UAvs

06.05.
2010
Vermessung mit unbemannten Luftfahrzeugen (UAV)

Wo liegt das Potenzial dieser Plattform fr ausgewhlte Anwendungen?
Henri Eisenbeiss
15th of April 2010
Content Introduction UAV-Systems Applications Tracking Tachymetry of UAVs UAV-borne laser scanning Conclusions and Further activities
06.05.2010
Introduction Literature review

Around 1900, early investigation with balloons, kites, pigeons and rockets 1970 (Whittlesey), balloon for archaeological documentation 1980 (Wester-Ebbinghaus), model helicopter for the documentation of a monorail in Wuppertal
Introduction
UAV Systems
Application

First investigations on UAV-borne LiDAR systems in the field of robotics started at Carnegie Mellon University (Thrun, 2003). Initial results for a helicopter mapping system combining a SICK LMS laser range finder, a Crossbow IMU, a Honeywell 3D compass, a Garmin GPS, and a Nikon D100 digital SLR camera
Introduction
UAV Systems
Results
06.05.2010

2003 (Eisenbeiss), autonomous flying model helicopter at WITAS (Linkping, Sweden) 2004 (Nagai, et al.) UAV-borne LiDAR
Introduction
UAV Systems
Application

In the field of robotics and artificial intelligence various research groups were focusing on the exploration of unknown urban areas using laser scanner, such as the SICK and Fiberteck, for the detection of obstacles (D. Shim, et al., 2005, Scherer, et al., 2007). Nagai, et al., 2008 showed the latest results for multi sensor integration Workflow for the geo-processing and first results generated from LiDAR data. The geo-processing was done using a hybrid IMU, which combines the GPS/IMU data, using the image orientation resulting from bundle block adjustment, with a Kalman Filter.
Introduction
UAV Systems
Results
06.05.2010

Choi, et al., 2008 proposed a rapid mapping for emergency responses in South Korea. Imbach and Eck, 2009 described a system equipped with a compact and lightweight airborne laser scanner LMS-Q160 from Riegl. First results of this study were shown in Eisenbeiss, 2009 Laser scanner for navigation Example MIT TechTV
Introduction
UAV Systems
Results
Introduction - Motivation for the use of mini UAVs

Advantages of UAVs Use in high risk situations and inaccessible areas Data acquisition with high temporal and spatial resolution Autonomous and stabilized: real-time capability Low-cost More economical than human pilots
Introduction
UAV Systems
Application
06.05.2010

Limitations in the use of UAVs Limitations of the payload Regulations and insurance Use of Low-cost Sensors No generic workflow for UAVs is existing in photogrammetry
Introduction
UAV Systems
Application

Research goals Use of UAVs under extreme environmental conditions Data acquisition with high temporal and spatial resolution Generic workflow
o
Development of tools for UAV flight planning Influence of flight performance on data processing First data available during field work High accuracy of the generated data
Introduction
UAV Systems
Application
10
06.05.2010
Introduction - Overview of societies related to UAVs
Introduction
UAV Systems
Application
11
The accuracy of measurement methods in relation to the object/area size. Modified from Fig. 1.4 in Luhmann, et al., 2006.
Introduction
UAV Systems
Application
12
06.05.2010
Introduction
UAV Systems
Application
13
Introduction Classification of UAVs
Classification of UAVs by range and altitude based on Figure 1 in van Blyenburg, 1999.
Introduction
UAV Systems
Application
14
06.05.2010
Introduction Classification of UAVs
Classification of UAVs according to the classes unpowered and powered, as well as lighter or heavier than air.
Introduction
UAV Systems
Application
15
Introduction - Classification of UAVs

Type of aircraft Range Endurance Weather and wind dependency Balloon Airship Gliders/Kites Fixed wing gliders Propeller & Jet engines Rotor-kite Single rotor (helicopter) Coaxial Quadrotors Multi-copters 0 ++ + ++ ++ ++ + + 0 + ++ ++ 0 + ++ + + ++ 0 + 0 0 0 + + 0 + + 0 + 0 0 0 + + + ++ ++ ++ ++ Maneuverability
Pro and cons of the different type of UAVs (0: Lowest value; +: Middle value; ++: Best).
Introduction
UAV Systems
Application
16
06.05.2010
Introduction - Classification and Regulation of UAVs

Category Explanation Open source and Manual controlled systems: Limited commercial use and cost for the hardware Manual controlled OM-class M-class L-class of open-source systems not more than 5000 Euro Micro & Mini systems Large payload UAVs <5,000 Euro for Open source systems <5kg >5kg Limitation [e.g. price or payload]
Categorization with respect to price and payload of UAV systems.
Regulation for UAVs in Switzerland (BAZL, 2001).
Introduction
UAV Systems
Application
17
Introduction - Classification and Regulation of UAVs

Sensors
Georeferencing
No GPS/INS post GPS and consumer- post/direct grade INS DGPS/ navigation- and post/direct tactical grade INS
Real-time capability 0 + ++
Application requirement Low accuracy [m] Moderate accuracy [dm-m] High accuracy[cm]
UAV category OM-class M- & L-class M- & L-class
Classification of UAVs regarding to the type of georeferencing, real time capab ility and application requirements.
Introduction
UAV Systems
Application
18
06.05.2010
UAV Systems - Examples

OM -class
Mikrokopter (ETH Zurich)
M -class
MD4-200, Microdrones (Loetscher, Omnisight)
L -class
Scout B1-100, Aeroscout (ETH Zurich)
OM -class
Powered paraglider Susi (Source Jtte, 2008)
M -class
Sky-Sailor solar airplane, Robotics@ETH Zurich
L -class
KOAX X-240, Swiss-UAV
Introduction
UAV Systems
Application
19
Overview of OM-class systems.
Introduction
UAV Systems
Application
20
10
06.05.2010
Overview of a selection of existing commercial quad- and multicopter M-Class systems.
Introduction
UAV Systems
Application
21
Overview of fixed-wing, single rotor and coaxial M- and L-class systems
Introduction
UAV Systems
Application
22
11
06.05.2010
UAV Systems Autonomous vs. manual

Typical block configuration for manually controlled flights:
Motorized kite Susi over a forestry area.
Zeppelin over Samoilov Island (Russia).
and for autonomous flights:
IGP model helicopter over Campus Hoenggerberg.
Quadrocopter, gravel pit.
Introduction
UAV Systems
Application
23
UAV Systems Autonomous vs. manual
Trajectory of the manually controlled flight (Test Motala, Eisenbeiss, 2003).
Trajectory of the autonomous controlled flight (Test Motala, Eisenbeiss, 2003).
Example for the transition between manual (white), assisted controlled (light gray) and autonomous (gray) flight. Upper graph: Velocity vN (North component); Middle graph: Velocity vE (East component); Lower graph: Velocity vD (Height component).
24
12
06.05.2010
UAV Systems Copter 1B

Copter 1B, Surveycopter and weControl (ETH Zurich)
Introduction
UAV Systems
Application
25
UAV Systems wePilot

Flight Control Computer Inertial Measurement Unit GPS Receiver Air Pressure Sensor Magnetometer Anti vibration suspension
GPS antenna Gesamtgewicht: 1.2 kg Gesamter Stromverbrauch: 450 mA @ 12 VDC 32-Bit XScale PXA250 CPU @ 400 MHz 10g/100/s IMU & Novatel OEMV1 GPS receiver
Introduction UAV Systems Application
26
13
06.05.2010
UAV Systems Flight mode

Manual Mode Assisted Mode Mission Mode
Servo commands: Collective Lateral cyclic Longitudinal cyclic Tail collective
Velocity commands: Vertical velocity Lateral velocity Longitudinal velocity Heading velocity
Flight plan: Cruise waypoints Stop waypoints Home waypoint

27
UAV Systems Flight control
Introduction
UAV Systems
Application
28
14
06.05.2010
UAV Systems Mission flight

Stop v=0m/s h=50m Payl Disabled 11 Cruise v=3m/s h=50m Payl Enabled 10 9 Cruise v=1m/s h=50m Payl Enabled
Cruise v=1m/s h=50m Payl Enabled
Cruise v=3m/s h=50m Payl Enabled 7
Cruise 8 v=1m/s h=50m Payl Disbled Cruise v=0m/s h=50m Payl Enabled 3 2 Cruise v=3m/s h=40m Payl Disabled
Cruise v=1m/s h=50m Payl Disabled
Cruise v=3m/s h=50m Payl Enabled 4
Home v=5m/s h=25m
Introduction
UAV Systems
Application
29
UAV Systems Microdrones MD4-200
Introduction
UAV Systems
Application
30
15
06.05.2010
Applications
Civilian applications Testing of UAVs under extreme environmental conditions Flight planning Evaluation of manual, assisted and autonomous flights Improvement of autonomous flight with respect to photogrammetric processing of acquired data Image orientation and DSM generation Cadastral applications
UAV Systems
Application
Tracking
31
Applications Pinchango Alto
UAV Systems
Application
Tracking
32
16
06.05.2010
Left image shows the selected mini-UAV system, while the right image illustrates the chosen terrestrial laser scanner RIEGL LMS 420 at Pinchango Alto.
UAV Systems
Application
Tracking
33
Laserscanning
Model helicopter
Blunder detection, Modelling
Einzelne Bereiche: Selected areas: Ausreisserdetektion,

Modellierung
Gesamte Siedlung: Complete settlement:

Data registration, Modelling
GPS Passpunktmessung
Laserscanning & image acquisition
Flight planning & aerial image aqcuisition
Datenregistrierung, Modellierung
Complete settlement: Gesamte Siedlung:

Orientierung, Generieren von Hhenmodell und Orthophoto Orientation, DSM extraction and Orthophoto production
Irregular point cloud (resolution < 5 cm)
Raster (foot print 5 cm)
Orthophoto with 3 cm GSD
Raster (foot print 10 cm)
Textured 3D Models
Textured 3D Model
UAV Systems
Application
Tracking
34
17
06.05.2010

Discrepancy map of 3D distances of UAV-DSM and the Laser DSM
Examples of maximum DSM differences encountered on walls and for mine excavations (holes).
> 20 cm 10 20 cm -10 10 cm -20 -10 cm < -20 cm

0 [m] Mean [m] Max [m]
Laser DSM / UAV-DSM 0.06 < 0.01 0.54
UAV Systems
Application
Tracking
35
Applications Bhutan at 3000m (MSL)
36
18
06.05.2010
Applications Bhutan, flight planning
UAV Systems
Application
Tracking
37
Applications Bhutan, Drapham Dzong
UAV Systems
Application
Tracking
38
19
06.05.2010
UAV Systems
Application
Tracking
39
Applications - Maize field (Switzerland)
Left (Experiment A) and right (Experiment B) figures show a screenshot of the 3D-model using the Swissimage orthoimage (swisstopo) draped over the DHM25 (swisstopo) combined with the orthoimage of the maize field and the position of the sampled receptor plants generated out of the UAV-images. Yellow donor areas are grey deposed; remaining areas consist of white receptor maize.
UAV Systems
Application
Tracking
40
20
06.05.2010
Applications - Randa rockslide(Switzerland)
Left: Derived surface model from image matching (UAV-image), Middle: Zoom-in of an UAV-image, Right: Point cloud of Helicopterbased LiDAR and in the background the derived surface model.
UAV Systems
Application
Tracking
41
Applications -Castle Landenberg (Switzerland)
3D model of the castle Landenberg (Produced with Blender)
21
06.05.2010
Applications - Copn (Honduras)
Applications - Volume estimation of a gravel pit
Gravel pit Loetscher@Ballwil (LU, Switzerland)
22
06.05.2010
Applications - Volume estimation of a gravel pit
Gravel pit Loetscher@Ballwil
Cadastral applications
Processing of the geodetic observations from the total station and GNSS-receiver
UAV-image of the parcel of land
UAV Systems
Application
Tracking
23
06.05.2010
North faade of the house
First results: Point cloud extracted from only tie point measurements (modified sift operator (Scale-invariant feature transform))
UAV Systems
Application
Tracking
Evaluation of UAVs for the usability in cadastral applications Can we use UAVs instead of total stations and GNSSreceiver or are UAVs complementary to them? Comparison of both techniques
Accuracy Feasibility Time for data acquisition and processing (Costs)
UAV Systems
Application
Tracking
24
06.05.2010
Thermal images
Tracking / Laserscanning Test field (Hnggerberg)
Set up of the test field for the evaluation of LiDAR and image data showing the planned flights and the GCPs level 1
Application
Tracking
Laser scanning
50
25
06.05.2010
Tracking
Autonomous flight
51
Tracking
26
06.05.2010
Tracking System components

GPS receiver: blox TIM-LP IMU: 10g accelerometers (Colibrys), 100/s gyroscopes (Silicon Sensing)
Magnetometer Honeywell HMR2300 Barometer Still-video camera: Nikon D2Xs 360 prism because of field of view of the tachymeter (measurement accuracy 4-5 mm)
Application
Tracking
Laser scanning
53
Tracking Accuracy of the trajectory
Start
End
Application
Tracking
Laser scanning
54
27
06.05.2010
Tracking Results
Strip 1 X [m] xM Xdiff Flight 1 RMSE xM Xdiff Flight 2 RMSE xM Xdiff Flight 3 RMSE -2.32 0.74 2.42 -2.93 0.56 2.98 -2.30 0.50 2.35 Y [m] 0.64 0.40 0.74 0.74 0.39 0.83 0.41 0.32 0.51 H [m] 1.53 0.19 1.54 -0.17 0.07 0.18 2.24 0.16 2.26 Strip 2 X [m] 1.65 0.90 1.85 -2.84 0.74 2.93 1.23 1.15 1.66 Y [m] -1.36 0.42 1.42 0.71 0.33 0.78 -1.62 0.49 1.69 H [m] 1.38 0.14 1.39 0.03 0.11 0.11 2.06 0.11 2.07
The mean value (xM ), the mean corrected standard deviation Xdiff and the RMSE of the offset between GPS and tachymeter position at the same time (UTC).
Application
Tracking
Laser scanning
55
UAV-borne Laser scanning
Test field Campus Hoenggerberg
Tracking
Laser scanning
Conclusion
56
28
06.05.2010
Visualization of the UAV-born LiDAR data showing the intensity values.
Tracking
Laser scanning
Conclusion
57
Laser scanning point cloud, viewing direction towards west.
Laser scanning point cloud, viewing direction towards north.
Tracking
Laser scanning
Conclusion
58
29
06.05.2010
UAV-borne Laser scanning First results

The expected accuracy of the orientation elements of the system include 2cm (1 sigma) for the DGPS (Novatel RT2) and a bias of 1mg for the INS (Honeywell HG1700), a misalignment factor of 0.1mrad and an axis gyro drift of 1deg/hr.
Accuracy measures Horizontal position Vertical position Roll/Pitch Yaw wePilot1000 (1-S igma) 2.5m 5.0m 1.0deg 1.0deg wePilot1000-10g/N (1-S igma) 1.8m 2.0m 0.1deg 1.0deg wePilot1000 (S cout B1-100) 2cm 2cm ~0.1deg ~0.5deg
The influence of the bias, misalignment and gyro drift to the position error after 10s and 1000s is
59
UAV Systems
Results
Conclusion
60
30
06.05.2010
UAV Systems
Results
Conclusion
61
Sick laser scanner and three reflectors mounted on a UAV from aeroscout.
Tracking
Laser scanning
Conclusion
62
31
06.05.2010
Conclusion and Future work

Literature review and classification of UAV photogrammetry Generic workflow
o
Development of tools for flight planning (2D, 3D and single objects) Investigation of manual, assisted and autonomous controlled UAV flights Improvements in autonomous data acquisition
Analysis of 3D UAV trajectory First investigations of UAV-borne laser scanning Real flight applications
Tracking
Laser scanning
Conclusion
63

Low-cost UAV systems
Easily controllable Fast overview of the area of interest Practicable for projects with less accuracy requirements Usable for teaching
UAVs for accurate 3D measurements

3D trajectory can be generated with higher accuracy Stabilized systems Integration of various sensors for data acquisition, such as metric cameras, thermal cameras, laser scanner, range cameras
Tracking Laser scanning Conclusion
64
32
06.05.2010

Future developments: ~950 UAV systems are available or under development Trend to low-cost systems and miniaturization Real-time processing Data and sensor integration (e.g. LiDAR and image data, terrestrial) More applications Trend to autonomous systems Integration of UAVs into regular air traffic New regulations under development (eg LBA, BAZL)
Tracking
Laser scanning
Conclusion
65
Acknowledgements
Project partners: Heli: Jacques Chapuis, Christoph Eck, Roland Haarbrink, Daniel Krttli, Lars Zander; Pinchango Alto: Johny Isla Cuadrado, Karsten Lambers, Markus Reindel, Martin Sauerbier; Randa: Valentin Gischig, Frank Lemy, Simon Lw; UAV-borne LiDAR: Benedikt Imbach, Hannes Pschel, Peter Rieger, Roland Siegwart, Nikolaus Studnicka; Maize field: Peter Stamp, Andre Vogler; Bhutan: Namgyel Tsering, Armin Grn, Maros Blaha, Eberhard Fischer, Peter Fux Copan: Jennifer von Schwerin, Heather Ritchards, Fabio Remondino, Martin Sauerbier; Gravel pit: Gabriel Flury, Martin Ltscher, Emil Siegrist; Sarnen: Ruth Hug, Hannes Pschel, Martin Sauerbier; Cadastral applications: Ephraim Friedli, Madeleine Manyoky, David Novak, Daniel Steudler Thermal images: Christoph Ober, Emil Siegrist Tachymeter Tracking: Werner Stempfhuber; Other UAVs: Kai Jtte, Michael Kolb, Sina Muster, Uwe Niethammer, Paolo Perona; SU & FC ETH Zurich: Anne Katrin Thomas, Roman Windlin; Skyguide: Fabian Landherr.
Acknowledgements
66
33
06.05.2010
Download via e-collection @ ETHZ

67
UAVs (UVS) @ ISPRS

68
34
06.05.2010
Thank you for your attention !

70
35

UAvs

Hochgeladen von

Dokumentinformationen

Originalbeschreibung:

Copyright

Verfügbare Formate

Dieses Dokument teilen

Dokument teilen oder einbetten

Freigabeoptionen

Stufen Sie dieses Dokument als nützlich ein?

Sind diese Inhalte unangemessen?

Copyright:

Verfügbare Formate

UAvs

Hochgeladen von

Copyright:

Verfügbare Formate

06.05.

Vermessung mit unbemannten Luftfahrzeugen (UAV)

15th of April 2010

Introduction Literature review

Introduction Literature review

Introduction Literature review

Introduction Literature review

Introduction Literature review

Introduction - Motivation for the use of mini UAVs

Introduction - Motivation for the use of mini UAVs

Introduction - Motivation for the use of mini UAVs

Introduction - Overview of societies related to UAVs

Introduction - Motivation for the use of mini UAVs

Introduction - Motivation for the use of mini UAVs

Introduction Classification of UAVs

Introduction Classification of UAVs

Introduction - Classification of UAVs

Introduction - Classification and Regulation of UAVs

Categorization with respect to price and payload of UAV systems.

Regulation for UAVs in Switzerland (BAZL, 2001).

Introduction - Classification and Regulation of UAVs

UAV category OM-class M- & L-class M- & L-class

UAV Systems - Examples

UAV Systems - Examples

Overview of OM-class systems.

UAV Systems - Examples

Overview of a selection of existing commercial quad- and multicopter M-Class systems.

UAV Systems - Examples

Overview of fixed-wing, single rotor and coaxial M- and L-class systems

UAV Systems Autonomous vs. manual

Motorized kite Susi over a forestry area.

Zeppelin over Samoilov Island (Russia).

and for autonomous flights:

IGP model helicopter over Campus Hoenggerberg.

Quadrocopter, gravel pit.

UAV Systems Autonomous vs. manual

Trajectory of the manually controlled flight (Test Motala, Eisenbeiss, 2003).

Trajectory of the autonomous controlled flight (Test Motala, Eisenbeiss, 2003).

UAV Systems Copter 1B

UAV Systems wePilot

UAV Systems Flight mode

Servo commands: Collective Lateral cyclic Longitudinal cyclic Tail collective

Flight plan: Cruise waypoints Stop waypoints Home waypoint

UAV Systems Flight control

UAV Systems Mission flight

Cruise v=1m/s h=50m Payl Enabled

Cruise v=3m/s h=50m Payl Enabled 7

Cruise v=1m/s h=50m Payl Disabled

Cruise v=3m/s h=50m Payl Enabled 4

Home v=5m/s h=25m

UAV Systems Microdrones MD4-200

Applications Pinchango Alto

Applications Pinchango Alto

Blunder detection, Modelling

Einzelne Bereiche: Selected areas: Ausreisserdetektion,

Gesamte Siedlung: Complete settlement:

Laserscanning & image acquisition

Flight planning & aerial image aqcuisition

Complete settlement: Gesamte Siedlung:

Irregular point cloud (resolution < 5 cm)

Raster (foot print 5 cm)

Orthophoto with 3 cm GSD

Raster (foot print 10 cm)