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

2. Journées Micro-Drones 2003 2Contents Introduction Theoretical Work The Hardware of “Carolo” Applications Current Status & Outlook

3. Aerospace Systems, University of Braunschweig Journées Micro-Drones 2003 3 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

4. Aerospace Systems, University of Braunschweig Journées Micro-Drones 2003 4 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

5. Aerospace Systems, University of Braunschweig Journées Micro-Drones 2003 5 Theoretical Work

6. Aerospace Systems, University of Braunschweig Journées Micro-Drones 2003 6 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

7. Aerospace Systems, University of Braunschweig Journées Micro-Drones 2003 7 5 - 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

8. Aerospace Systems, University of Braunschweig Journées Micro-Drones 2003 8 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

9. Aerospace Systems, University of Braunschweig Journées Micro-Drones 2003 9 The Hardware of “Carolo”

10. Aerospace Systems, University of Braunschweig Journées Micro-Drones 2003 10 The Hardware of “Carolo” - Anatomy propulsion system actuators sensors telemetry on-board computer payload

11. Aerospace Systems, University of Braunschweig Journées Micro-Drones 2003 11 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

12. Aerospace Systems, University of Braunschweig Journées Micro-Drones 2003 12 The Hardware of “Carolo” - Sensor Calibration comparison of MAV IMU data with Honeywell LaserNav, test flight with the university‘s research aircraft DO128

13. Aerospace Systems, University of Braunschweig Journées Micro-Drones 2003 13 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)

14. Aerospace Systems, University of Braunschweig Journées Micro-Drones 2003 14Applications The MAV “Carolo”, wingspan 40 cm, mass 390 g

15. Aerospace Systems, University of Braunschweig Journées Micro-Drones 2003 15Applications 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

16. Aerospace Systems, University of Braunschweig Journées Micro-Drones 2003 16 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

17. Aerospace Systems, University of Braunschweig Journées Micro-Drones 2003 17 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

18. Aerospace Systems, University of Braunschweig Journées Micro-Drones 2003 18 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

19. Aerospace Systems, University of Braunschweig Journées Micro-Drones 2003 19 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

20. Aerospace Systems, University of Braunschweig Journées Micro-Drones 2003 20 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

21. Aerospace Systems, University of Braunschweig Journées Micro-Drones 2003 21 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

22. Aerospace Systems, University of Braunschweig Journées Micro-Drones 2003 22 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

23. Aerospace Systems, University of Braunschweig Journées Micro-Drones 2003 23 Ground Traffic Surveillance - Ground Control ground control PC software, server-client-based

24. Aerospace Systems, University of Braunschweig Journées Micro-Drones 2003 24 Current Status & Outlook

25. Aerospace Systems, University of Braunschweig Journées Micro-Drones 2003 25 Current Status - Towards Autonomous Flight Altitude Controller - August 2003 - Waypoint Navigation - September 2003 -  circling during strong thermal activity   H < 2m  no optimized feedback gains  succesful test of complete autopilot  test platform: model plane, span 1.5 m

26. Aerospace Systems, University of Braunschweig Journées Micro-Drones 2003 26 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

27. Aerospace Systems, University of Braunschweig Journées Micro-Drones 2003 27 Carolo‘s Flight, December 2002

28. Aerospace Systems, University of Braunschweig Journées Micro-Drones 2003 28 1 st autonomous Flight, September 5th, 2003

29. Aerospace Systems, University of Braunschweig Journées Micro-Drones 2003 29 First European Micro Air Vehicle Conference and Flight Competition EMAV 2004 Braunschweig, Germany 13 – 14 Juli 2004 organised by the German Institute of Navigation