ifgicopter presentation at the Softwainvolving

1. 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

2. Unmanned Aerial Vehicles
http://purl.net/ifgi/copter

3. Civil UAV systems
http://purl.net/ifgi/copter

4. 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

5. 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

6. Mikrokopter UAV
● MikrokopterTool
http://purl.net/ifgi/copter

7. Mikrokopter @ ifgicopter
http://purl.net/ifgi/copter

8. software developed at ifgicopter
http://purl.net/ifgi/copter

9. Flight planning tool – demo
http://purl.net/ifgi/copter

10. 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

11. data processing software
http://purl.net/ifgi/copter

12. ● 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

13. Calculating orthophotos
● Input/Output phenomena using XML descriptions
● When to determine a position?
http://purl.net/ifgi/copter

14. 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

15. Current ongoing work – Real Time Kinematic
http://purl.net/ifgi/copter

16. some use cases
http://purl.net/ifgi/copter

17. in-situ measurements of the atmosphere
● Limitations of classic measur-
ment methods (e.g. static or
policy restrictions)
● UAVs fill the gaps
● The before introduced
framework was developed
on-top of this use case
http://purl.net/ifgi/copter

18. Remote sensing
● modular setup
http://purl.net/ifgi/copter

19. Remote sensing
● Classification of
a rapeseed field
http://purl.net/ifgi/copter

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

21. Thank you for your kind attention!
Questions?
http://purl.net/ifgi/copter
Matthes Rieke – m.rieke@uni-muenster.de
21 http://purl.net/ifgi/copter