The document discusses using unmanned aerial vehicles (UAVs) as mobile multi-sensor platforms. It presents a framework approach for abstracting the integration of different UAVs and sensor data streams. The framework enables real-time synchronization of sensor observations and integration into sensor web services. Future work areas include using UAVs for applications like orthophoto generation without ground control points.

1. Unmanned Aerial Vehicles as
Mobile Multi-sensor Platforms
Matthes Rieke,
Theodor Foerster, Arne Broering
Institute for Geoinformatics – University of Muenster
AGILE 2011 Conference, Utrecht, 2011-04-19
http://purl.net/ifgi/copter

2. Overview
1. Introduction
2. Sensor platforms
3. Framework Approach
4. Integration into the Sensor Web
5. Future Work and Impressions
2 http://purl.net/ifgi/copter

3. Introduction
● Use case from landscape ecology
● Determine
meteorological
inversions in the
Prandtl-Layer
3 http://purl.net/ifgi/copter

4. Introduction
● Mobile Multi-sensor Platform
● Unmanned Aerial Vehicle (UAV) as base
● Extended with several sensors
● Problems raised from this approach
● Different UAVs - different data encodings
● Varying sensors with specific low-level protocols
● How to integrate gathered data into the
Sensor Web?
4 http://purl.net/ifgi/copter

5. Introduction
● Quick answer
● Abstract the integration layer from protocol
specifics
● Framework Approach – described
later on
5 http://purl.net/ifgi/copter

6. Overview
1. Introduction
2. Sensor platforms
3. Framework Approach
4. Integration into the Sensor Web
5. Future Work and Impressions
6 http://purl.net/ifgi/copter

7. Sensor platforms
● Several UAVs available in the civilian domain
● Community Projects - e.g.
● Mikrokopter
● ArduCopter
● Commercial Projects - e.g.
● Microdrone
● AscTec
7 http://purl.net/ifgi/copter

8. Sensor platforms
● Basis is a building kit by www.mikrokopter.de
● Wireless downlink included
8 http://purl.net/ifgi/copter

9. Sensor platforms
● How to measure phenomena?
● Integrate independent computing unit
● Actual sensors are operated
● Independent wireless downlink
9 http://purl.net/ifgi/copter

10. Sensor platforms
● System summary
● Mikrokopter UAV with downlink for GPS tracking
● Independent „Sensor Board“ for phenomena
measurement
→ Two separated data streams
New problem: How to fuse streams to
enable real-time data provision?
10 http://purl.net/ifgi/copter

11. Overview
1. Introduction
2. Sensor platforms
3. Framework Approach
4. Integration into the Sensor Web
5. Future Work and Impressions
11 http://purl.net/ifgi/copter

12. Framework Approach
● Requirement summary
● Support for different UAV platforms
● Synchronization of multiple data streams to enable
real-time measurement capabilities
● Sensor Web integration mechanism
● Realized using Software Framework
12 http://purl.net/ifgi/copter

13. Framework Approach
● Architecture
13 http://purl.net/ifgi/copter

14. Framework Approach
● Basis is description of Plugin Behaviour
● Input/Output phenomena using SensorML
● When to create Output?
14 http://purl.net/ifgi/copter

15. Framework Approach
<?xml version="1.0" encoding="UTF-8"?>
<spf:plugin xmlns:spf=http://ifgi.uni-muenster.de/~m_riek02/spf/0.1
name="urn:ifgi:id:ifgicopter2">
<spf:output>
<spf:AvailabilityBehaviour>
<spf:outputProperties>
<spf:property>temperature</spf:property>
<spf:property>humidity</spf:property>
</spf:outputProperties>
</spf:AvailabilityBehaviour>
<spf:mandatoryProperties>
<spf:property>position</spf:property>
</spf:mandatoryProperties>
</spf:output>
<SensorML />
</spf:plugin>
15 http://purl.net/ifgi/copter

16. Framework Approach
● Synchronization of sensor streams
● Why synchronize streams?
● Have geotagged observations in real-time
● e.g. used by Complex Event Processing
● Overcome bandwidth issues (details later)
● Use of interpolation mechanism
● Abstract – easily adjustable for application
● Additional processing capabilities
16 http://purl.net/ifgi/copter

17. Framework Approach
● Called once internal output is created
Reminder:
● Functionality only triggered by framework
● No limitations
17 http://purl.net/ifgi/copter

18. Overview
1. Introduction
2. Sensor platforms
3. Framework Approach
4. Integration into the Sensor Web
5. Future Work and Impressions
18 http://purl.net/ifgi/copter

19. Integration into the Sensor Web
19 http://purl.net/ifgi/copter

20. Integration into the Sensor Web
● achieved using Output-Plugin for the so-called
Sensor Bus
• communication infrastructure which underlies the
different Sensor Web services (SOS, SES, SPS,
etc.)
• Well-defined communication protocol
20 http://purl.net/ifgi/copter

21. Integration into the Sensor Web
● Establish connection to Sensor Bus → integration
into connected SWE services
21 http://purl.net/ifgi/copter

22. Integration into the Sensor Web
Test evaluations
22 http://purl.net/ifgi/copter

23. Overview
1. Introduction
2. Sensor platforms
3. Framework Approach
4. Integration into the Sensor Web
5. Future Work and Impressions
23 http://purl.net/ifgi/copter

24. Future Work
● Differential GPS: Orthophotos without Ground
Control Points
● Exterior Orientation
● Position (GPS)
● Rotation (IMU)
● Interior Orientation
● Principal point and distance
(Camera calibration file)
● Terrain Model
● → Orthophoto
24 http://purl.net/ifgi/copter

25. Future Work
● Visualization
● Additional sensors
● Fine dust
● Gas sensors
● Digital elevation models
● Autonomic flight (security and surveillance)
25 http://purl.net/ifgi/copter

26. Source Code available at:
26 http://purl.net/ifgi/copter

27. Thank you for your kind attention!
Questions?
http://purl.net/ifgi/copter
→ UAV Workshop @ Geoinformatik 2011
27 http://purl.net/ifgi/copter