ifgicopter @ Software Freedom Day 2011

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Matthes Rieke from the Institute for Geoinformatics at the University of Muenster presented on ifgicopter, an open source software for unmanned aerial vehicles (UAVs). The software builds on the popular Mikrokopter community project and includes a Java communication library, data processing software, and tools for flight planning and sensor synchronization. Current work involves real-time kinematic positioning and applications like atmospheric measurements and remote sensing of fields. The source code is available online.

Technology

ifgicopter – open source software for
unmanned aerial vehicles

Matthes Rieke,
Institute for Geoinformatics – University of Muenster

Software Freedom Day 2011 – September 17, 2011 – produktivhaus muenster

http://purl.net/ifgi/copter

Unmanned Aerial Vehicles

http://purl.net/ifgi/copter

Civil UAV systems

http://purl.net/ifgi/copter

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

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

Mikrokopter UAV

● MikrokopterTool

http://purl.net/ifgi/copter

Mikrokopter @ ifgicopter

http://purl.net/ifgi/copter

software developed at ifgicopter

http://purl.net/ifgi/copter

Flight planning tool – demo

http://purl.net/ifgi/copter

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

data processing software

http://purl.net/ifgi/copter

● 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

Calculating orthophotos

● Input/Output phenomena using XML descriptions
● When to determine a position?

http://purl.net/ifgi/copter

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

Current ongoing work – Real Time Kinematic

http://purl.net/ifgi/copter

some use cases

http://purl.net/ifgi/copter

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

Remote sensing

● modular setup

http://purl.net/ifgi/copter

Remote sensing

● Classification of
a rapeseed field

http://purl.net/ifgi/copter

Source Code available at:

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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ifgicopter @ Software Freedom Day 2011

1. ifgicopter – open source software for unmanned aerial vehicles Matthes Rieke, Institute for Geoinformatics – University of Muenster Software Freedom Day 2011 – September 17, 2011 – produktivhaus muenster http://purl.net/ifgi/copter

2. Unmanned Aerial Vehicles http://purl.net/ifgi/copter

3. Civil UAV systems http://purl.net/ifgi/copter

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. 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. Mikrokopter UAV ● MikrokopterTool http://purl.net/ifgi/copter

7. Mikrokopter @ ifgicopter http://purl.net/ifgi/copter

8. software developed at ifgicopter http://purl.net/ifgi/copter

9. Flight planning tool – demo http://purl.net/ifgi/copter

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. data processing software http://purl.net/ifgi/copter

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. Calculating orthophotos ● Input/Output phenomena using XML descriptions ● When to determine a position? http://purl.net/ifgi/copter

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. Current ongoing work – Real Time Kinematic http://purl.net/ifgi/copter

16. some use cases http://purl.net/ifgi/copter

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. Remote sensing ● modular setup http://purl.net/ifgi/copter

19. Remote sensing ● Classification of a rapeseed field http://purl.net/ifgi/copter

20. Source Code available at: 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

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