Unmanned Aerial Vehicles as Mobile Multi-sensor Platforms

Unmanned Aerial Vehicles as Mobile Multi-sensor Platforms Matthes Rieke, Theodor Foerster, Arne BroeringInstitute for Geoinformatics – University of Muenster AGILE 2011 Conference, Utrecht, 2011-04-19 http://purl.net/ifgi/copter

Overview 1. Introduction 2. Sensor platforms 3. Framework Approach 4. Integration into the Sensor Web 5. Future Work and Impressions2 http://purl.net/ifgi/copter

Introduction ● Use case from landscape ecology ● Determine meteorological inversions in the Prandtl-Layer3 http://purl.net/ifgi/copter

Introduction ● Mobile Multi-sensor Platform ● Unmanned Aerial Vehicle (UAV) as base ● Extended with several sensors ● Problems raised from this approach ● Different UAVs - different data encodings ● Varying sensors with specific low-level protocols ● How to integrate gathered data into the Sensor Web?4 http://purl.net/ifgi/copter

Introduction ● Quick answer ● Abstract the integration layer from protocol specifics ● Framework Approach – described later on5 http://purl.net/ifgi/copter

Sensor platforms ● Several UAVs available in the civilian domain ● Community Projects - e.g. ● Mikrokopter ● ArduCopter ● Commercial Projects - e.g. ● Microdrone ● AscTec7 http://purl.net/ifgi/copter

Sensor platforms ● Basis is a building kit by www.mikrokopter.de ● Wireless downlink included8 http://purl.net/ifgi/copter

Sensor platforms ● How to measure phenomena? ● Integrate independent computing unit ● Actual sensors are operated ● Independent wireless downlink9 http://purl.net/ifgi/copter

Sensor platforms ● System summary ● Mikrokopter UAV with downlink for GPS tracking ● Independent „Sensor Board“ for phenomena measurement → Two separated data streams New problem: How to fuse streams to enable real-time data provision?10 http://purl.net/ifgi/copter

Framework Approach ● Requirement summary ● Support for different UAV platforms ● Synchronization of multiple data streams to enable real-time measurement capabilities ● Sensor Web integration mechanism ● Realized using Software Framework12 http://purl.net/ifgi/copter

Framework Approach ● Architecture13 http://purl.net/ifgi/copter

Framework Approach ● Basis is description of Plugin Behaviour ● Input/Output phenomena using SensorML ● When to create Output?14 http://purl.net/ifgi/copter

Framework Approach<?xml version="1.0" encoding="UTF-8"?><spf:plugin xmlns:spf=http://ifgi.uni-muenster.de/~m_riek02/spf/0.1 name="urn:ifgi:id:ifgicopter2"> <spf:output> <spf:AvailabilityBehaviour> <spf:outputProperties> <spf:property>temperature</spf:property> <spf:property>humidity</spf:property> </spf:outputProperties> </spf:AvailabilityBehaviour> <spf:mandatoryProperties> <spf:property>position</spf:property> </spf:mandatoryProperties> </spf:output> <SensorML /></spf:plugin>15 http://purl.net/ifgi/copter

Framework Approach ● Synchronization of sensor streams ● Why synchronize streams? ● Have geotagged observations in real-time ● e.g. used by Complex Event Processing ● Overcome bandwidth issues (details later) ● Use of interpolation mechanism ● Abstract – easily adjustable for application ● Additional processing capabilities16 http://purl.net/ifgi/copter

Framework Approach ● Called once internal output is created Reminder: ● Functionality only triggered by framework ● No limitations17 http://purl.net/ifgi/copter

Integration into the Sensor Web19 http://purl.net/ifgi/copter

Integration into the Sensor Web ● achieved using Output-Plugin for the so-called Sensor Bus • communication infrastructure which underlies the different Sensor Web services (SOS, SES, SPS, etc.) • Well-defined communication protocol20 http://purl.net/ifgi/copter

Integration into the Sensor Web ● Establish connection to Sensor Bus → integration into connected SWE services21 http://purl.net/ifgi/copter

Integration into the Sensor Web Test evaluations22 http://purl.net/ifgi/copter

Future Work ● Differential GPS: Orthophotos without Ground Control Points ● Exterior Orientation ● Position (GPS) ● Rotation (IMU) ● Interior Orientation ● Principal point and distance (Camera calibration file) ● Terrain Model ● → Orthophoto24 http://purl.net/ifgi/copter

Future Work ● Visualization ● Additional sensors ● Fine dust ● Gas sensors ● Digital elevation models ● Autonomic flight (security and surveillance)25 http://purl.net/ifgi/copter

Source Code available at:26 http://purl.net/ifgi/copter

Thank you for your kind attention! Questions? http://purl.net/ifgi/copter → UAV Workshop @ Geoinformatik 201127 http://purl.net/ifgi/copter

Unmanned Aerial Vehicles as Mobile Multi-sensor Platforms

by Matthes Rieke on Apr 22, 2011

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Unmanned Aerial Vehicles as Mobile Multi-sensor Platforms — Presentation Transcript