Unmanned Aerial Vehicles as Mobile Multi-sensor Platforms
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Unmanned Aerial Vehicles as Mobile Multi-sensor Platforms
Matthes Rieke, Theodor Foerster, Arne Broering
Institute for Geoinformatics – University of Muenster
AGILE 2011 Conference, Utrecht, 2011-04-19
http://purl.net/ifgi/copter
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Overview
1. Introduction
2. Sensor platforms
3. Framework Approach
4. Integration into the Sensor Web
5. Future Work and Impressions
http://purl.net/ifgi/copter 2
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● Use case from landscape ecology
● Determine meteorological inversions in the Prandtl-Layer
Introduction
http://purl.net/ifgi/copter 3
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● Mobile Multi-sensor Platform ● Unmanned Aerial Vehicle (UAV) as base ● Extended with several sensors
● Problems raised from this approach
● Different UAVs - different data encodings ● Varying sensors with specific low-level protocols
● How to integrate gathered data into the Sensor Web?
Introduction
http://purl.net/ifgi/copter 4
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● Quick answer
● Abstract the integration layer from protocol specifics
● Framework Approach – described later on
Introduction
http://purl.net/ifgi/copter 5
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Overview
1. Introduction
2. Sensor platforms
3. Framework Approach
4. Integration into the Sensor Web
5. Future Work and Impressions
http://purl.net/ifgi/copter 6
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● Several UAVs available in the civilian domain
● Community Projects - e.g.
● Mikrokopter ● ArduCopter
● Commercial Projects - e.g.
● Microdrone ● AscTec
Sensor platforms
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Sensor platforms
● Basis is a building kit by www.mikrokopter.de
● Wireless downlink included
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Sensor platforms
● How to measure phenomena?
● Integrate independent computing unit ● Actual sensors are operated ● Independent wireless downlink
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Sensor platforms
● System summary
● Mikrokopter UAV with downlink for GPS tracking ● Independent „Sensor Board“ for phenomena
measurement
→ Two separated data streams New problem: How to fuse streams to enable real-time data provision?
http://purl.net/ifgi/copter 10
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Overview
1. Introduction
2. Sensor platforms
3. Framework Approach
4. Integration into the Sensor Web
5. Future Work and Impressions
http://purl.net/ifgi/copter 11
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Framework Approach
● Requirement summary
● Support for different UAV platforms ● Synchronization of multiple data streams to enable
real-time measurement capabilities ● Sensor Web integration mechanism
● Realized using Software Framework
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Framework Approach
● Architecture
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Framework Approach
● Basis is description of Plugin Behaviour ● Input/Output phenomena using SensorML ● When to create Output?
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Framework Approach
http://purl.net/ifgi/copter 15
<?xml version="1.0" encoding="UTF-8"?> <spf:plugin xmlns:spf=http://ifgi.uni-muenster.de/~m_riek02/spf/0.1 name="urn:ifgi:id:ifgicopter2"> <spf:output> <spf:AvailabilityBehaviour> <spf:outputProperties> <spf:property>temperature</spf:property> <spf:property>humidity</spf:property> </spf:outputProperties> </spf:AvailabilityBehaviour> <spf:mandatoryProperties> <spf:property>position</spf:property> </spf:mandatoryProperties> </spf:output> <SensorML /> </spf:plugin>
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Framework Approach
● Synchronization of sensor streams
● Why synchronize streams? ● Have geotagged observations in real-time
● e.g. used by Complex Event Processing
● Overcome bandwidth issues (details later)
● Use of interpolation mechanism ● Abstract – easily adjustable for application
● Additional processing capabilities
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Framework Approach
● Called once internal output is created
● Functionality only triggered by framework ● No limitations
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Reminder:
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Overview
1. Introduction
2. Sensor platforms
3. Framework Approach
4. Integration into the Sensor Web
5. Future Work and Impressions
http://purl.net/ifgi/copter 18
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Integration into the Sensor Web
http://purl.net/ifgi/copter 19
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Integration into the Sensor Web
● achieved using Output-Plugin for the so-called Sensor Bus
• communication infrastructure which underlies the different Sensor Web services (SOS, SES, SPS, etc.)
• Well-defined communication protocol
http://purl.net/ifgi/copter 20
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Integration into the Sensor Web
● Establish connection to Sensor Bus → integration
into connected SWE services
http://purl.net/ifgi/copter 21
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Integration into the Sensor Web
http://purl.net/ifgi/copter 22
Test evaluations
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Overview
1. Introduction
2. Sensor platforms
3. Framework Approach
4. Integration into the Sensor Web
5. Future Work and Impressions
http://purl.net/ifgi/copter 23
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Future Work
● Differential GPS: Orthophotos without Ground Control Points
● Exterior Orientation ● Position (GPS)
● Rotation (IMU)
● Interior Orientation ● Principal point and distance
(Camera calibration file)
● Terrain Model
● → Orthophoto
http://purl.net/ifgi/copter 24
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Future Work
● Visualization ● Additional sensors
● Fine dust ● Gas sensors
● Digital elevation models ● Autonomic flight (security and surveillance)
http://purl.net/ifgi/copter 25
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Source Code available at:
http://purl.net/ifgi/copter 26
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Thank you for your kind attention! Questions?
http://purl.net/ifgi/copter → UAV Workshop @ Geoinformatik 2011
http://purl.net/ifgi/copter 27