Advertisement

A Prototype of Unmanned Aerial Vehicle for Image Acquisition

  • Paweł Iwaneczko
  • Karol Jędrasiak
  • Krzysztof Daniec
  • Aleksander Nawrat
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7594)

Abstract

We present the prototype of unmanned aerial vehicle (UAV) as a platform for multispectral acquisition. We are connecting the real-world simulation environment and control software to perform flight tests in SIL simulation. The full control system is based on the cascade of PI controllers with Anti-Windup mechanism, which stabilize the aircraft in the virtual reality. Stabilization of angular speed reduces problems connected with video disruptions. In this article we are presenting all implemented autonomous algorithms, which are based on ENU coordinate system (commonly used in aviation). Simulations are performed in Prepar3D® from Lockheed Martin which also allows to perform visual and thermal images processing. The prototype successfully completed all the test flights and is ready for various applications.

Keywords

Virtual Reality Unmanned Aerial Vehicle Controller Cascade Wing Type Flying Wing 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Mueller, E.R.: Hardware-in-the-loop Simulation Design for Evaluation of Unmanned Aerial Vehicle Control Systems, NASA Ames Research Center, Moffett Field, CA, 94035Google Scholar
  2. 2.
    Johnson, E.N.: Sumit Mishra, Flight simulation for the development of an experimental UAV, School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA 30332-015Google Scholar
  3. 3.
    Jung, D.: Panagiotis Tsiotras, Modeling and Hardware-in-the-Loop Simulation for a Small Unmanned Aerial Vehicle, Georgia Institute of Technology, Atlanta, GA, 30332-0150Google Scholar
  4. 4.
    Sorton, E.F., Hammaker, S.: Simulated Flight Testing of an Autonomous Unmanned Aerial Vehicle Using Flight-Gear, Arlington, VA, AIAA 2005-7083 (September 2005)Google Scholar
  5. 5.
    Procerus Technologies, Kestrel Autopilot System, Autonomous Autopilot and Ground Control for Small Unmanned Aerial Vehicles, UAV Flight Guide, Version 1.8 10/27/08Google Scholar
  6. 6.
    Mystkowski, A.: Robust control of unmanned aerial vehicle - simulation investigations, Biaystok Technical University, Prace Instytutu Lotnictwa, Warszawa (2011) ISSN 0509-6669 216, 82-102Google Scholar
  7. 7.
    Kownacki, C.: Control algorithm of micro aerial vehicle flight in streetsćanyons based on vision system, Faculty of Mechanical Engineering, Biaystok Technical University, BiaystokGoogle Scholar
  8. 8.
    McGee, T.G.: Obstacle Detection for Small Autonomous Aircraft Using Sky Segmentation. In: Robotics and Automation, ICRA 2005 (2005)Google Scholar
  9. 9.
    Frew, E.: Vision-Based Road Following Using a Small Autonomous Aircraft. In: Aerospace Conference (2004),Google Scholar
  10. 10.
    Jędrasiak, K., Nawrat, A.: Image Recognition Technique for Unmanned Aerial Vehicles. In: Bolc, L., Kulikowski, J.L., Wojciechowski, K. (eds.) ICCVG 2008. LNCS, vol. 5337, pp. 391–399. Springer, Heidelberg (2009)CrossRefGoogle Scholar
  11. 11.
    Jedrasiak, K., Nawrat, A.: SETh System Spation-Temporal Object Tracking Using Combined Color And Motion Features. Electrical And Computer Engineering Series, pp. 67–72 (2009)Google Scholar
  12. 12.
    Zhou, Y.: Sensor alignment with Earth-centered Earth-fixed (ECEF) coordinate system. IEEE Transactions on Aerospace and Electronic Systems (1999)Google Scholar
  13. 13.
    Ruszewski, A.: Stabilization of discrete-time systems by PID controllers, Zeszyty Naukowe, Silesian University of Technical, Institute of Automation, 171-176 (2006)Google Scholar
  14. 14.
    Drake, S.P.: Converting GPS Coordinates (φλh) to Navigation Coordinates (ENU), Surveillance Systems Division Electronics and Surveillance Research LaboratoryGoogle Scholar
  15. 15.
    Meyer, T.H.: Grid, ground, and globe: distances in the GPS ERA, Surveying and Land Information Science (2002)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Paweł Iwaneczko
    • 1
  • Karol Jędrasiak
    • 1
  • Krzysztof Daniec
    • 1
  • Aleksander Nawrat
    • 1
  1. 1.Institute of Automatic ControlSilesian University of TechnologyGliwicePoland

Personalised recommendations