Successfully reported this slideshow.
We use your LinkedIn profile and activity data to personalize ads and to show you more relevant ads. You can change your ad preferences anytime.

Unmanned Aerial Vehicles as Mobile Multi-sensor Platforms

1,731 views

Published on

Short Paper presentation at the AGILE 2011 Conference in Utrecht, the Netherlands.

Published in: Technology
  • Be the first to comment

  • Be the first to like this

Unmanned Aerial Vehicles as Mobile Multi-sensor Platforms

  1. 1. 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
  2. 2. 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
  3. 3. Introduction ● Use case from landscape ecology ● Determine meteorological inversions in the Prandtl-Layer3 http://purl.net/ifgi/copter
  4. 4. 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
  5. 5. Introduction ● Quick answer ● Abstract the integration layer from protocol specifics ● Framework Approach – described later on5 http://purl.net/ifgi/copter
  6. 6. Overview 1. Introduction 2. Sensor platforms 3. Framework Approach 4. Integration into the Sensor Web 5. Future Work and Impressions6 http://purl.net/ifgi/copter
  7. 7. 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
  8. 8. Sensor platforms ● Basis is a building kit by www.mikrokopter.de ● Wireless downlink included8 http://purl.net/ifgi/copter
  9. 9. Sensor platforms ● How to measure phenomena? ● Integrate independent computing unit ● Actual sensors are operated ● Independent wireless downlink9 http://purl.net/ifgi/copter
  10. 10. 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
  11. 11. Overview 1. Introduction 2. Sensor platforms 3. Framework Approach 4. Integration into the Sensor Web 5. Future Work and Impressions11 http://purl.net/ifgi/copter
  12. 12. 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
  13. 13. Framework Approach ● Architecture13 http://purl.net/ifgi/copter
  14. 14. Framework Approach ● Basis is description of Plugin Behaviour ● Input/Output phenomena using SensorML ● When to create Output?14 http://purl.net/ifgi/copter
  15. 15. 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
  16. 16. 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
  17. 17. Framework Approach ● Called once internal output is created Reminder: ● Functionality only triggered by framework ● No limitations17 http://purl.net/ifgi/copter
  18. 18. Overview 1. Introduction 2. Sensor platforms 3. Framework Approach 4. Integration into the Sensor Web 5. Future Work and Impressions18 http://purl.net/ifgi/copter
  19. 19. Integration into the Sensor Web19 http://purl.net/ifgi/copter
  20. 20. 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
  21. 21. Integration into the Sensor Web ● Establish connection to Sensor Bus → integration into connected SWE services21 http://purl.net/ifgi/copter
  22. 22. Integration into the Sensor Web Test evaluations22 http://purl.net/ifgi/copter
  23. 23. Overview 1. Introduction 2. Sensor platforms 3. Framework Approach 4. Integration into the Sensor Web 5. Future Work and Impressions23 http://purl.net/ifgi/copter
  24. 24. 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
  25. 25. Future Work ● Visualization ● Additional sensors ● Fine dust ● Gas sensors ● Digital elevation models ● Autonomic flight (security and surveillance)25 http://purl.net/ifgi/copter
  26. 26. Source Code available at:26 http://purl.net/ifgi/copter
  27. 27. Thank you for your kind attention! Questions? http://purl.net/ifgi/copter → UAV Workshop @ Geoinformatik 201127 http://purl.net/ifgi/copter

×