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

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

Introduction

Use case from landscape ecology

Determine meteorological inversions in the Prandtl-Layer

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Introduction

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?

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Introduction

Quick answer
Abstract the integration layer from protocol specifics

Framework Approach described later on

http://purl.net/ifgi/copter

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

Sensor platforms

Several UAVs available in the civilian domain Community Projects - e.g.

Mikrokopter ArduCopter

Commercial Projects - e.g.

Microdrone AscTec
http://purl.net/ifgi/copter

Sensor platforms

Basis is a building kit by www.mikrokopter.de

Wireless downlink included

http://purl.net/ifgi/copter

Sensor platforms

How to measure phenomena?

Integrate independent computing unit Actual sensors are operated Independent wireless downlink

http://purl.net/ifgi/copter

Sensor platforms

System summary

Two separated data streams

Mikrokopter UAV with downlink for GPS tracking Independent Sensor Board for phenomena measurement

New problem: How to fuse streams to enable real-time data provision?

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http://purl.net/ifgi/copter

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

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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

<?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> 15

http://purl.net/ifgi/copter

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

Reminder:

Functionality only triggered by framework No limitations

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http://purl.net/ifgi/copter

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

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Integration into the Sensor Web

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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

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Integration into the Sensor Web

Establish connection to Sensor Bus integration into connected SWE services

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Integration into the Sensor Web

Test evaluations
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http://purl.net/ifgi/copter

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

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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

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Future Work

Visualization Additional sensors

Fine dust Gas sensors

Digital elevation models Autonomic flight (security and surveillance)

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Source Code available at:

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Thank you for your kind attention! Questions?

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UAV Workshop @ Geoinformatik 2011

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