UAV - UAS TECHNOLOGY BASICS

Transcription

1 UAV - UAS TECHNOLOGY BASICS Dr. István Koller BUTE Department of Networked Systems and Services október 9., Budapest koller@hit.bme.hu

2 Content 0. Introduction to UAV technology 1. Fixed wing aircraft basics 2. Copter basics 3. UAS Unmanned Aerial Systems basics 4. UAV Safety basics in UAV technology 5. Privacy 6. Applications Dr. Koller István Department of Networked Systems and Services BUTE 2

3 0. Unmanned aircraft - DRONE, UAV DRONE means UAV In the everyday communication often means copters only - Rotary wing vehicles AMORES hexacopter with gas sensors for pollution scattering Fixed wing vehicle AMORES aircraft above the field Dr. Istvan Koller Department of Networked Systems and Services BUTE 3

4 0. Fixed or rotary wing UAV Rotary wing UAV - Copter Pros: Ability to hover No need for airfield Cons: Short flying time 15 minutes Lower altitude (~3000m ASL), slower Fixed wing UAV Aircraft Pros: Long Flying time 50 minutes Higher altitude (~5000m ASL), faster Cons: Needs airspeed cannot hover Needs large take-off, landing area Dr. Istvan Koller Department of Networked Systems and Services BUTE 4

5 0. Quadplane Rotary and fixed wing in the same time Unifies the benefits No need of airfield Can hover Long range High speed Dr. Koller Istvan Department of Networked Systems and Services BUTE 5

6 0. UAV operation - UAS Unmanned Aerial System (UAS) UAV device in the air under Manual (controlled by remote pilot) or Auto pilot control Ground Control Station (GCS) Optional Ground Control Station sw - Operator person Remote Pilot person Optional Can fly the UAV as a remote controlled aircraft within visual range Dr. Istvan Koller Department of Networked Systems and Services BUTE 6

7 0. UAS technology elements Dr. Koller István Department of Networked Systems and Services BUTE 7

8 1. Fixed wing aircrafts Main parts of an aircraft Fuselage Wings Tail with horizontal and vertical surfaces Propulsion jet engine (or propeller - more typical on a UAV) Dr. Istvan Koller Department of Networked Systems and Services BUTE 8

9 1. Control surfaces manned aircraft A: Aileron B: Stick D: Rudder C: Elevator Dr. Istvan Koller Department of Networked Systems and Services BUTE 9

10 1. Consequences of Moving Control surfaces ELEVATOR Dr. Istvan Koller Department of Networked Systems and Services BUTE 10

11 1. Consequences of Moving Control surfaces AILERON Dr. Istvan Koller Department of Networked Systems and Services BUTE 11

12 Consequences of Moving Control surfaces - RUDDER Dr. Istvan Koller Department of Networked Systems and Services BUTE 12

13 1. How to move the control surfaces? A: Aileron - ROLL B: Stick D: Rudder - YAW C: Elevator - PITCH Dr. Istvan Koller Department of Networked Systems and Services BUTE 13

14 1. How can the heavy aircraft fly? Dr. Istvan Koller Department of Networked Systems and Services BUTE 14

15 1. LIFT force which balance the weight Dr. Istvan Koller Department of Networked Systems and Services BUTE 15

16 1. Wing in airflow A thin plate in an airflow can generate lift The air is directed down by the wing Newton action reaction low: there is a lift Wing tries to go up There is better shape of wing cross section The air is directed down by the wing Newton action reaction low: there is a lift Wing try to go up Dr. Istvan Koller Department of Networked Systems and Services BUTE 16

17 Wing Dr. Istvan Koller Department of Networked Systems and Services BUTE 17

18 1. Lift on the wing V: velocity of the air Fp: propulsion force Fy - L: lifting force Fx: drag force G: gravitation force a: angle of attack : Airspeed - velocity of the air cl: lifting factor A: wing surface r: air density Dr. Istvan Koller Department of Networked Systems and Services BUTE 18

19 1. Lift depending of angle of attack Dr. Istvan Koller Department of Networked Systems and Services BUTE 19

20 1. Lift from speed difference Speed difference Bernoully - pressure difference Dr. Istvan Koller Department of Networked Systems and Services BUTE AMORES 20

21 1. Stall dangerous flight state There is no enough Lift to keep aircraft in level flight Stall because of Critical angle of attack non laminar, turbulent airflow Too low airspeed stall airspeed Stall airspeed depends on wing profile airfoil FLAP Dr. Istvan Koller Department of Networked Systems and Services BUTE 21

22 1. Flap operation Deployed flap green More lift same angle of attack slower airspeed still is enough More drag more trust needed for the same speed Dr. Istvan Koller Department of Networked Systems and Services BUTE 22

23 1. Conclusions Dr. Istvan Koller Department of Networked Systems and Services BUTE 23

24 1. UAV typical thrust device: propeller Special wing generates lift thrust Serious design task to choose a proper propeller to the motor Dr. Istvan Koller Department of Networked Systems and Services BUTE 24

25 1. Fixed wing UAV - BHE Aileron Propeller pusher Elevator Flap Vtall Rudder Flap Payload Aileron Dr. Istvan Koller Department of Networked Systems and Services BUTE 25

26 2. Multi rotors aircrafts - Copters Multi propeller with vertical rotating axis Opposit direction rotation to balance the turning moment Dr. Istvan Koller Department of Networked Systems and Services BUTE 26

27 2. Quadcopter Four equal propellers generating four thrust forces Neighbor propeller rotates opposit direction Opposit propellers have opposit pitches Dr. Istvan Koller Department of Networked Systems and Services BUTE 27

28 2. Control the Pitch, Yaw 2 slows down 3 speed up Moving forward 2, 3 slows down 1, 0 speed up Rotating Dr. Istvan Koller Department of Networked Systems and Services BUTE 28

29 3. Radio Controlled (R/C) model aircraft electronic system Aileron Rudder Thrust Elevator Aileron Dr. Istvan Koller Department of Networked Systems and Services BUTE 29

30 3. Easy Star II as an R/C model Dr. Istvan Koller Department of Networked Systems and Services BUTE 30

31 3. R/C model electronic system Battery LiPo +Power GND 3 - throttle Signal BEC/ ESC motor Signal +5V RC antenna RC Model receiver +5V GND 1 - aileron 2 - elevator 3 - throttle GND Signal +5V GND Signal +5V GND servo aileron left servo aileron right 4 - rudder.. 8 Signal +5V GND servo elevator Signal +5V GND servo rudder R/C PWM signal: Dr. Istvan Koller Department of Networked Systems and Services BUTE 31

32 3. What is needed to create a UAV from a fixed wing RC model? Sensors Positioning GPS Airspeed pitot tube with differential pressure sensor Barometric altimeter Inertial Measurement Unit (IMU) for attitude controller 3 axes accelerometer 3 axes gyroscopes 3 axes magnetometer Flight control computer Telemetry radio - optional Dr. Istvan Koller Department of Networked Systems and Services BUTE 32

33 3. Autopilot + RC modell = UAV Battery LiPo +Power GND Signal Current sensor Power Supply 3 - throttle Throttle signal BEC/ ESC motor RC antenna RC Model receiver +5V GND 1 - aileron 2 - elevator 3 - throttle Flight controller +5V GND 1 - Aileron 2 - Elevator 3 -Throttle servo aileron left servo elevator GPS antenna Telemetria antenna GPS receiver Telemetry Radió 4 - rudder.. 8 flight mode UART UART Rudder 5 - Aileron Signal +5V GND I2C Differentiai pressure senzor servo rudder servo aileron right Pitot tube Dr. Istvan Koller Department of Networked Systems and Services BUTE 33

34 3. What is the ArduPilot? Complete open source autopilot solution Open source autopilot hardware(s) Flight controller computer Microcontroller based system Sensors Gyroscopes Accelerometers Magnetometers Altimeter (barometric) GPS Open source software Rover Plane Copter Dr. Istvan Koller Department of Networked Systems and Services BUTE 34

35 3. ArduPilot - autopilot system Autopilot hardware open hardware several manufacturer APM2 AVR bit autopilot Atmel Obsolete Pixhawk 32 bit ARM STM microcontroller based (ArduPlane, ArduCopter, ArduRover) firmware open source ARDUINO based originally, now C++, Python Eclipse STM ARM Mission Planner Open source GCS for Windows Dr. Istvan Koller Department of Networked Systems and Services BUTE 35

36 3. Ardupilot Hardware Hardware Flight controller computer Accelerometer Gyroscopes Three axes magnetometer - compass Barometric altitude meter Current measurement sensor GPS module Telemetry radio Pitot - airspeed sensor fixed wing Dr. Istvan Koller Department of Networked Systems and Services BUTE 36

37 Pixhawk Dr. Istvan Koller Department of Networked Systems and Services BUTE 37

38 3. Pixhawk Dr. Istvan Koller Department of Networked Systems and Services BUTE 38

39 Mission Planner Dr. Istvan Koller Department of Networked Systems and Services BUTE AMORES 39

40 3. What is needed for a UAV Mission UAV itself with or without payload Remote Pilot a person, who can fly the UAV in MANUAL flight mode as an RC model pilot Optional Ground infrastructure Optional Radios with antennas Telemetry Payload Ground Control station (GCS) computer UAV operator a person working with a Ground Control Station Software to continuous supervision of the flight Optional Dr. Istvan Koller Department of Networked Systems and Services BUTE 40

41 3. UAV mission 1. route planning Dr. Istvan Koller Department of Networked Systems and Services BUTE 41

42 3. UAV mission 2. sending route to the UAV Telemetry radio pair Ground Control Station computer Dr. Istvan Koller Department of Networked Systems and Services BUTE 42

43 3. UAV mission 3. takeoff Hand launch small UAVs Bungee launch medium UAVs Catapult Larger UAVs Dr. Istvan Koller Department of Networked Systems and Services BUTE 43

44 3. UAV mission 4. UAV in the air Telemetry radio pair Continuous human control via Ground Control Station Dr. Istvan Koller Department of Networked Systems and Services BUTE 44

45 3. GCS screen with map and HUD Dr. Koller István Department of Networked Systems and Services BUTE 45

46 3. GCS Payload camera picture inserted into the GCS screen Dr. Koller István Department of Networked Systems and Services BUTE 46

47 4. Safety and UAV UAV can cause injury, damage, harm Accidental crash Crash to the ground Crash to another aircraft Willful harm Can carry bomb or other weapon Dr. Istvan Koller Department of Networked Systems and Services BUTE 47

48 4. Flight safety passenger aircraft - UAV On a manned aircraft Human life is under direct risk Unmanned aircraft No human life is under direct risk Dr. Istvan Koller Department of Networked Systems and Services BUTE 48

49 4. Flight safety - UAV Head injury caused by a drone Alibaba is testing drone delivery in Shanghai with a 3-day pilot program January 26, 2014, small drone crash landed at the White House in Washington, DC (AFP Photo/) Hangglider who does not want to meet with a drone in the air Dr. Istvan Koller Department of Networked Systems and Services BUTE 49

50 4. Safe UAVs Safe airframes Safe electronics Safe algorithms (Software) Dr. Istvan Koller Department of Networked Systems and Services BUTE 50

51 4. Safe Airframes - How? Fixed Wing aircraft Safe auto take off (launching) and landing process Safe catapult system Safe auto landing process Aircraft mechanical reconfiguration for prompt landing - patent pending Safe flight Can fly with one motor inoperative on twin motor plane Sectioned (redundant) control surfaces Rotary Wing aircraft Use more than 4, f.e. 6 rotor construction, that can fly with one motor inoperative Blades protection ring Dr. Istvan Koller Department of Networked Systems and Services BUTE 51

52 4. Safe Electronics Radios Redundant Sensors (GPS, Altitude, Airspeed, Gyroscopes, etc.) Redundant Flight Computer Redundant Actuators Motors, control surfces Sensors More than one sensor per function Redundant sensors Identify the failed sensor Flight Computer Fault tolerant system Powerful Main Computer for sophisticated control algorithm Redundant computer in the background which can take over control with a simple task: flight home and autoland Able to fly without Radio Able to fly without GPS Actuators Redundant servos Dr. Istvan Koller Department of Networked Systems and Services BUTE 52

53 4. Safe AMORES ROBOTICS algorithms for autopilot - under development Autonomous UAV control Planned Flight path Airframe sensors actuators Sensor signals State Estimator Kalman Filter Estimated State Control signals Guidance algorithm Reference State Estimated State Nonlinear Optimal Controller Robust Nonlinear control algorithm Extreme flight maneuvers can be controlled Extreme bank, flight upside down, etc. Widely used linear controller base autopilots cannot handle extreme situations -> UAV may crash Dr. Istvan Koller Department of Networked Systems and Services BUTE 53

54 4. Drone defence counter UAV What to do with hostile UAV? Drone defence equipment based on radio signals Detection Direction finding Receive and decode the telemetry Jammer of radio signals GPS Remote control Telemetry Payload Dr. Istvan Koller Department of Networked Systems and Services BUTE 54

55 4. UAV radio electronic systems Non connected UAV UAV may fly in full autonomous mode Flight according to the predefined flight plan No need of communication during the flight This type of drone cannot be recovered by passive radio sensor Connected UAVs Manually controlled from the ground Airborne radio device is generally transmitter too, not just receiver Telemetry/control radio channel Operator continuously supervise the flight Operator can modify the flight remotely Payload channel Pl. camera signal transmission to the ground Dr. Koller István Department of Networked Systems and Services BUTE 55

56 4. UAV remote controller: UAV as an R/C model The UAV can be controlled app. 500m range because of the visual range is app. 500m. Airborne station Receiver Transmitter: telemetry data Used frequency Narrow band FM model transmitter frequencies 35MHz, 40MHz, 70MHz is not already used typically 2400MHz ISM band, frequency hopping spread spectrum modulation FHSS - 1,5 km range 430MHz ISM band - 10 km range Dr. Koller István Department of Networked Systems and Services BUTE 56

57 4. FPV hobbiest pilot with devices Dr. Koller István Department of Networked Systems and Services BUTE 57

58 4. Telemetry/control, payload frequencies on UAVs ISM bands without licenses 169, ,475 MHz automatic meter reading (telemetry) 433, ,79 MHz - telemetry 868, MHz - telemetry MHz telemetry, payload video - analog and digital 5800 MHz - telemetry, payload Radio amateur bands - braking rule application MHz amateur band as FPV transmitting band Dr. Koller István Department of Networked Systems and Services BUTE 58

59 4. Public Cellular Service The UAV can be sent very far away equipped by cellular communication modem Moving Cellular modems at high altitude: potential UAVs G2 G3 900MHz 1800MHz 2100MHz G4 LTE 800MHz 1800MHz 2600MHz Dr. Koller István Department of Networked Systems and Services BUTE 59

60 4. LTE coverage of Hungary by Hungarian Telekom Dr. Koller István Department of Networked Systems and Services BUTE 60

61 4. Telecommunication satellite systems Satellite system IRIDIUM GLOBALSTAR INMARSAT THURAYA Orbit LEO LEO GEO GEO Altitude 780 km 1412 km ~ km ~ km Number of satellites Frequency bands 66 sats / 6 orbits 48 sats / 8 orbits 4 sats 2 sats L (1.6GHz), L, L, Ku L, Ku Ka (26..40GHz) Ku ( GHz) Services voice (2,4 kbps), voice (9,6 kbps), voice/voip (4 kbps) voice (9,6 kbps), data / ISP Data (9,6 kbps) ISDN (64kbps), data (9,6 kbps), (2,4 kbps) IP (492 kbps) fax (9,6 kbps), IP (144 kbps), Dr. Koller István Department of Networked Systems and Services BUTE 61

62 4. Iridium data modem Your drone can be - anywhere on Earth - connected Very low data speed Short Burst Message 300 byte packet seconds Anybody can reach this technology 0.5 Ft/byte expensive L Band moving radio signal source It radiates to the satellite hard to detect A RockBlock Iridium modemje (76x52x19mm) Dr. Koller István Department of Networked Systems and Services BUTE 62

63 4. Passive radio sensor Radio direction finder It gives the angle of the incoming radio wave Azimuth angle to the North direction Elevation angle to the horizontal direction The needed frequency range based on previous slides 30 MHz.. 6 GHz Dr. Koller István Department of Networked Systems and Services BUTE 63

64 4. Radio direction finding antenna system fort Short Wave (up to 30 MHz) Dr. Koller István Department of Networked Systems and Services BUTE 64

65 4. Phase Interferometry Direction Finding Antennas around a circle Direction calculation based on phase difference of antenna signal Dr. Koller István Department of Networked Systems and Services BUTE 65

66 4. Two DF position calculation -k z, ζ z, ζ ξ 5. θ ψ y 1. x α 2 R k η η ψ θ 3. y 1. x α 2 R 2. ξ Dr. Koller István Department of Networked Systems and Services BUTE 66

67 5. Everyone can have a UAV with camera may cause privacy problems Dr. Istvan Koller Department of Networked Systems and Services BUTE AMOR ES

68 5. Is it really the drone we need to fear? Aerial photography with a telescoping monopod Dr. Istvan Koller Department of Networked Systems and Services BUTE 68

69 5. Is it really the drone we need to fear? HD camera on an eagle above London on a YouTube video Dr. Istvan Koller Department of Networked Systems and Services BUTE 69

70 5. Privacy - cameras on drones Photo and/or video data collection viewing the world as a bird we have new possibilities to see Storage of the data on board Transfer of the data to the ground control station Dr. Istvan Koller Department of Networked Systems and Services BUTE 70

71 5. Data Management of Stored Data Collected data can be stored on UAV board If unauthorized person gets the UAV -> gets the data Stored data cannot be used if encrypted (asymmetric encryption) Data can be encrypted using a public key on the board, before storage Data can only be decrypted by the private key, which is not on the UAV board The private key for decryption cannot be generated from the public key Stored data cannot be used by unauthorized persons Dr. Istvan Koller Department of Networked Systems and Services BUTE AMOR ES

72 5. Data management of transmitted data from the UAV to the ground Collected data can be transmitted to the ground via a radio channel Mobile Internet via cellular service provider Within the service coverage WiFi endpoint in a WiFi network Within the range of WiFi access point Proprietary non standard radio - AMORES solution Anywhere on Earth within the range of radio Transmitted data can be encrypted Simple symmetric encryption algorithm can be used Encryption and decryption keys are the same Unauthorized people cannot decrypt the message Dr. Istvan Koller Department of Networked Systems and Services BUTE 72

73 6. Applications Tall building survey Short range flight to an antenna during operation Dr. Koller István Department of Networked Systems and Services BUTE 73

74 6. Applications - Sylviculture Identifying the dead trees Based on aerial photography Picture post processing Dr. Koller István Department of Networked Systems and Services BUTE 74

75 6. Application Decision making in agriculture 15 cm/pixel resolution aerial photo series taking under the groing season several times Dr. Koller István Department of Networked Systems and Services BUTE 75

76 Előadó Neve Előadás címe 76 BME Hálózati Rendszerek és Szolgáltatások Tanszék 6. Multispectral camera in agriculture Visible spectrum: (blue - green - red): 390 nm 700 nm Normal photo or video cameras Near infrared (NIR), nm Is used primarily for imaging vegetation High vegetation - high NIR content Near infrared camera picture False picture: NIR>RED, RED>GREEN, GREEN>BLUE NDVI index for each pixel: NDVI NDVI index range -1 : No vegetation +1 : High vegetation NIR NIR RED RED

77 6. Applications decision making in agriculture - NDVI Dr. Koller István Department of Networked Systems and Services BUTE 77

78 6. Application damages in agriculture by games Automated calculation of the damages in percent Dr. Koller István Department of Networked Systems and Services BUTE 78

79 6. Application - Small object distribution on the agricultural field Dr. Koller István Department of Networked Systems and Services BUTE 79

80 Dr. Istvan Koller Department of Networked Systems and Services BUTE 80