ifgicopter @ Software Freedom Day 2011

http://purl.net/ifgi/copter

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


Unmanned Aerial Vehicles


Civil UAV systems


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


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


Mikrokopter UAV

● MikrokopterTool


Mikrokopter @ ifgicopter


software developed at ifgicopter


Flight planning tool – demo

http://giv-ses.uni-muenster.de:8080/Flugplanung/


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


data processing software


● Synchronization of sensor streams● Why synchronize streams?● Knowledge of exact position at time

of image aquisition

● Currently: interpolation mechanism● Abstract – easily adjustable for application


Calculating orthophotos

● Input/Output phenomena using XML descriptions

● When to determine a position?


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


Current ongoing work – Real Time Kinematic


some use cases


in-situ measurements of the atmosphere

● Limitations of classic measur-ment methods (e.g. static orpolicy restrictions)

● UAVs fill the gaps

● The before introducedframework was developedon-top of this use case


Remote sensing

● modular setup


Remote sensing

● Classification of

a rapeseed field


Source Code available at:


Thank you for your kind attention!

Questions?


Matthes Rieke – [email protected]

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ifgicopter @ Software Freedom Day 2011

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