NAVIGATION AND REMOTE SENSING PAYLOADS AND METHODS OF THE SARVANT UNMANNED AERIAL SYSTEM P. Molina, P. Fortuny, I. Colomina Institute of Geomatics -- Castelldefels (ES) M. Remy, K.A.C. Macedo, Y.R.C. Zúnigo, E.Vaz, D. Lübeck, J. Moreira Orbisat Remote Sensing Campinas, Sao Jose dos Campos (BR) M. Blázquez Geonumerics Barcelona (ES) Rostock 2013-09-06 Rostock, 2013-09-06 1
THE LARGEST TROPICAL RAINFOREST IN THE WORLD 6 million km 2 of rainforest over 9 countries 30m to 100m height trees (5% light penetration) Unseen terrain, rivers Needs: topography imagery vegetation analysis Suitability of UAVs lower-cost (specially in small areas) ease of operation Challenge for UAVs sensors Rostock, 2013-09-06 2
THE AERIAL PLATFORM Operational flying heights 1000 m Operational flying speed 200 km/h MTOW 120 kg Payload Weight 45 kg Endurance 5h Length x Wing span 3,8m x 6,2m Designed by Aeroalcool (Brasil), avionics by AGX (Brasil) scan and produce topography of 500 km 2 with SAR sensor creates the platform Orbisat (Embraer) and Institute of Geomatics collaborate for SARVANT HW/SW acquisition, navigation and remote sensing Rostock, 2013-09-06 3
SYNTHETIC APERTURE RADAR (SAR): SENSOR Volume and weight ~ 0.76 x 0.34 x 0.36 m 3, 30 kg Bands Power Range Resolution Cross-range Resolution Look angle from nadir Interferometric (InSAR) baseline Altimetric accuracy P (250-500 MHz) and X (8-12 GHz) 30W (peak), 0.6W (avg.) (X-band) 50W (peak), 1.0W (avg.) (P-band) 0.5 m (X-band) 1.5 m (P-band) 0.11 m (X-band) 0.5 m (P-band) 20 to 60 degrees (X-band) 10 to 60 degrees (P-band) = 0.25 m (X-band, single-pass) 50 m (P-band, repeat-pass) 1 to 5 meter (depends on vegetation) Rostock, 2013-09-06 4
SYNTHETIC APERTURE RADAR (SAR): DSM and DTM Rostock, 2013-09-06 5
SYNTHETIC APERTURE RADAR (SAR): DSM and DTM Digital Terrain Model (DTM) Digital Surface Model (DSM) Independent from illumination and weather conditions Unique development in the world (civilian) Rostock, 2013-09-06 6
SYNTHETIC APERTURE RADAR (SAR): BIOMASS ESTIMATION Tree height deeply correlated with Biomass (highest biomass levels in the world) Rostock, 2013-09-06 7
SYNTHETIC APERTURE RADAR (SAR): DRAINAGE Rostock, 2013-09-06 8
SYNTHETIC APERTURE RADAR (SAR): SUBSIDENCE 11cm -11cm Rostock, 2013-09-06 9
ORIENTATION PAYLOAD: HIGH-GRADE INS AND GNSS Navigation payload low-grade sensors for auto-piloting - stable guidance along scanning lines ( SAR coherence) Orientation payload SAR requirements - state-of-the-art geodetic grade orientation payload position ~ centimeters, attitude ~ hundredth of degree [On-board] PC104-compatible acquisition and synchronization system: - DMARS-I IMU (high-end tactical grade) - Novatel OEM3 GNSS receiver - Mother board, clock board, power supply [Off-line] INS/GNSS tight coupling - Carrier-phase differential - Precise Point Positioning (PPP) Rostock, 2013-09-06 10
OPTICAL PAYLOAD: RGB/NIR DOUBLE CAMERA Visible band (below cloud level!) Medium format RGB cameras (80 Mpx): - Phase One ixa, Hasselblad H4D-40 price! - for concept demonstration, MILC (Sony NEX-7) 24.3 Mpx 25 cm GSD Agricultural/environmental applications Coverage of the infrared band: - Multi- or hyper-spectral solutions available for UAVs (MiniMCA, Rikola) - Replace filters to reach NIR/SWIR Rostock, 2013-09-06 11
OPTICAL PAYLOAD: RGB/NIR DOUBLE CAMERA Rostock, 2013-09-06 12
ORIENTATION METHOD: INTEGRATED SENSOR ORIENTATION INS/GNSS tpva + image coordinates (minimum overlap) + GCPs On-the-job sensor & system calibration Computational burden++, Accuracy, robustness++ Rostock, 2013-09-06 13
ORIENTATION METHOD: DIRECT SENSOR ORIENTATION INS/GNSS tpva (no overlap requirement) Previous sensor and system calibration Computational burden, Accuracy, robustness Rostock, 2013-09-06 14
ORIENTATION METHOD: FAST-AT INS/GNSS tpva + image-coordinates for GCPs + GCPs On-the-job system calibration and sensor pre-calibration Computational burden+, Accuracy, robustness+ - Suitable for ill-textured areas - SAR Corner reflectors as GCPs - Fast-AT does not support: Unstable camera calibration Low-grade navigation sensors Rostock, 2013-09-06 15
CURRENT AND FUTURE WORK Development of the double-optical payload for SARVANT HW/SW acquisition system Camera calibration Aerial platform: - flown with remote control, awaiting authorization for auto-pilot flight Synthetic Aperture Radar: - finishing final boards; backplane is being produced. Assessment of Fast-AT with actual UAV data THANKS! Rostock, 2013-09-06 16