Abstract
We present the prototype of unmanned aerial vehicle (UAV) as a platform for multispectral acquisition. We are connecting the real-world simulation environment and control software to perform flight tests in SIL simulation. The full control system is based on the cascade of PI controllers with Anti-Windup mechanism, which stabilize the aircraft in the virtual reality. Stabilization of angular speed reduces problems connected with video disruptions. In this article we are presenting all implemented autonomous algorithms, which are based on ENU coordinate system (commonly used in aviation). Simulations are performed in Prepar3D® from Lockheed Martin which also allows to perform visual and thermal images processing. The prototype successfully completed all the test flights and is ready for various applications.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Mueller, E.R.: Hardware-in-the-loop Simulation Design for Evaluation of Unmanned Aerial Vehicle Control Systems, NASA Ames Research Center, Moffett Field, CA, 94035
Johnson, E.N.: Sumit Mishra, Flight simulation for the development of an experimental UAV, School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA 30332-015
Jung, D.: Panagiotis Tsiotras, Modeling and Hardware-in-the-Loop Simulation for a Small Unmanned Aerial Vehicle, Georgia Institute of Technology, Atlanta, GA, 30332-0150
Sorton, E.F., Hammaker, S.: Simulated Flight Testing of an Autonomous Unmanned Aerial Vehicle Using Flight-Gear, Arlington, VA, AIAA 2005-7083 (September 2005)
Procerus Technologies, Kestrel Autopilot System, Autonomous Autopilot and Ground Control for Small Unmanned Aerial Vehicles, UAV Flight Guide, Version 1.8 10/27/08
Mystkowski, A.: Robust control of unmanned aerial vehicle - simulation investigations, Biaystok Technical University, Prace Instytutu Lotnictwa, Warszawa (2011) ISSN 0509-6669 216, 82-102
Kownacki, C.: Control algorithm of micro aerial vehicle flight in streetsćanyons based on vision system, Faculty of Mechanical Engineering, Biaystok Technical University, Biaystok
McGee, T.G.: Obstacle Detection for Small Autonomous Aircraft Using Sky Segmentation. In: Robotics and Automation, ICRA 2005 (2005)
Frew, E.: Vision-Based Road Following Using a Small Autonomous Aircraft. In: Aerospace Conference (2004),
Jędrasiak, K., Nawrat, A.: Image Recognition Technique for Unmanned Aerial Vehicles. In: Bolc, L., Kulikowski, J.L., Wojciechowski, K. (eds.) ICCVG 2008. LNCS, vol. 5337, pp. 391–399. Springer, Heidelberg (2009)
Jedrasiak, K., Nawrat, A.: SETh System Spation-Temporal Object Tracking Using Combined Color And Motion Features. Electrical And Computer Engineering Series, pp. 67–72 (2009)
Zhou, Y.: Sensor alignment with Earth-centered Earth-fixed (ECEF) coordinate system. IEEE Transactions on Aerospace and Electronic Systems (1999)
Ruszewski, A.: Stabilization of discrete-time systems by PID controllers, Zeszyty Naukowe, Silesian University of Technical, Institute of Automation, 171-176 (2006)
Drake, S.P.: Converting GPS Coordinates (φλh) to Navigation Coordinates (ENU), Surveillance Systems Division Electronics and Surveillance Research Laboratory
Meyer, T.H.: Grid, ground, and globe: distances in the GPS ERA, Surveying and Land Information Science (2002)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Iwaneczko, P., Jędrasiak, K., Daniec, K., Nawrat, A. (2012). A Prototype of Unmanned Aerial Vehicle for Image Acquisition. In: Bolc, L., Tadeusiewicz, R., Chmielewski, L.J., Wojciechowski, K. (eds) Computer Vision and Graphics. ICCVG 2012. Lecture Notes in Computer Science, vol 7594. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33564-8_11
Download citation
DOI: https://doi.org/10.1007/978-3-642-33564-8_11
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-33563-1
Online ISBN: 978-3-642-33564-8
eBook Packages: Computer ScienceComputer Science (R0)