Date post: | 17-May-2015 |
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http://purl.net/ifgi/copter
ifgicopter – open source software for unmanned aerial vehicles
Matthes Rieke,
Institute for Geoinformatics – University of Muenster
Software Freedom Day 2011 – September 17, 2011 – produktivhaus muenster
http://purl.net/ifgi/copter
Unmanned Aerial Vehicles
http://purl.net/ifgi/copter
Civil UAV systems
http://purl.net/ifgi/copter
Mikrokopter UAV – mikrokopter.de
● big and active community project
● dealing with hard- and software components for different purposes
● Modulized construction kit
● Components for● Steering the UAV
● Automatic navigation
● GPS communication
http://purl.net/ifgi/copter
Mikrokopter UAV
● Firmware part / microcontroller● FlightCtrl – general control of the UAV and its attitude
● NaviCtrl – dediacted computing unit for automatic navigation
● completely written in C
● „Desktop“ components● Running on ground station, using communication link
● Default tool – „MikrokopterTool“ – is closed source
● Several alternative approaches developed in the community
http://purl.net/ifgi/copter
Mikrokopter UAV
● MikrokopterTool
http://purl.net/ifgi/copter
Mikrokopter @ ifgicopter
http://purl.net/ifgi/copter
software developed at ifgicopter
http://purl.net/ifgi/copter
Flight planning tool – demo
http://purl.net/ifgi/copter
software developed at ifgicopter
● java communication library – JavaMK● Dealing with the proprietary communication protocol
● Using serial comm lib RXTX
● Raw commands transformed into Java objects
● First step for the development of a self-developed data processing software
http://purl.net/ifgi/copter
data processing software
http://purl.net/ifgi/copter
● Synchronization of sensor streams● Why synchronize streams?● Knowledge of exact position at time
of image aquisition
● Currently: interpolation mechanism● Abstract – easily adjustable for application
http://purl.net/ifgi/copter
Calculating orthophotos
● Input/Output phenomena using XML descriptions
● When to determine a position?
http://purl.net/ifgi/copter
Current ongoing work – Real Time Kinematic
● In general: rather cost-intensive hardware● GNSS receiver + antenna – processing of RTK corrections
● Radio modem (e.g. GPRS) to retrieve correction signals
● Processing unit for data communication
http://purl.net/ifgi/copter
Current ongoing work – Real Time Kinematic
http://purl.net/ifgi/copter
some use cases
http://purl.net/ifgi/copter
in-situ measurements of the atmosphere
● Limitations of classic measur-ment methods (e.g. static orpolicy restrictions)
● UAVs fill the gaps
● The before introducedframework was developedon-top of this use case
http://purl.net/ifgi/copter
Remote sensing
● modular setup
http://purl.net/ifgi/copter
Remote sensing
● Classification of
a rapeseed field
http://purl.net/ifgi/copter
Source Code available at:
http://purl.net/ifgi/copter
Thank you for your kind attention!
Questions?
http://purl.net/ifgi/copter
Matthes Rieke – [email protected]
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