UAV Aerial Imagery & Autopilot Integration

Arick Reed Abraham-MESpencer Hanson - ME Tim Fratangelo - CEAlex Klymkow - EEAaron Wilbee - EE

Agenda● Project Background● Desired State● Obstacles● Project Plan

Team

Name Role Picture

Arick Reed Abraham ME / Coordinator

Spencer Hanson ME

Tim Fratangelo CE

Alex Klymkow EE

Aaron Wilbee EE

Team

Project Background● Imaging Science Department needs to take aerial Images

○ Currently done with full-scale aircraft○ High cost, infrequent flights

● UAVs significantly reduce operational costs and pilot risk○ Proper configuration for successful operation by less-

experienced users○ Easy to source replacement parts

Previous Projects● P13231

○ UAV Wireless Communication and Control

● P11562○ Modular Imaging System

Frame and Stabilization● P11232

○ UAV Airframe C.1● P11231

○ UAV Image Integration and Performance

● P10661○ Image Calibration Device

● P10236○ Configurable control platform

● P10232○ UAV Airframe C

● P10231○ UAV Telemetry

● P09561○ Visible Spectrum Imaging

System● P09233

○ Airframe Measurement and Aircraft Controls

● P09232○ UAV Airframe B

● P09231○ UAV Airframe A

Current State● Imaging Science still using hired aircraft for aerial photography.● Previous efforts have produced discrete systems.● Airborne imaging system previously developed, likely antiquated.● Existing payload-bearing aircraft requires more testing.

No fully integrated UAV imaging platform exists

Desired State● Full integration between airframe, autopilot, and imaging systems.● A UAV capable of autonomous waypoint-directed flight.● Integrated imaging system capable of taking and saving photos● Real-time control through the ground station.● On-demand transfer of control to a human pilot.

Stakeholders● Dr. Jason Kolodziej● RIT Imaging Science Department● MSD Team● Innocent Bystanders

PriorityMaximum Energy

OutputAircraft Powerplant

Sufficient Stability Functional AutopilotFunctional

Communication Link Camera Module

1

Autopilot follow Dynamically

updating Waypoints 9 x

2 FAA Compliance 9 x x

3Meaningful Mission

Time 9 x x

4GPS Triggered Image Capture 9 x x

5 Functional Aircraft 9 x x x

6Ground Station

Update Waypoints 3 x

7Receive Telemetry

and display 3 x

8Ground Station Image Capture 3 x

9Record Inertial

Position 3 x

10Modular Camera

Mount 3 x

Measure KWH KW BFT BFT BFT BFT

House of Quality

Objectives● Stable reusable aircraft ● Control strategy/algorithms● Interchangeable camera equipment● Accurate information recording

Deliverables● Functional autonomous small (test) aircraft● Functional payload bearing (X-4) aircraft with:

○ Integrated autopilot○ Integrated imaging hardware payload

● Ground station software● Autopilot software● Image capture software

Assumptions● The team has adequate ability to complete the project.● Previous projects are functional but require testing● Budget $1000● Replacement of camera equipment

Risks● Any flight failure will probably require at least some aircraft repair,

taking multiple days.● Pilot availability: There are no pilots on the team skilled enough to

fly the large aircraft for testing.● Communication failure for manual control● Safety of fragile parts (camera, micro controller)● Part replacement lead time.

Benchmarking● Precedence with ArduPilot™, popular with amateurs● Previous Senior Design team successes/failures● Existing technology and expertise from model aviation● Comparison to professional technology neither practical nor

possible.

Next Steps● Prepare the small (test) airframe● Confirm the state of the imaging equipment● Determine specifications for next iteration of imaging equipment● Validate design of the UAV X-4’s control surfaces against

theoretical models

Questions