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High-precision Positioning and Real-time
    Data Processing of UAV-Systems


                          Matthes Rieke,
          Theodor Foerster, Jakob Geipel, Torsten Prinz
        Institute for Geoinformatics – University of Muenster


UAV-g 2011 Conference – September 16, 2011 – Zurich, Switzerland




   http://purl.net/ifgi/copter
Sensor platforms
    ●   Current available UAV systems use common GPS receivers
    ●   Not addressing use cases where high position accuracy is inevitable

        ●   Creating orthophos using Direct Georeferencing




2              http://purl.net/ifgi/copter
Approach for improving position accuracy


• Micro- or small-sized UAV systems
• Improvement using Real Time Kinematic


• Prototypical realization using a Microdrones md4-200
    • Overview of the used hardware
    • Conceptual design of data processing software




3         http://purl.net/ifgi/copter
Teaser of the used hardware




4   http://purl.net/ifgi/copter
Possible use case
• Improve/Enable Direct Georeferencing
    • Currently limited due to several aspects
        • Exterior orientation (e.g. low-cost GPS/GNSS, IMU)
        • Alignment of time of image acquisition and positioning


     Focus on improving absolute positioning using advanced GNSS
      techniques + timestamp synchronisation

• Stabilize flight trajectory
    • Decrease the position delta between planned and actual image position




5          http://purl.net/ifgi/copter
Improving position accuracy on-the-fly

    REAL TIME KINEMATIC


6           http://purl.net/ifgi/copter
Real Time Kinematic
• Specialized form of Differential GNSS
• Ground based Augmentation System
• Takes phase observations into account for error estimation
• Based on correctional signals from national services




7       http://purl.net/ifgi/copter
Real Time Kinematic
• What do you need?
• 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




• Payload!

8         http://purl.net/ifgi/copter
Real Time Kinematics




9   http://purl.net/ifgi/copter
Benefitting from improved positioning

     DATA PROCESSING


10           http://purl.net/ifgi/copter
Software approach

     ●   Software running on groundstation
         ●   Support for different UAV platforms
         ●   Synchronization of multiple data streams to enable
             real-time measurement capabilities
         ●   Modulized architecture to foster reusability


     ●   Realized using      Software Framework



11             http://purl.net/ifgi/copter
Framework Approach

     ●   Architecture




12           http://purl.net/ifgi/copter
Framework Approach




     ●   Synchronization of sensor streams
         ●   Why synchronize streams?
              ●   Knowledge of exact position at time
                  of image aquisition
         ●   Currently: interpolation mechanism
              ●   Abstract – easily adjustable for application




13                http://purl.net/ifgi/copter
Framework Approach

     ●   Basis is description of Plugin Behaviour
         ●   Input/Output phenomena using XML descriptions
         ●   When to determine a position?




14              http://purl.net/ifgi/copter
Applying in real-world situations

     RESULTS AND FUTURE WORK


15           http://purl.net/ifgi/copter
Hardware integration
 • Currently only DGPS receiver used
 • Future work involves an RTK-enabled L1/L2 GPS/GLONASS
   receiver
 • Problem of moved centroid
     • Hardware optimization


 • Implementation of Direct Georeferencing workflow
 • Move to md4-1000 to gain more payload




16         http://purl.net/ifgi/copter
Hardware integration




17   http://purl.net/ifgi/copter
Use case – precision farming




                                Monitoring          Precision
                                workflow             farming


     Push-based
     communication




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




19        http://purl.net/ifgi/copter
WHAT IS MISSING?


20      http://purl.net/ifgi/copter
Thank you for your kind attention!
     Questions?



       http://purl.net/ifgi/copter
 Matthes Rieke – m.rieke@uni-muenster.de




21        http://purl.net/ifgi/copter

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High-precision Positioning and Real-time Data Processing of UAV-Systems

  • 1. High-precision Positioning and Real-time Data Processing of UAV-Systems Matthes Rieke, Theodor Foerster, Jakob Geipel, Torsten Prinz Institute for Geoinformatics – University of Muenster UAV-g 2011 Conference – September 16, 2011 – Zurich, Switzerland http://purl.net/ifgi/copter
  • 2. Sensor platforms ● Current available UAV systems use common GPS receivers ● Not addressing use cases where high position accuracy is inevitable ● Creating orthophos using Direct Georeferencing 2 http://purl.net/ifgi/copter
  • 3. Approach for improving position accuracy • Micro- or small-sized UAV systems • Improvement using Real Time Kinematic • Prototypical realization using a Microdrones md4-200 • Overview of the used hardware • Conceptual design of data processing software 3 http://purl.net/ifgi/copter
  • 4. Teaser of the used hardware 4 http://purl.net/ifgi/copter
  • 5. Possible use case • Improve/Enable Direct Georeferencing • Currently limited due to several aspects • Exterior orientation (e.g. low-cost GPS/GNSS, IMU) • Alignment of time of image acquisition and positioning  Focus on improving absolute positioning using advanced GNSS techniques + timestamp synchronisation • Stabilize flight trajectory • Decrease the position delta between planned and actual image position 5 http://purl.net/ifgi/copter
  • 6. Improving position accuracy on-the-fly REAL TIME KINEMATIC 6 http://purl.net/ifgi/copter
  • 7. Real Time Kinematic • Specialized form of Differential GNSS • Ground based Augmentation System • Takes phase observations into account for error estimation • Based on correctional signals from national services 7 http://purl.net/ifgi/copter
  • 8. Real Time Kinematic • What do you need? • 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 • Payload! 8 http://purl.net/ifgi/copter
  • 9. Real Time Kinematics 9 http://purl.net/ifgi/copter
  • 10. Benefitting from improved positioning DATA PROCESSING 10 http://purl.net/ifgi/copter
  • 11. Software approach ● Software running on groundstation ● Support for different UAV platforms ● Synchronization of multiple data streams to enable real-time measurement capabilities ● Modulized architecture to foster reusability ● Realized using Software Framework 11 http://purl.net/ifgi/copter
  • 12. Framework Approach ● Architecture 12 http://purl.net/ifgi/copter
  • 13. Framework Approach ● Synchronization of sensor streams ● Why synchronize streams? ● Knowledge of exact position at time of image aquisition ● Currently: interpolation mechanism ● Abstract – easily adjustable for application 13 http://purl.net/ifgi/copter
  • 14. Framework Approach ● Basis is description of Plugin Behaviour ● Input/Output phenomena using XML descriptions ● When to determine a position? 14 http://purl.net/ifgi/copter
  • 15. Applying in real-world situations RESULTS AND FUTURE WORK 15 http://purl.net/ifgi/copter
  • 16. Hardware integration • Currently only DGPS receiver used • Future work involves an RTK-enabled L1/L2 GPS/GLONASS receiver • Problem of moved centroid • Hardware optimization • Implementation of Direct Georeferencing workflow • Move to md4-1000 to gain more payload 16 http://purl.net/ifgi/copter
  • 17. Hardware integration 17 http://purl.net/ifgi/copter
  • 18. Use case – precision farming Monitoring Precision workflow farming Push-based communication 18 http://purl.net/ifgi/copter
  • 19. Source Code available at: 19 http://purl.net/ifgi/copter
  • 20. WHAT IS MISSING? 20 http://purl.net/ifgi/copter
  • 21. Thank you for your kind attention! Questions? http://purl.net/ifgi/copter Matthes Rieke – m.rieke@uni-muenster.de 21 http://purl.net/ifgi/copter