proposed uhv focuses on the following functions: remote controllable stream, lake-floor surveying...
TRANSCRIPT
![Page 1: Proposed UHV focuses on the following functions: Remote controllable Stream, lake-floor surveying Positioning using GPS and INS Real-time data processing](https://reader030.vdocuments.us/reader030/viewer/2022020200/56649e4c5503460f94b40bf2/html5/thumbnails/1.jpg)
• Proposed UHV focuses on the following functions:
Remote controllableStream, lake-floor surveyingPositioning using GPS and INSReal-time data processing and displaying results
The Objective of the proposed UAV
![Page 2: Proposed UHV focuses on the following functions: Remote controllable Stream, lake-floor surveying Positioning using GPS and INS Real-time data processing](https://reader030.vdocuments.us/reader030/viewer/2022020200/56649e4c5503460f94b40bf2/html5/thumbnails/2.jpg)
Components of Proposed UAV
![Page 3: Proposed UHV focuses on the following functions: Remote controllable Stream, lake-floor surveying Positioning using GPS and INS Real-time data processing](https://reader030.vdocuments.us/reader030/viewer/2022020200/56649e4c5503460f94b40bf2/html5/thumbnails/3.jpg)
1. UHV platform including frame, motors and controller board
and remote control
![Page 4: Proposed UHV focuses on the following functions: Remote controllable Stream, lake-floor surveying Positioning using GPS and INS Real-time data processing](https://reader030.vdocuments.us/reader030/viewer/2022020200/56649e4c5503460f94b40bf2/html5/thumbnails/4.jpg)
2. Ultrasonic sensor
Components of Proposed UAV
PART NUMBER ST-601
Nominal Frequency 70/190
Overall sensitivity -30dB distance : 100cm
Capacitance [pF] 1,400
Total Beam angle[˚](3dB down) 20±5
Detectable range [m] 50/20Resolution [mm] 3min
Dimension[ mm] [Diameter × thickness] 62 X 63h
Weight [kg] 1.2(with 10m cable)
![Page 5: Proposed UHV focuses on the following functions: Remote controllable Stream, lake-floor surveying Positioning using GPS and INS Real-time data processing](https://reader030.vdocuments.us/reader030/viewer/2022020200/56649e4c5503460f94b40bf2/html5/thumbnails/5.jpg)
3. Microcontroller main board (MCU)
Arduino mega 2560 board (one mounted in UAV, and one for base station)
Components of Proposed UAV
![Page 6: Proposed UHV focuses on the following functions: Remote controllable Stream, lake-floor surveying Positioning using GPS and INS Real-time data processing](https://reader030.vdocuments.us/reader030/viewer/2022020200/56649e4c5503460f94b40bf2/html5/thumbnails/6.jpg)
4. Wireless data transmission module for remote controlling:
XBee Pro 900 RPSMA 50mW (http://goods.ruten.com.tw/item/show?21304077019543)
Highest 9.6kbps baud rate 100 mW (+17 dBm) power output Up to 10 Km
Components of Proposed UAV
![Page 7: Proposed UHV focuses on the following functions: Remote controllable Stream, lake-floor surveying Positioning using GPS and INS Real-time data processing](https://reader030.vdocuments.us/reader030/viewer/2022020200/56649e4c5503460f94b40bf2/html5/thumbnails/7.jpg)
5. INS/GPS module for determining position and orientation and path planning
(developing from previous researches)
Components of Proposed UAV
![Page 8: Proposed UHV focuses on the following functions: Remote controllable Stream, lake-floor surveying Positioning using GPS and INS Real-time data processing](https://reader030.vdocuments.us/reader030/viewer/2022020200/56649e4c5503460f94b40bf2/html5/thumbnails/8.jpg)
Operation principle
![Page 9: Proposed UHV focuses on the following functions: Remote controllable Stream, lake-floor surveying Positioning using GPS and INS Real-time data processing](https://reader030.vdocuments.us/reader030/viewer/2022020200/56649e4c5503460f94b40bf2/html5/thumbnails/9.jpg)
Operation principle
![Page 10: Proposed UHV focuses on the following functions: Remote controllable Stream, lake-floor surveying Positioning using GPS and INS Real-time data processing](https://reader030.vdocuments.us/reader030/viewer/2022020200/56649e4c5503460f94b40bf2/html5/thumbnails/10.jpg)
Operation principle
![Page 11: Proposed UHV focuses on the following functions: Remote controllable Stream, lake-floor surveying Positioning using GPS and INS Real-time data processing](https://reader030.vdocuments.us/reader030/viewer/2022020200/56649e4c5503460f94b40bf2/html5/thumbnails/11.jpg)
• Software to process INS/GPS data to provide position and orientation of the UHV
• Software to process the Ultrasonic data acquired from UHV and transform them into a Geo-reference frame that can be used for multi-purpose– water-floor mapping– Detecting underwater object– Monitoring underwater infrastructure
Post-processing works
![Page 12: Proposed UHV focuses on the following functions: Remote controllable Stream, lake-floor surveying Positioning using GPS and INS Real-time data processing](https://reader030.vdocuments.us/reader030/viewer/2022020200/56649e4c5503460f94b40bf2/html5/thumbnails/12.jpg)
Post-processing works
![Page 13: Proposed UHV focuses on the following functions: Remote controllable Stream, lake-floor surveying Positioning using GPS and INS Real-time data processing](https://reader030.vdocuments.us/reader030/viewer/2022020200/56649e4c5503460f94b40bf2/html5/thumbnails/13.jpg)
Components with cost estimated (for reference)
Components with cost estimated
Components Price (Tw NT)
Quantity Cost(NTD)
UHV platform 5,000 1 5,000
Arduino mega 2560
1,000 2 2,000
Xbee pro (10 km) 3,000 1 3,000
GPS module 2,000 1 2,000
MEMS IMU 2,000 1 2,000
Untrasonic sensor 5,000 1 5,000
Total 19,000