- ข้อความ
- ประวัติศาสตร์
3 MethodologyDevelopment of Autonom
3 Methodology
Development of Autonomous Unmanned Aerial Vehicle
1. Airframe : this is the aerial platform that will be
instrumented with autonomous autopilot system
and carry the mission specific payload (automatic
ICIUS 2007
Oct 24-25, 2007
Bali, Indonesia
ICIUS2007-A020-P
ISBN 978-979-16955-0-3 112 © 2007 ICIUS
flight planet for low altitude photography and
digital camera).
2. Attitude, Heading and Position Reference System
(AHPRS) : this is the main reference input for
autonomous autopilot system. The AHPRS outputs
euler angles (roll, pitch and yaw), true north
absolute heading and position (latitude, longitude
and altitude).
3. Autopilot System : this is the main controller of
the airframe. It consists of two main part, the low
level control system that governs the pose /
attitude of the aircraft based on the objective
trajectories. The second parts is the waypoint
sequencer. This part determined which location the
airframe should go (latitude, longitude and
altitude), and thus determine the trajectories input
the control system.
4. Digital Camera Payload Management System and
Automatic Flight Planner : The Flight Planner
component will first make automatic waypoint
(longitude, altitude, and altitude) that will
optimally covers the area of interest to be
photographed. Inputs to this systems are boundary
of the area (longitude and altitude), scale of the
desired aerial photo and horizontal-vertical overlap
of each photo segment, then the system will
automatically determined the altitude and
automatic sequencing of digital camera shutter
release. The Digital Camera Payload Management
will simply command the shutter release sequence
and logging the exact time, oerientation and
position of the shutter release (usually recognize as
metadata, this information is needed for post
processing and automatic rapid mosaicking).
5. Ground Station Software : this component will
enable the operator to plan and monitor the
mission execution the Autonomous Unmanned
Aerial Vehicle, as well as reconfiguring the
mission during execution. The monitoring is done
in real time because a high speed long range data
modem is used to transmit and receive mission
parameter between UAV and ground station.
6. Photo indexer software : this software will enable
quick view of the relative position of each photo
taken during flight. The main objective is to
examine the photo coverage and blank spot, so
another flight to cover the blank spot can be
decided while still on location. Ultimately this
software will help the automosaicking process.
7. Final Integration : these steps are taken when all
supporting components of the UAV are completely
developed.
Development of Post Processing Software
1. Automatic Photo Mosaicking : this component will
automatically combined the aerial photographs that
covers small area along with the metadata
(longitude, latitude and altitude of the digital
camera) into single large aerial photographs that
covers larger area.
2. Aerial Photo based Agriculture Information
System : this is the tools that will be used by the
farmers to make analysis to the aerial photograph
and support the decision making about the crop
field. Remote Sensing and Geographic Information
System concepts are involved in this system along
with Precision Agriculture good practices.
Overall System Testing : this steps is conducted after the
Unmanned Aerial System and Post Processing are
completely developed. The objective is to make positive
feedback to the overall research and development and to
publicize the system to the potential users : the farmers.
Not all steps have been completed on this research. This
paper only emphasize the instrumentation side of this
research. The airframe for this specific purpose will be
developed after the instrumentation have been completed.
The Post Processing Software is also in ongoing
development.
4 Instrumentation of UAV for Rapid Aerial Photo
System
4.1 Attitude, Heading and Position Reference System
(AHPRS)
AHPRS will be used as main reference for autopilot system
as well as for Digital Camera Payload Management System.
4.1.1 Attitude Representation
In order to control an aerial platform correctly, one of the
input needed by the autopilot control system is attitude.
Attitude is usually represented by 3 rotations of the aerial
platform. These rotations are roll, pitch and yaw. There are
several different rotations representations used. Among
them are the euler angle, Cbn matrix and the quaternion
angle representation. The euler angle (roll φ, pitch θ and
yaw ψ) is very intuitive and widely used in aerospace field.
But this representation suffers singularity near 90 degree of
pitch angle. Cbn matrix or direction cosine matrix is a 3x3
matrix that represent sequential rotation of roll, pitch and
yaw. This representation doesn't suffer from singularity, but
it's not intuitive and uses 9 values to represent attitude. Here
is the Cbn representation
⎥ ⎥ ⎥
⎦
⎤
⎢ ⎢ ⎢
⎣
⎡
−
+ − +
− + +
=
θ φ θ φ θ
θ ψ φ ψ φ θ ψ φ ψ φ θ ψ
θ ψ φ ψ φ θ ψ φ ψ φ θ ψ
φ θ ψ
sin sin cos cos cos
cos sin cos cos cos sin sin sin cos cos sin sin
cos cos cos sin sin sin cos sin sin cos sin cos
( , , ) bn C
(1)
ICIUS 2007
Oct 24-25, 2007
Bali, Indonesia
ICIUS2007-A020-P
ISBN 978-979-16955-0-3 113 © 2007 ICIUS
Figure 2: Roll, pitch and yaw
The quaternion representation uses four variables for
rotation instead of three. Here is the quaternion
representation
E = [e0 e1 e2 e3]T (2)
e0 = cos(f/2)
e1 = Ax sin(f/2)
e2 = Ay sin(f/2)
e3 = Az sin(f/2)
where
A = unit vector along axis of rotation
f = total rotation angle
To measure the attitude there 2 approach that can be used.
The first is inertial mechanization which uses discrete time
integration over rotation rate measurement. In this approach
the attitude determination depends not only to the most
current measurement but also depends on the previous
attitude value. The second is absolute attitude measurement
which can compute the attitude based only on the most
current measurement.
4.1.2 Body Rotation Rate / Inertial
Mechanization
In this approach the attitude is updated using body rotation
rate. The body rotation rate is usually represented using a [p
q r]T vector. Each of the value in the body rotation rate
vector represents rotation rate in the x, y and z axis in the
local coordinate frame of the aerial platform (body frame).
The [p q r]T vector is measured using 3 gyroscopes on each
of the x, y and z axis in the body frame. Each Attitude
representation has its own formulation for update.
Euler angle change rate formulation :
Development of Autonomous Unmanned Aerial Vehicle
1. Airframe : this is the aerial platform that will be
instrumented with autonomous autopilot system
and carry the mission specific payload (automatic
ICIUS 2007
Oct 24-25, 2007
Bali, Indonesia
ICIUS2007-A020-P
ISBN 978-979-16955-0-3 112 © 2007 ICIUS
flight planet for low altitude photography and
digital camera).
2. Attitude, Heading and Position Reference System
(AHPRS) : this is the main reference input for
autonomous autopilot system. The AHPRS outputs
euler angles (roll, pitch and yaw), true north
absolute heading and position (latitude, longitude
and altitude).
3. Autopilot System : this is the main controller of
the airframe. It consists of two main part, the low
level control system that governs the pose /
attitude of the aircraft based on the objective
trajectories. The second parts is the waypoint
sequencer. This part determined which location the
airframe should go (latitude, longitude and
altitude), and thus determine the trajectories input
the control system.
4. Digital Camera Payload Management System and
Automatic Flight Planner : The Flight Planner
component will first make automatic waypoint
(longitude, altitude, and altitude) that will
optimally covers the area of interest to be
photographed. Inputs to this systems are boundary
of the area (longitude and altitude), scale of the
desired aerial photo and horizontal-vertical overlap
of each photo segment, then the system will
automatically determined the altitude and
automatic sequencing of digital camera shutter
release. The Digital Camera Payload Management
will simply command the shutter release sequence
and logging the exact time, oerientation and
position of the shutter release (usually recognize as
metadata, this information is needed for post
processing and automatic rapid mosaicking).
5. Ground Station Software : this component will
enable the operator to plan and monitor the
mission execution the Autonomous Unmanned
Aerial Vehicle, as well as reconfiguring the
mission during execution. The monitoring is done
in real time because a high speed long range data
modem is used to transmit and receive mission
parameter between UAV and ground station.
6. Photo indexer software : this software will enable
quick view of the relative position of each photo
taken during flight. The main objective is to
examine the photo coverage and blank spot, so
another flight to cover the blank spot can be
decided while still on location. Ultimately this
software will help the automosaicking process.
7. Final Integration : these steps are taken when all
supporting components of the UAV are completely
developed.
Development of Post Processing Software
1. Automatic Photo Mosaicking : this component will
automatically combined the aerial photographs that
covers small area along with the metadata
(longitude, latitude and altitude of the digital
camera) into single large aerial photographs that
covers larger area.
2. Aerial Photo based Agriculture Information
System : this is the tools that will be used by the
farmers to make analysis to the aerial photograph
and support the decision making about the crop
field. Remote Sensing and Geographic Information
System concepts are involved in this system along
with Precision Agriculture good practices.
Overall System Testing : this steps is conducted after the
Unmanned Aerial System and Post Processing are
completely developed. The objective is to make positive
feedback to the overall research and development and to
publicize the system to the potential users : the farmers.
Not all steps have been completed on this research. This
paper only emphasize the instrumentation side of this
research. The airframe for this specific purpose will be
developed after the instrumentation have been completed.
The Post Processing Software is also in ongoing
development.
4 Instrumentation of UAV for Rapid Aerial Photo
System
4.1 Attitude, Heading and Position Reference System
(AHPRS)
AHPRS will be used as main reference for autopilot system
as well as for Digital Camera Payload Management System.
4.1.1 Attitude Representation
In order to control an aerial platform correctly, one of the
input needed by the autopilot control system is attitude.
Attitude is usually represented by 3 rotations of the aerial
platform. These rotations are roll, pitch and yaw. There are
several different rotations representations used. Among
them are the euler angle, Cbn matrix and the quaternion
angle representation. The euler angle (roll φ, pitch θ and
yaw ψ) is very intuitive and widely used in aerospace field.
But this representation suffers singularity near 90 degree of
pitch angle. Cbn matrix or direction cosine matrix is a 3x3
matrix that represent sequential rotation of roll, pitch and
yaw. This representation doesn't suffer from singularity, but
it's not intuitive and uses 9 values to represent attitude. Here
is the Cbn representation
⎥ ⎥ ⎥
⎦
⎤
⎢ ⎢ ⎢
⎣
⎡
−
+ − +
− + +
=
θ φ θ φ θ
θ ψ φ ψ φ θ ψ φ ψ φ θ ψ
θ ψ φ ψ φ θ ψ φ ψ φ θ ψ
φ θ ψ
sin sin cos cos cos
cos sin cos cos cos sin sin sin cos cos sin sin
cos cos cos sin sin sin cos sin sin cos sin cos
( , , ) bn C
(1)
ICIUS 2007
Oct 24-25, 2007
Bali, Indonesia
ICIUS2007-A020-P
ISBN 978-979-16955-0-3 113 © 2007 ICIUS
Figure 2: Roll, pitch and yaw
The quaternion representation uses four variables for
rotation instead of three. Here is the quaternion
representation
E = [e0 e1 e2 e3]T (2)
e0 = cos(f/2)
e1 = Ax sin(f/2)
e2 = Ay sin(f/2)
e3 = Az sin(f/2)
where
A = unit vector along axis of rotation
f = total rotation angle
To measure the attitude there 2 approach that can be used.
The first is inertial mechanization which uses discrete time
integration over rotation rate measurement. In this approach
the attitude determination depends not only to the most
current measurement but also depends on the previous
attitude value. The second is absolute attitude measurement
which can compute the attitude based only on the most
current measurement.
4.1.2 Body Rotation Rate / Inertial
Mechanization
In this approach the attitude is updated using body rotation
rate. The body rotation rate is usually represented using a [p
q r]T vector. Each of the value in the body rotation rate
vector represents rotation rate in the x, y and z axis in the
local coordinate frame of the aerial platform (body frame).
The [p q r]T vector is measured using 3 gyroscopes on each
of the x, y and z axis in the body frame. Each Attitude
representation has its own formulation for update.
Euler angle change rate formulation :
0/5000
3 MethodologyDevelopment of Autonomous Unmanned Aerial Vehicle1. Airframe : this is the aerial platform that will beinstrumented with autonomous autopilot systemand carry the mission specific payload (automaticICIUS 2007Oct 24-25, 2007Bali, IndonesiaICIUS2007-A020-PISBN 978-979-16955-0-3 112 © 2007 ICIUSflight planet for low altitude photography anddigital camera).2. Attitude, Heading and Position Reference System(AHPRS) : this is the main reference input forautonomous autopilot system. The AHPRS outputseuler angles (roll, pitch and yaw), true northabsolute heading and position (latitude, longitudeand altitude).3. Autopilot System : this is the main controller ofthe airframe. It consists of two main part, the lowlevel control system that governs the pose /attitude of the aircraft based on the objectivetrajectories. The second parts is the waypointsequencer. This part determined which location theairframe should go (latitude, longitude andaltitude), and thus determine the trajectories inputthe control system.4. Digital Camera Payload Management System andAutomatic Flight Planner : The Flight Plannercomponent will first make automatic waypoint(longitude, altitude, and altitude) that willoptimally covers the area of interest to bephotographed. Inputs to this systems are boundaryof the area (longitude and altitude), scale of thedesired aerial photo and horizontal-vertical overlapof each photo segment, then the system willautomatically determined the altitude andautomatic sequencing of digital camera shutterrelease. The Digital Camera Payload Managementwill simply command the shutter release sequenceand logging the exact time, oerientation andposition of the shutter release (usually recognize asmetadata, this information is needed for postprocessing and automatic rapid mosaicking).5. Ground Station Software : this component willenable the operator to plan and monitor themission execution the Autonomous UnmannedAerial Vehicle, as well as reconfiguring themission during execution. The monitoring is donein real time because a high speed long range datamodem is used to transmit and receive missionparameter between UAV and ground station.6. Photo indexer software : this software will enablequick view of the relative position of each phototaken during flight. The main objective is toexamine the photo coverage and blank spot, soanother flight to cover the blank spot can bedecided while still on location. Ultimately thissoftware will help the automosaicking process.7. Final Integration : these steps are taken when allsupporting components of the UAV are completelydeveloped.Development of Post Processing Software1. Automatic Photo Mosaicking : this component willautomatically combined the aerial photographs thatcovers small area along with the metadata(longitude, latitude and altitude of the digitalcamera) into single large aerial photographs thatcovers larger area.2. Aerial Photo based Agriculture InformationSystem : this is the tools that will be used by thefarmers to make analysis to the aerial photographand support the decision making about the cropfield. Remote Sensing and Geographic InformationSystem concepts are involved in this system alongwith Precision Agriculture good practices.Overall System Testing : this steps is conducted after theUnmanned Aerial System and Post Processing arecompletely developed. The objective is to make positivefeedback to the overall research and development and topublicize the system to the potential users : the farmers.Not all steps have been completed on this research. Thispaper only emphasize the instrumentation side of thisresearch. The airframe for this specific purpose will bedeveloped after the instrumentation have been completed.The Post Processing Software is also in ongoingdevelopment.4 Instrumentation of UAV for Rapid Aerial PhotoSystem4.1 Attitude, Heading and Position Reference System(AHPRS)AHPRS will be used as main reference for autopilot systemas well as for Digital Camera Payload Management System.4.1.1 Attitude RepresentationIn order to control an aerial platform correctly, one of theinput needed by the autopilot control system is attitude.Attitude is usually represented by 3 rotations of the aerialplatform. These rotations are roll, pitch and yaw. There areseveral different rotations representations used. Amongthem are the euler angle, Cbn matrix and the quaternionangle representation. The euler angle (roll φ, pitch θ andyaw ψ) is very intuitive and widely used in aerospace field.But this representation suffers singularity near 90 degree ofpitch angle. Cbn matrix or direction cosine matrix is a 3x3matrix that represent sequential rotation of roll, pitch andyaw. This representation doesn't suffer from singularity, butit's not intuitive and uses 9 values to represent attitude. Hereis the Cbn representation⎥ ⎥ ⎥⎦⎤⎢ ⎢ ⎢⎣⎡−+ − +− + +=θ φ θ φ θθ ψ φ ψ φ θ ψ φ ψ φ θ ψθ ψ φ ψ φ θ ψ φ ψ φ θ ψφ θ ψsin sin cos cos coscos sin cos cos cos sin sin sin cos cos sin sincos cos cos sin sin sin cos sin sin cos sin cos( , , ) bn C(1)ICIUS 2007Oct 24-25, 2007Bali, IndonesiaICIUS2007-A020-PISBN 978-979-16955-0-3 113 © 2007 ICIUSFigure 2: Roll, pitch and yawThe quaternion representation uses four variables forrotation instead of three. Here is the quaternionrepresentationE = [e0 e1 e2 e3]T (2)e0 = cos(f/2)e1 = Ax sin(f/2)e2 = Ay sin(f/2)e3 = Az sin(f/2)whereA = unit vector along axis of rotationf = total rotation angleTo measure the attitude there 2 approach that can be used.The first is inertial mechanization which uses discrete timeintegration over rotation rate measurement. In this approachthe attitude determination depends not only to the mostcurrent measurement but also depends on the previousattitude value. The second is absolute attitude measurementwhich can compute the attitude based only on the mostcurrent measurement.4.1.2 Body Rotation Rate / InertialMechanizationIn this approach the attitude is updated using body rotationrate. The body rotation rate is usually represented using a [pq r]T vector. Each of the value in the body rotation ratevector represents rotation rate in the x, y and z axis in thelocal coordinate frame of the aerial platform (body frame).The [p q r]T vector is measured using 3 gyroscopes on eachof the x, y and z axis in the body frame. Each Attituderepresentation has its own formulation for update.Euler angle change rate formulation :
การแปล กรุณารอสักครู่..
3 Methodology
Autonomous Unmanned Aerial Vehicle Development of
1. Airframe: this is the aerial Platform Will that be
instrumented with autonomous autopilot System
Mission and Carry the specific payload (Automatic
ICIUS 2007
Oct 24-25, 2007th
Bali, Indonesia
ICIUS2007-A020-P
112 ISBN 978-979-16955-0-3. © the 2007th ICIUS
Flight Planet for low Altitude Photography and
Digital Camera).
2. Attitude, Heading and Reference System Position
(AHPRS): this is the Main reference input for
autonomous autopilot System. AHPRS the outputs
Euler Angles (Roll, pitch and yaw), true North
Absolute heading and position (Latitude, longitude
and Altitude).
3. Autopilot System: this is the Main Controller of
the airframe. It consists of Main Part Two, the low
level Control System that Governs the Pose /
Attitude of the Aircraft based on the Objective
trajectories. The Second Parts is the waypoint
Sequencer. Location determined which this Part the
airframe should Go (Latitude, longitude and
Altitude), and thus Determine the trajectories input
the Control System.
4. Digital Camera Payload Management System and
Automatic Flight Planner: The Flight Planner
Component Will Make First Automatic waypoint
(longitude, Altitude, and Altitude) that Will
optimally Covers the Area of interest to be
photographed. Systems are inputs to this Boundary
of the Area (longitude and Altitude), scale of the
desired aerial Photo Vertical and horizontal-Overlap
of each segment Photo, then the System Will
Automatically determined the Altitude and
Automatic sequencing of Digital Camera Shutter
release. The Digital Camera Payload Management
Command Will simply release the Shutter Sequence
and Exact Logging the time, Oerientation and
position of the Shutter release (usually recognize as
metadata, this information is needed for Post
Processing and Automatic Rapid Mosaicking).
5. Ground Station Software: Will this Component
Enable the operator to Plan and Monitor the
Autonomous Unmanned Mission Execution the
Aerial Vehicle, as well as reconfiguring the
Mission during Execution. Monitoring is done the
in Real time because a long Range High speed Data
modem is used to transmit and receive Mission
parameter between UAV and Ground Station.
6. Photo Indexer Software: Software Will Enable this
quick View of the Relative position of each Photo
taken during Flight. The Main Objective is to
examine the coverage and Photo blank spot, so
another Flight to Cover the blank spot Can be
decided while still on Location. Ultimately this
Software Will Help the Automosaicking Process.
7. Final Integration: these steps are taken when all
supporting components of the UAV are completely
developed.
Development of Post Processing Software
1. Automatic Photo Mosaicking: Will this Component
Automatically combined the aerial photographs that
Covers Small Area along with the metadata
(longitude, Latitude and Altitude of the Digital
Camera) Into Large single aerial photographs that
larger Covers Area.
2. Photo based aerial Agriculture Information
System: this is the Tools that Will be used by the
Farmers to Make Analysis to the aerial photograph
and Support About Making the decision Crop the
field. Remote Sensing and Geographic Information
System Concepts are involved in this System along
with good Precision Agriculture Practices.
Overall System Testing: this steps is conducted after the
Unmanned Aerial System and Post Processing are
completely developed. Objective is to Make the positive
Feedback to the overall Research and Development and to
publicize the System to the potential Users: the Farmers.
Not all steps have been completed on this Research. This
Paper only emphasize the Side of this Instrumentation
Research. The airframe for this specific purpose Will be
developed after the Instrumentation have been completed.
The Post Processing Software is also in ongoing
Development.
4 Instrumentation of UAV for Rapid Aerial Photo
System
4.1 Attitude, Heading and Position Reference System
(AHPRS)
AHPRS Will be used. Main as reference for autopilot System
as well as for Digital Camera Payload Management System.
4.1.1 Attitude Representation
In Order to Control an aerial Platform correctly, one of the
input needed by the autopilot Control System is Attitude.
Attitude is usually represented by 3 rotations. of the aerial
Platform. These rotations are roll, pitch and yaw. There are
several different representations used rotations. Among
them are the Euler Angle, cbn Matrix and the quaternion
representation Angle. The Euler Angle (Roll phi, theta pitch and
yaw Ψ) is very intuitive and widely used in Aerospace field.
But this representation suffers Singularity near 90 Degree of
pitch Angle. Cbn or direction cosine Matrix Matrix is a 3x3
Matrix that represent sequential Rotation of Roll, pitch and
yaw. This representation does not suffer from Singularity, but
it's not intuitive and uses 9 values to represent Attitude. Here
is the cbn representation
⎥ ⎥ ⎥
⎦
⎤
⎢ ⎢ ⎢
⎣
⎡
-
+ - +
- + +
=
theta phi theta phi theta
theta Ψ phi Ψ phi theta Ψ phi Ψ phi theta Ψ
theta Ψ phi Ψ phi theta Ψ phi Ψ phi. Ψ theta
phi theta Ψ
Sin Sin cos cos cos
cos cos cos cos Sin Sin Sin Sin Sin Sin cos cos
cos cos cos cos Sin Sin Sin Sin Sin Sin cos cos
(,,) bn C
(1)
ICIUS 2007
Oct 24-25,. 2007
Bali, Indonesia
ICIUS2007-A020-P
113 ISBN 978-979-16955-0-3 © ICIUS the 2,007th
Figure 2: Roll, pitch and yaw
The quaternion representation Four uses for variables
instead of Rotation Three. Here is the quaternion
representation
E = [e0 E1 E2 e3] T (2)
e0 = cos (F / 2)
E1 = Ax Sin (F / 2)
E2 = Ay Sin (F / 2)
e3 = Az Sin (F /. 2)
where
A = UNIT vector along axis of Rotation
F = total Rotation Angle
Attitude To measure the approach that there 2 Can be used.
The First is inertial mechanization which uses discrete time
integration over Rotation rate measurement. In this approach
the Attitude determination depends not only to the Most
current measurement but also depends on the previous
Attitude Value. Second is the Attitude Absolute measurement
which the Attitude Can Compute based only on the Most
current measurement.
4.1.2 Body Rotation first to rate / Inertial
Mechanization
In this approach the Body Attitude is using Updated Rotation
rate. The Body Rotation rate is usually represented using a [P
QR] T vector. Each of the Value in the Body Rotation rate
vector represents Rotation rate in the x, Y and Z axis in the
local coordinate Frame of the aerial Platform (Body Frame).
The [pqr] T vector is measured using 3 Gyroscopes on each
of the. x, y and z axis in the body frame. Attitude each
representation has its own formulation for update.
Euler Angle Change rate formulation:.
Autonomous Unmanned Aerial Vehicle Development of
1. Airframe: this is the aerial Platform Will that be
instrumented with autonomous autopilot System
Mission and Carry the specific payload (Automatic
ICIUS 2007
Oct 24-25, 2007th
Bali, Indonesia
ICIUS2007-A020-P
112 ISBN 978-979-16955-0-3. © the 2007th ICIUS
Flight Planet for low Altitude Photography and
Digital Camera).
2. Attitude, Heading and Reference System Position
(AHPRS): this is the Main reference input for
autonomous autopilot System. AHPRS the outputs
Euler Angles (Roll, pitch and yaw), true North
Absolute heading and position (Latitude, longitude
and Altitude).
3. Autopilot System: this is the Main Controller of
the airframe. It consists of Main Part Two, the low
level Control System that Governs the Pose /
Attitude of the Aircraft based on the Objective
trajectories. The Second Parts is the waypoint
Sequencer. Location determined which this Part the
airframe should Go (Latitude, longitude and
Altitude), and thus Determine the trajectories input
the Control System.
4. Digital Camera Payload Management System and
Automatic Flight Planner: The Flight Planner
Component Will Make First Automatic waypoint
(longitude, Altitude, and Altitude) that Will
optimally Covers the Area of interest to be
photographed. Systems are inputs to this Boundary
of the Area (longitude and Altitude), scale of the
desired aerial Photo Vertical and horizontal-Overlap
of each segment Photo, then the System Will
Automatically determined the Altitude and
Automatic sequencing of Digital Camera Shutter
release. The Digital Camera Payload Management
Command Will simply release the Shutter Sequence
and Exact Logging the time, Oerientation and
position of the Shutter release (usually recognize as
metadata, this information is needed for Post
Processing and Automatic Rapid Mosaicking).
5. Ground Station Software: Will this Component
Enable the operator to Plan and Monitor the
Autonomous Unmanned Mission Execution the
Aerial Vehicle, as well as reconfiguring the
Mission during Execution. Monitoring is done the
in Real time because a long Range High speed Data
modem is used to transmit and receive Mission
parameter between UAV and Ground Station.
6. Photo Indexer Software: Software Will Enable this
quick View of the Relative position of each Photo
taken during Flight. The Main Objective is to
examine the coverage and Photo blank spot, so
another Flight to Cover the blank spot Can be
decided while still on Location. Ultimately this
Software Will Help the Automosaicking Process.
7. Final Integration: these steps are taken when all
supporting components of the UAV are completely
developed.
Development of Post Processing Software
1. Automatic Photo Mosaicking: Will this Component
Automatically combined the aerial photographs that
Covers Small Area along with the metadata
(longitude, Latitude and Altitude of the Digital
Camera) Into Large single aerial photographs that
larger Covers Area.
2. Photo based aerial Agriculture Information
System: this is the Tools that Will be used by the
Farmers to Make Analysis to the aerial photograph
and Support About Making the decision Crop the
field. Remote Sensing and Geographic Information
System Concepts are involved in this System along
with good Precision Agriculture Practices.
Overall System Testing: this steps is conducted after the
Unmanned Aerial System and Post Processing are
completely developed. Objective is to Make the positive
Feedback to the overall Research and Development and to
publicize the System to the potential Users: the Farmers.
Not all steps have been completed on this Research. This
Paper only emphasize the Side of this Instrumentation
Research. The airframe for this specific purpose Will be
developed after the Instrumentation have been completed.
The Post Processing Software is also in ongoing
Development.
4 Instrumentation of UAV for Rapid Aerial Photo
System
4.1 Attitude, Heading and Position Reference System
(AHPRS)
AHPRS Will be used. Main as reference for autopilot System
as well as for Digital Camera Payload Management System.
4.1.1 Attitude Representation
In Order to Control an aerial Platform correctly, one of the
input needed by the autopilot Control System is Attitude.
Attitude is usually represented by 3 rotations. of the aerial
Platform. These rotations are roll, pitch and yaw. There are
several different representations used rotations. Among
them are the Euler Angle, cbn Matrix and the quaternion
representation Angle. The Euler Angle (Roll phi, theta pitch and
yaw Ψ) is very intuitive and widely used in Aerospace field.
But this representation suffers Singularity near 90 Degree of
pitch Angle. Cbn or direction cosine Matrix Matrix is a 3x3
Matrix that represent sequential Rotation of Roll, pitch and
yaw. This representation does not suffer from Singularity, but
it's not intuitive and uses 9 values to represent Attitude. Here
is the cbn representation
⎥ ⎥ ⎥
⎦
⎤
⎢ ⎢ ⎢
⎣
⎡
-
+ - +
- + +
=
theta phi theta phi theta
theta Ψ phi Ψ phi theta Ψ phi Ψ phi theta Ψ
theta Ψ phi Ψ phi theta Ψ phi Ψ phi. Ψ theta
phi theta Ψ
Sin Sin cos cos cos
cos cos cos cos Sin Sin Sin Sin Sin Sin cos cos
cos cos cos cos Sin Sin Sin Sin Sin Sin cos cos
(,,) bn C
(1)
ICIUS 2007
Oct 24-25,. 2007
Bali, Indonesia
ICIUS2007-A020-P
113 ISBN 978-979-16955-0-3 © ICIUS the 2,007th
Figure 2: Roll, pitch and yaw
The quaternion representation Four uses for variables
instead of Rotation Three. Here is the quaternion
representation
E = [e0 E1 E2 e3] T (2)
e0 = cos (F / 2)
E1 = Ax Sin (F / 2)
E2 = Ay Sin (F / 2)
e3 = Az Sin (F /. 2)
where
A = UNIT vector along axis of Rotation
F = total Rotation Angle
Attitude To measure the approach that there 2 Can be used.
The First is inertial mechanization which uses discrete time
integration over Rotation rate measurement. In this approach
the Attitude determination depends not only to the Most
current measurement but also depends on the previous
Attitude Value. Second is the Attitude Absolute measurement
which the Attitude Can Compute based only on the Most
current measurement.
4.1.2 Body Rotation first to rate / Inertial
Mechanization
In this approach the Body Attitude is using Updated Rotation
rate. The Body Rotation rate is usually represented using a [P
QR] T vector. Each of the Value in the Body Rotation rate
vector represents Rotation rate in the x, Y and Z axis in the
local coordinate Frame of the aerial Platform (Body Frame).
The [pqr] T vector is measured using 3 Gyroscopes on each
of the. x, y and z axis in the body frame. Attitude each
representation has its own formulation for update.
Euler Angle Change rate formulation:.
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3 Methodology
Development of Autonomous Unmanned Aerial Vehicle
1. Airframe: This is the aerial platform that will be
instrumented. With autonomous autopilot system
and carry the mission specific payload (automatic
ICIUS 2007 Oct 24-25 2007
Bali,,, Indonesia
ISBN ICIUS2007-A020-P 978-979-16955-0-3 112 © 2007 ICIUS
flight planet for low altitude photography and
digital. Camera).
, Attitude 2.Heading and Position Reference System
(AHPRS): This is the main reference input for
autonomous autopilot system. The AHPRS. Outputs
Euler angles (roll pitch and, yaw), true north
absolute heading and, position (latitude longitude
and altitude).
3.? Autopilot System: This is the main controller of
the airframe. It consists of two, main part the low
level control system. That governs the pose /
.Attitude of the aircraft based on the objective
trajectories. The second parts is the waypoint
sequencer. This part determined. Which location the
airframe should go (latitude longitude, and
altitude), and thus determine the trajectories input
the. Control system.
4. Digital Camera Payload Management System and
Automatic Flight Planner: The Flight Planner
.Component will first make automatic waypoint
(longitude altitude and,, altitude) that will
optimally covers the area of. Interest to be
photographed. Inputs to this systems are boundary
of the area (longitude and altitude), scale of the
desired. Aerial photo and horizontal-vertical overlap
of each, photo segment then the system will
automatically determined the altitude. And
.Automatic sequencing of digital camera shutter
release. The Digital Camera Payload Management
will simply command the shutter. Release sequence
and logging the, exact time oerientation and
position of the shutter release (usually recognize as
metadata,, This information is needed for post
processing and automatic rapid mosaicking).
5. Ground Station Software: this component. Will
.Enable the operator to plan and monitor the
mission execution the Autonomous Unmanned
Aerial Vehicle as well, as reconfiguring. The
mission during execution. The monitoring is done
in real time because a high speed long range data
modem is used to. Transmit and receive mission
parameter between UAV and ground station.
6. Photo indexer software: this software will enable
.Quick view of the relative position of each photo
taken during flight. The main objective is to
examine the photo coverage. And, blank spot so
another flight to cover the blank spot can be
decided while still on location. Ultimately this
software. Will help the automosaicking process.
7. Final Integration: these steps are taken when all
supporting components of the. UAV are completely
. Developed.Development of Post Processing Software
1. Automatic Photo Mosaicking: this component will
automatically combined the. Aerial photographs that
covers small area along with the metadata
(longitude latitude and, altitude of the digital
camera). Into single large aerial photographs that
covers larger area.
2. Aerial Photo based Agriculture Information
System:This is the tools that will be used by the
farmers to make analysis to the aerial photograph
and support the decision making. About the crop
field. Remote Sensing and Geographic Information
System concepts are involved in this system along
with Precision. Agriculture good practices.
Overall System Testing: this steps is conducted after the
Unmanned Aerial System and Post Processing. Are
.
Development of Autonomous Unmanned Aerial Vehicle
1. Airframe: This is the aerial platform that will be
instrumented. With autonomous autopilot system
and carry the mission specific payload (automatic
ICIUS 2007 Oct 24-25 2007
Bali,,, Indonesia
ISBN ICIUS2007-A020-P 978-979-16955-0-3 112 © 2007 ICIUS
flight planet for low altitude photography and
digital. Camera).
, Attitude 2.Heading and Position Reference System
(AHPRS): This is the main reference input for
autonomous autopilot system. The AHPRS. Outputs
Euler angles (roll pitch and, yaw), true north
absolute heading and, position (latitude longitude
and altitude).
3.? Autopilot System: This is the main controller of
the airframe. It consists of two, main part the low
level control system. That governs the pose /
.Attitude of the aircraft based on the objective
trajectories. The second parts is the waypoint
sequencer. This part determined. Which location the
airframe should go (latitude longitude, and
altitude), and thus determine the trajectories input
the. Control system.
4. Digital Camera Payload Management System and
Automatic Flight Planner: The Flight Planner
.Component will first make automatic waypoint
(longitude altitude and,, altitude) that will
optimally covers the area of. Interest to be
photographed. Inputs to this systems are boundary
of the area (longitude and altitude), scale of the
desired. Aerial photo and horizontal-vertical overlap
of each, photo segment then the system will
automatically determined the altitude. And
.Automatic sequencing of digital camera shutter
release. The Digital Camera Payload Management
will simply command the shutter. Release sequence
and logging the, exact time oerientation and
position of the shutter release (usually recognize as
metadata,, This information is needed for post
processing and automatic rapid mosaicking).
5. Ground Station Software: this component. Will
.Enable the operator to plan and monitor the
mission execution the Autonomous Unmanned
Aerial Vehicle as well, as reconfiguring. The
mission during execution. The monitoring is done
in real time because a high speed long range data
modem is used to. Transmit and receive mission
parameter between UAV and ground station.
6. Photo indexer software: this software will enable
.Quick view of the relative position of each photo
taken during flight. The main objective is to
examine the photo coverage. And, blank spot so
another flight to cover the blank spot can be
decided while still on location. Ultimately this
software. Will help the automosaicking process.
7. Final Integration: these steps are taken when all
supporting components of the. UAV are completely
. Developed.Development of Post Processing Software
1. Automatic Photo Mosaicking: this component will
automatically combined the. Aerial photographs that
covers small area along with the metadata
(longitude latitude and, altitude of the digital
camera). Into single large aerial photographs that
covers larger area.
2. Aerial Photo based Agriculture Information
System:This is the tools that will be used by the
farmers to make analysis to the aerial photograph
and support the decision making. About the crop
field. Remote Sensing and Geographic Information
System concepts are involved in this system along
with Precision. Agriculture good practices.
Overall System Testing: this steps is conducted after the
Unmanned Aerial System and Post Processing. Are
.
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