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

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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

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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

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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

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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

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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

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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

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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

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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

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Journées Micro-Drones 2003

27Carolo‘s Flight, December 2002Carolo‘s Flight, December 2002

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Journées Micro-Drones 2003

2811stst autonomous Flight, September 5th, 2003 autonomous Flight, September 5th, 2003

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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