Development of a Fully Autonomous Micro Aerial Vehicle for Ground Traffic Surveillance Aerospace Systems, University of Braunschweig

Journées Micro-Drones Contents Introduction Theoretical Work The Hardware of “Carolo” Applications Current Status & Outlook

Aerospace Systems, University of Braunschweig Journées Micro-Drones Introduction - What is an MAV ? definition according to DARPA semiautonomous aerial vehicle max. dimensions: 15 x 15 x 15 cm max. mass: ~ 115 g (4 ounces) cost: < 1000$ additional requirements telemetry link to ground control (for remote control) real-time video link range: ~ 10 km cruising speed: ~ 50 km/h endurance: 20 min - 60 min Black Widow, Aerovironment Inc. Entomopter, GeorgiaTec

Aerospace Systems, University of Braunschweig Journées Micro-Drones Introduction - The Project “Carolo” Goal: development of an autonomously operating Micro Aerial Vehicle with dimensions as small as possible wing span0.40 m mass390 g cruising speed18 m / s endurance40 min range45 km

Aerospace Systems, University of Braunschweig Journées Micro-Drones Theoretical Work

Aerospace Systems, University of Braunschweig Journées Micro-Drones Theoretical Work – Overall Control Structure modeling of non-linear flight mechanics turbulent atmosphere sensor dynamics actuator dynamics pilot, navigation module autopilot attitude controller actuatorssensors wind damper

Aerospace Systems, University of Braunschweig Journées Micro-Drones dimensional parameter field Angle of Attack -10° <  < 40° Sideslip -32° <  < 32° Elevator -15° <  < 15° Aileron -15° <  < 15° Flaps -8° <  < 12° Wind Tunnel Readings C X, C Y, C Z, C L, C M, C N = f(  ) Calculated Damping Derivatives Roll Damping C Lp Pitch Damping C Mq Yaw Damping C Nr Wind tunel test april 2002 at the Institute of Fluid Dynamics, Technical University of Braunschweig Theoretical Work - Database

Aerospace Systems, University of Braunschweig Journées Micro-Drones Theoretical Work - Results Simulation of the autopilot simulation with:  actuator dynamics  sensor error models  carolo‘s control algorithms  stable behavior, stationary accuracy  oscillations due to sensor deadtime, GPS update rate missing curved flight compensation

Aerospace Systems, University of Braunschweig Journées Micro-Drones The Hardware of “Carolo”

Aerospace Systems, University of Braunschweig Journées Micro-Drones The Hardware of “Carolo” - Anatomy propulsion system actuators sensors telemetry on-board computer payload

Aerospace Systems, University of Braunschweig Journées Micro-Drones The Hardware of “Carolo” - Sensors receiver for Global Positioning System (GPS) atmospheric pressure sensor Inertial Measurement Unit (IMU) Micro-Electro-Mechanical Systems 3 angular rate sensors 3 linear acceleration sensors  commercial-off-the-shelf components (COTS)  in-flight sensor data fusion MEMS-based 6-dof IMU

Aerospace Systems, University of Braunschweig Journées Micro-Drones The Hardware of “Carolo” - Sensor Calibration comparison of MAV IMU data with Honeywell LaserNav, test flight with the university‘s research aircraft DO128

Aerospace Systems, University of Braunschweig Journées Micro-Drones The Hardware of “Carolo” - Onboard Electronics ACTUATORS PROPULSION PAYLOAD IMU GPS IMU GPS GPRS current autopilot hardware dimensions: 75mm*40mm*38 mm mass: 85 gr. including: on-board computer gps & antenna 3 accelerometers 3 gyros 3-axis magnetometer 2 pressure sensors video camera: 25 gr. (analog) telemetry: 50 gr. (future)

Aerospace Systems, University of Braunschweig Journées Micro-Drones Applications The MAV “Carolo”, wingspan 40 cm, mass 390 g

Aerospace Systems, University of Braunschweig Journées Micro-Drones Applications possible applications meteorology –vertical profiles of temperature and humidity –increase of spatial resolution by using multiple MAVs Live video transmission –Police, border patrol, military applications –Civil protection –Ground traffic surveilance

Aerospace Systems, University of Braunschweig Journées Micro-Drones Ground Traffic Surveillance - Concept mission control data analysis police, fire department ambulance accident investigation highway board department I n t e r n e t Carolo mobile access of information GPRS / UMTS

Aerospace Systems, University of Braunschweig Journées Micro-Drones Ground Traffic Surveillance - Image Sensor current: analog video camera –mass: ~ 25 g –dedicated radio downlink –live video stream –short range: ~ 200 m under progress: digital CMOS camera –mass: ~ 30 g –resolution: 1.3 megapixel –image transmission via telemetry link –frame rate depends on telemetry data rate –on-board image compression possible

Aerospace Systems, University of Braunschweig Journées Micro-Drones Ground Traffic Surveillance - Telemetry mobile cellular phone network –infrastructure already available –virtually unlimited range –comparably low data rate requires image compression (e.g. JPEG2000) typedata rate GSM9.6 kbps GPRS28.8 kbps UMTS384 kbps comparison of different standards for mobile communication

Aerospace Systems, University of Braunschweig Journées Micro-Drones Ground Traffic Surveillance - Aerial Image Quality high-resolution aerial picture, no compression no compression field of view: 510 m x 380 m image size: 1024 x 768 pixel data size: 2304 kbyte

Aerospace Systems, University of Braunschweig Journées Micro-Drones Ground Traffic Surveillance - Aerial Image Quality high-resolution aerial picture, compression rate 1:40 JPEG2000 (rate 1:40) field of view: 510 m x 380 m image size: 1024 x 768 pixel data size: 60 kbyte

Aerospace Systems, University of Braunschweig Journées Micro-Drones Ground Traffic Surveillance - Aerial Image Quality low-resolution aerial picture, compression rate 1:40 JPEG2000 (rate: 1:40) field of view: 160 m x 120 m image size: 320 x 240 pixel data size: 5.5 kbyte

Aerospace Systems, University of Braunschweig Journées Micro-Drones Ground Traffic Surveillance - Telemetry typedata rate time per hi-res. image time per lo-res. image GSM9.6 kbps62.5 s5.7 s GPRS28.8 kbps20.8 s1.9 s UMTS384 kbps1.6 s0.2 s comparison of different standards for mobile communication

Aerospace Systems, University of Braunschweig Journées Micro-Drones Ground Traffic Surveillance - Ground Control ground control PC software, server-client-based

Aerospace Systems, University of Braunschweig Journées Micro-Drones Current Status & Outlook

Aerospace Systems, University of Braunschweig Journées Micro-Drones Current Status - Towards Autonomous Flight Altitude Controller - August Waypoint Navigation - September  circling during strong thermal activity   H < 2m  no optimized feedback gains  succesful test of complete autopilot  test platform: model plane, span 1.5 m

Aerospace Systems, University of Braunschweig Journées Micro-Drones Outlook - Field Test cooperation with the German automobile club “ADAC Niedersachsen/Sachsen-Anhalt” agreement with local and federal authorities scheduled for Spring 2004 “Carolo XL”, wingspan 100 cm, mass 940 g MAV “Carolo”, wingspan 40 cm, mass 390 g

Aerospace Systems, University of Braunschweig Journées Micro-Drones Carolo‘s Flight, December 2002

Aerospace Systems, University of Braunschweig Journées Micro-Drones st autonomous Flight, September 5th, 2003

Aerospace Systems, University of Braunschweig Journées Micro-Drones First European Micro Air Vehicle Conference and Flight Competition EMAV 2004 Braunschweig, Germany 13 – 14 Juli 2004 organised by the German Institute of Navigation