/copter
  7. 7. Mikrokopter @ ifgicopter http://purl.net/ifgi/copter
  8. 8. software developed at ifgicopterhttp://purl.net/ifgi/copter
  9. 9. Flight planning tool – demo http://purl.net/ifgi/copter
  10. 10. software developed at ifgicopter● java communication library – JavaMK ● Dealing with the proprietary communication protocol ● Using serial comm lib RXTX ● Raw commands transformed into Java objects● First step for the development of a self-developed data processing software http://purl.net/ifgi/copter
  11. 11. data processing software http://purl.net/ifgi/copter
  12. 12. ● Synchronization of sensor streams ● Why synchronize streams? ● Knowledge of exact position at time of image aquisition ● Currently: interpolation mechanism ● Abstract – easily adjustable for application http://purl.net/ifgi/copter
  13. 13. Calculating orthophotos● Input/Output phenomena using XML descriptions ● When to determine a position? http://purl.net/ifgi/copter
  14. 14. Current ongoing work – Real Time Kinematic● In general: rather cost-intensive hardware ● GNSS receiver + antenna – processing of RTK corrections ● Radio modem (e.g. GPRS) to retrieve correction signals ● Processing unit for data communication http://purl.net/ifgi/copter
  15. 15. Current ongoing work – Real Time Kinematic http://purl.net/ifgi/copter
  16. 16. some use caseshttp://purl.net/ifgi/copter
  17. 17. in-situ measurements of the atmosphere● Limitations of classic measur- ment methods (e.g. static or policy restrictions)● UAVs fill the gaps● The before introduced framework was developed on-top of this use case http://purl.net/ifgi/copter
  18. 18. Remote sensing● modular setup http://purl.net/ifgi/copter
  19. 19. Remote sensing● Classification of a rapeseed field http://purl.net/ifgi/copter
  20. 20. Source Code available at: http://purl.net/ifgi/copter
  21. 21. Thank you for your kind attention!Questions? http://purl.net/ifgi/copter Matthes Rieke – m.rieke@uni-muenster.de21 http://purl.net/ifgi/copter

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