Development of a Fully Autonomous Micro Aerial Vehicle for Ground Traffic Surveillance Aerospace...
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Development of a Fully Autonomous Micro Development of a Fully Autonomous Micro Aerial Vehicle for Ground Traffic SurveillanceAerial Vehicle for Ground Traffic Surveillance
Aerospace Systems, University of Braunschweig
Aerospace Systems, University of Braunschweig
Journées Micro-Drones 2003
2ContentsContents
Introduction
Theoretical Work
The Hardware of “Carolo”
Applications
Current Status & Outlook
Aerospace Systems, University of Braunschweig
Journées Micro-Drones 2003
3Introduction - What is an MAV ?Introduction - What is an MAV ?
definition according to DARPA semiautonomous aerial vehicle
max. dimensions: 15 x 15 x 15 cm
max. mass: ~ 115 g (4 ounces)
cost: < 1000$
additional requirements
telemetry link to ground control(for remote control)
real-time video link
range: ~ 10 km
cruising speed: ~ 50 km/h
endurance: 20 min - 60 min
Black Widow,Aerovironment Inc.
Entomopter,GeorgiaTec
Aerospace Systems, University of Braunschweig
Journées Micro-Drones 2003
4Introduction - The Project “Carolo”Introduction - The Project “Carolo”
Goal:
development of an autonomously operating Micro Aerial Vehicle with
dimensions as small as possible
wing span 0.40 m
mass 390 g
cruising speed 18 m/s
endurance 40 min
range 45 km
Aerospace Systems, University of Braunschweig
Journées Micro-Drones 2003
5Theoretical WorkTheoretical Work
Aerospace Systems, University of Braunschweig
Journées Micro-Drones 2003
6Theoretical Work Theoretical Work – Overall Control Structure– Overall Control Structure
modeling of
non-linear flight mechanics
turbulent atmosphere
sensor dynamics
actuator dynamics
pilot,navigation module
autopilotattitude
controlleractuators sensors
wind
damper
Aerospace Systems, University of Braunschweig
Journées Micro-Drones 2003
7
5 - dimensional parameter field
Angle of Attack -10° < < 40°Sideslip -32° < < 32°Elevator -15° < < 15°Aileron -15° < < 15°Flaps -8° < < 12°
Wind Tunnel Readings
CX, CY, CZ, CL, CM, CN = f()
Calculated Damping Derivatives
Roll Damping CLp
Pitch Damping CMq
Yaw Damping CNr
Wind tunel test april 2002 at the Institute of Fluid Dynamics,
Technical University of Braunschweig
Theoretical Work - DatabaseTheoretical Work - Database
Aerospace Systems, University of Braunschweig
Journées Micro-Drones 2003
8Theoretical Work - ResultsTheoretical Work - Results
Simulation of the autopilot
simulation with:
actuator dynamics sensor error models carolo‘s control algorithms
stable behavior, stationary accuracy oscillations due to
sensor deadtime,
GPS update rate missing curved flight compensation
Aerospace Systems, University of Braunschweig
Journées Micro-Drones 2003
9The Hardware of “Carolo”The Hardware of “Carolo”
Aerospace Systems, University of Braunschweig
Journées Micro-Drones 2003
10The Hardware of “Carolo” - AnatomyThe Hardware of “Carolo” - Anatomy
propulsion system
actuators
sensors
telemetry
on-board computer
payload
Aerospace Systems, University of Braunschweig
Journées Micro-Drones 2003
11The Hardware of “Carolo” - SensorsThe Hardware of “Carolo” - Sensors
receiver for Global Positioning System (GPS)
atmospheric pressure sensor
Inertial Measurement Unit (IMU)
Micro-Electro-Mechanical Systems
3 angular rate sensors
3 linear acceleration sensors
commercial-off-the-shelf components (COTS)
in-flight sensor data fusionMEMS-based 6-dof IMU
Aerospace Systems, University of Braunschweig
Journées Micro-Drones 2003
12The Hardware of “Carolo” - Sensor CalibrationThe Hardware of “Carolo” - Sensor Calibration
comparison of MAV IMU data with Honeywell LaserNav,test flight with the university‘s research aircraft DO128
Aerospace Systems, University of Braunschweig
Journées Micro-Drones 2003
13The Hardware of “Carolo” The Hardware of “Carolo” - Onboard Electronics- Onboard Electronics
ACTUATORSACTUATORS
PROPULSIONPROPULSION
PAYLOADPAYLOAD
IMU
GPS
IMU
GPS
GPRS
current autopilot hardware
dimensions: 75mm*40mm*38 mm
mass: 85 gr.
including: on-board computer gps & antenna 3 accelerometers 3 gyros 3-axis magnetometer 2 pressure sensors
video camera: 25 gr. (analog)
telemetry: 50 gr. (future)
Aerospace Systems, University of Braunschweig
Journées Micro-Drones 2003
14ApplicationsApplications
The MAV “Carolo”, wingspan 40 cm, mass 390 g
Aerospace Systems, University of Braunschweig
Journées Micro-Drones 2003
15ApplicationsApplications
possible applications
meteorology
– vertical profiles of temperature and humidity
– increase of spatial resolution by using multiple MAVs
Live video transmission
– Police, border patrol, military applications
– Civil protection
– Ground traffic surveilance
Aerospace Systems, University of Braunschweig
Journées Micro-Drones 2003
16Ground Traffic Surveillance - ConceptGround Traffic Surveillance - Concept
mission control
data analysis police, fire department ambulance accident investigation highway board
departmentI
n t
e r
n e
t
Carolo
mobile access
of information
GPRS / UMTS
Aerospace Systems, University of Braunschweig
Journées Micro-Drones 2003
17Ground Traffic Surveillance - Image SensorGround Traffic Surveillance - Image Sensor
current: analog video camera– mass: ~ 25 g– dedicated radio downlink– live video stream– short range: ~ 200 m
under progress: digital CMOS camera– mass: ~ 30 g– resolution: 1.3 megapixel– image transmission via telemetry link– frame rate depends on telemetry data rate– on-board image compression possible
Aerospace Systems, University of Braunschweig
Journées Micro-Drones 2003
18Ground Traffic Surveillance - TelemetryGround Traffic Surveillance - Telemetry
mobile cellular phone network– infrastructure already available– virtually unlimited range– comparably low data rate requires
image compression (e.g. JPEG2000)
type data rate
GSM 9.6 kbps
GPRS 28.8 kbps
UMTS 384 kbps
comparison of different standards for mobile communication
Aerospace Systems, University of Braunschweig
Journées Micro-Drones 2003
19Ground Traffic Surveillance - Aerial Image QualityGround Traffic Surveillance - Aerial Image Quality
high-resolution aerial picture, no compression
no compression
field of view: 510 m x 380 m
image size: 1024 x 768 pixel
data size: 2304 kbyte
Aerospace Systems, University of Braunschweig
Journées Micro-Drones 2003
20Ground Traffic Surveillance - Aerial Image QualityGround Traffic Surveillance - Aerial Image Quality
high-resolution aerial picture, compression rate 1:40
JPEG2000 (rate 1:40)
field of view: 510 m x 380 m
image size: 1024 x 768 pixel
data size: 60 kbyte
Aerospace Systems, University of Braunschweig
Journées Micro-Drones 2003
21Ground Traffic Surveillance - Aerial Image QualityGround Traffic Surveillance - Aerial Image Quality
low-resolution aerial picture, compression rate 1:40
JPEG2000 (rate: 1:40)
field of view: 160 m x 120 m
image size: 320 x 240 pixel
data size: 5.5 kbyte
Aerospace Systems, University of Braunschweig
Journées Micro-Drones 2003
22Ground Traffic Surveillance - TelemetryGround Traffic Surveillance - Telemetry
type data ratetime per
hi-res. imagetime per
lo-res. image
GSM 9.6 kbps 62.5 s 5.7 s
GPRS 28.8 kbps 20.8 s 1.9 s
UMTS 384 kbps 1.6 s 0.2 s
comparison of different standards for mobile communication
Aerospace Systems, University of Braunschweig
Journées Micro-Drones 2003
23Ground Traffic Surveillance - Ground ControlGround Traffic Surveillance - Ground Control
ground control PC software, server-client-based
Aerospace Systems, University of Braunschweig
Journées Micro-Drones 2003
24Current Status & OutlookCurrent Status & Outlook
Aerospace Systems, University of Braunschweig
Journées Micro-Drones 2003
25Current Status - Towards Autonomous FlightCurrent Status - Towards Autonomous Flight
Altitude Controller- August 2003 -
Waypoint Navigation- September 2003 -
circling during strong thermal activityH < 2m no optimized feedback gains
succesful test of complete autopilot test platform:
model plane, span 1.5 m
Aerospace Systems, University of Braunschweig
Journées Micro-Drones 2003
26Outlook - Field TestOutlook - Field Test
cooperation with the German automobile club
“ADAC Niedersachsen/Sachsen-Anhalt”
agreement with local and federal authorities
scheduled for Spring 2004
“Carolo XL”, wingspan 100 cm, mass 940 g
MAV “Carolo”, wingspan 40 cm, mass 390 g
Aerospace Systems, University of Braunschweig
Journées Micro-Drones 2003
27Carolo‘s Flight, December 2002Carolo‘s Flight, December 2002
Aerospace Systems, University of Braunschweig
Journées Micro-Drones 2003
2811stst autonomous Flight, September 5th, 2003 autonomous Flight, September 5th, 2003
Aerospace Systems, University of Braunschweig
Journées Micro-Drones 2003
29
First EuropeanMicro Air Vehicle Conference
and Flight Competition
EMAV 2004 Braunschweig, Germany
13 – 14 Juli 2004
organised by the German Institute of Navigation