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Smart Camera UAV UAV image

(swat018@gmail.com)Department of Spatial Information EngineeringThe Pukyong National University

2016.09.01

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IntroductionDesign of systemImplementation ExperimentalResult

INDEX

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Definition and types of UAV systems1. Introductionsize, payload, range, and operating mode are user defines before investing in a UAV system. (S.Siebert et.el 2014)What is the size of the area to be surveyed? What is the flying altitude the UAV needs to operate?What camera system and what camera mount system(aka, gimbal) is needed?Are third party persons working in the area?Are other physical obstacles present?What take-off/landing space is available?

TyperangeFlexibilityWeatherpayloadSafetyRunning costsSetup timeFixed wing aircraftVery goodPoorGoodGoodAverageAverageAverageHelicoptersAverageVery goodGoodVery goodPoorAverageGoodMulticoptersPoorVery goodGoodAverageAverageVery goodVery good

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Background

Potential UAV application areas in surveying tasks(Eisenbei, 2009; sehastian Siebert et.al, 2014)1. Introduction

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Communication using existing RF Modem1. Introduction RF

RF 1~2 km 10 mW ( 30 9) ,

RF 1~2 km .

10 mW ( 30 9) ,

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UAV flight methodologyPreperationRecordingPost -ProcessingDatageneration

Flight plannig

Waypoint file

UAV system setup

Flight Process

Visible(existing system)

Non-visible(Developed Telemetry syem)

Geo-referenced coordinates

Geo-referenced photos

Direct referencing

Indirect referencing

Flight Track Data

Photos

Point Cloud

Ortho-photo

DEM(sehastian Siebert et.al, 2014)1.Introduction

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Objectives1. IntroductionTelemetry module: to be able to connect to GCS(ground control system) without control server. (2014 FOSS4G KOREA)

Automatic shooting module: image capturing device for the UAV(drone) in the areas need image capturing. (2015 FOSS4G Seoul, ASPRS, ISPRS)

Processing module: image processing (ODM).

Android-based Smart Camera for UAV photogrammetry

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Smart camera-based UAV system2. Design of systemComponentExisting UAV systemSmart Camera-based UAV systemSensorsIntegrated sensorsBuilt-in sensorsCCD or digital cameraDigital cameraGPSGPSGyroscopeGyroscopeAccelerometerAccelerometerLaser scanner-NetworkExternal wireless deviceBuilt-in wireless deviceRadio modem, 3G, Wi-Fi3G, Wi-Fi, and BluetoothUAV frameSensor and gimbal frameonly low-cost vibration-reducing deviceProcessorMini computerBuilt-in mobile processorOperating systemLinux or WindowsAndroid OSSensor control SDKVarious SDKAndroid SDKPayload> 5 kg< 0.5 kg

Witayangkurn et al. (2011), Jinsoo Kim et al. (2013)Smart camera-based photogrammetric UAV system was developed that exploits the continuous communication capabilities of 3G, 4G, Bluetooth and acquires location and attitude data for a UAV via the built-in sensors, without the need for other communication devices

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Smart camera-based UAV system2. Design of system

Smart CameraINS

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Telemetry module2. Design of systemCommunication, GCS serve .

Communication: smart camera Bluetooth HC-06 Bluetooth module UAV system .GCS server: LTE IP address UAV GCS(ground control system) .

APM / Pixhawk

BluetoothUAV

BluetoothModule

MAVLINKHandler

GCSServer

GCSGCS3G/LTEBluetooth

Telemetry module

Smart Camera

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Automatic shooting module2. Design of system

. .

( , ) .

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Telemetry module3. Implementation of system

LTE, Wifi TCP/UDP GCS .

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Telemetry module3. Implementation of system

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Automatic shooting module3. Implementation of system

(a)(b)

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Automatic shooting module3. Implementation of system , .

Galaxy Camera Galaxy NX .Auto focusing auto focus Delay 2200ms delay . ISO/Sutter speed .

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GPS time synchronization module3. Implementation of system

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CategorySpecification ModelX8+UAV MulticopterAutopilotPixhawk v2.4.5 / ArduCopter 3.2GPS3DR u-blox GPS with CompassGround Station Radio3DR Data Radio (433 MHz)MotorsSunnySKY V2216-12 KV800Propellers8 (APC Propelleer 11X4.7 SF(4), SFP(4))Size and weightSize: 35cm X 51cm X 20cm, Weight:2.56kgFlight time12 15 minuteTake off/landingauto / manualPayload800g

UAV4. Experimental

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CategorySpecification ModelGalaxy NXDimensions 136.5 X 101.46 X 56 mmOperation SystemAndroid OS v4.2 JellybeanMemoryBuilt-in Memory 16GBProcessorQuad Core 1.6GHzSensorsAccelerometer, Digital Compass, Proximity, Light, GyroConnectivityLTE 4G, Wi-Fi. BluetoothImage Sensor Type20.3MP APS-C CMOSSensor Size 1/2.3 (in)Sensor resolution5472 X 348Focal Length18

Smart Camera4. Experimental

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5. Result

UAV LiDAR Aerial Triangulation( /)DEM Generation

Test-bed LiDAR DEM DEM

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5. ResultDEM

:

: , , , DEM

Section A,B DEM TLS DEM

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5. ResultDEM

Field Campaign

, 80%, 60% , 150m

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5. ResultDEM

(DEM )

UAV, , GCP Data Aerial Triangulation

60 LiDAR DEM

DEM

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5. ResultRTK

RTK (Real-Time Kinematic) , epoch

Single GPS 3

RTK-DGPS 1~2cm

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5. ResultRTK

RTK GPS .

4 DEM .

, .

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5. ResultRTK

RTK

RTK-GPS UAV GCS , RF

,

5cm .

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5. ResultRTK

RTK

Single motor

lens module actuator ,

gimbal , ,

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5. ResultRTK

Field CampaignManufactural accuracyField accuracyHorizontalVerticalHorizontalVerticalGPS(3+0.5 ppm)(5+0.5 ppm)7 mm20mmLiDAR4 mm / 150 m2 mm2 mmTotal(2 mm + 2 ppm)1 mm3 mm

(50) TLS-DEM

Total Station VRS-GPS LiDAR TIE Point

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5. ResultRTK

(UAV Log)On Board1st Flight(RTK)2nd Flight(Single GPS)Flight Time(Min)About 2 HourAbout 2 HourImageY.M.D2016.03.10.2015.03.10.Start (H:M:S)10:00:2213:00:42End (H:M:S)12:05:3515:04:33Number Of Image711712Number Of Strips2222Interval55Flying Height(M)150.98 1.56150.11 0.87Flying Speeds (M/S)12 0.35112 0.305Shutter Speed (Sec)1/4001/400ISO200400

1 2, 1 .

RTK Single 22 Strip , 1 710 .

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5. ResultRTK

UAV Log

RTKSingleRTK GPS .

, RTK-GPS .

RTK-GPS 200ms .

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5. ResultRTK

(DEM)

TLS DEMRTK GPSSingle GPSResidualRTKSingleMin15.15715.14815.0690.0100.088Max16.84215.64215.5921.191.25Mean15.34415.27315.4430.0710.099Std.Dev.0.0830.0870.0890.0370.052

RTK GPS Single GPS , .

RTK GPS 200ms .

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5. ResultRTKRTK GPS , , .

()

RTK GPS , , .

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6. AfterPreperationRecordingPost -ProcessingDatageneration

Flight plannig

Waypoint file

UAV system setup

Flight Process

Visible(existing system)

Non-visible(Developed Telemetry syem)

Geo-referenced coordinates

Geo-referenced photos

Direct referencing

Indirect referencing

Flight Track Data

Photos

Point Cloud

Ortho-photo

DEMODM

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swat018@gmail.com

This work was supported by the BK21 Plus project of The Research management team of Earth Environmental Hazard System at Pukyong National University

THANK YOU

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