Engineering UAS Applications

Name: Engineering UAS Applications | Sensor Fusion, Machine Vision and Mission Management
Brand: Artech House
Price: 176.99 EUR
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Sensor Fusion, Machine Vision and Mission Management

Jesus Garcia Jose M. Molina Daniel Amigo Juan Pedro Llerena Sanchez Pedroche(Author)

Artech House (Publisher)

Published on 31. July 2023

342 pages

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978-1-63081-984-2 (ISBN)

€176.99incl. 7% vat

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Content

Intro
Engineering UAS Applications: Sensor Fusion, Machine Vision,and Mission Management
Contents
Preface
1 Introduction and State of the Art
1.1 Introduction and Types of Unmanned Aerial Systems
1.2 Main Technologies Used in UAS
1.2.1 Navigation
1.2.2 Communications
1.2.3 Machine Vision
1.2.4 Coordination: Swarms of UAVs and Applications
1.2.5 Simulation
1.3 Summary and Structure of This Book
References
2 Components of UAS
2.1 Introduction
2.2 Flight Controller
2.2.1 Logic Components
2.2.2 Physical Components
2.3 Communications
2.3.1 Radio Communication Technologies
2.3.2 Communication Protocols
2.3.3 UAV Messaging Protocols
2.4 Payload
2.4.1 Payload Types
2.4.2 Payload Positioning
2.5 Mission Management Units
2.5.1 Ground Station
2.5.2 Companion Computer
2.5.3 Control APIs
2.6 Obstacle Avoidance Use Case
2.6.1 Phase 1: Assembly of the Physical Components
2.6.2 Phase 2: Setting Up the Software
2.6.3 Phase 3: Mission Design from the Ground Station
2.6.4 Phase 4: Mission Start
2.6.5 Phase 5: Obstacle Detection and Avoidance
References
4 Navigation Systems of UAS
4.1 Introduction
4.2 Reference Frame Systems
4.2.1 Global Frames (WGS84 and ECEF) and Local Frame at Tangent Point ENU and NED
4.2.2 Geodetic to ECEF Transformation
4.2.3 ECEF to Geodetic Transformation
4.2.4 ECEF to Local Cartesian (ENU and NED) Transformation
4.2.5 Local Cartesian (ENU or NED) to the ECEF Transformation
4.3 Attitude Mathematical Concepts
4.3.1 Attitude Representation
4.3.2 Attitude Kinematics
4.4 Fusion of the INS and GNSS
4.4.1 State Estimation
4.4.2 INS State Vector
4.4.3 GNSS State Vector
4.4.4 Fusion of the INS and GNSS
4.5 Application: Search for the Best Navigation Parameters
4.5.1 Fusion Quality Metrics
4.5.2 PX4 Navigation System
4.5.3 Search Best EKF Parameters
References
3 Simulation of UAS
3.1 Introduction
3.2 From Development to Reality
3.2.1 Simulation Software
3.2.2 SITL
3.2.3 HITL
3.2.4 External HITL
3.2.5 Simulation in Hardware
3.2.6 Vehicle in the Loop
3.3 UAS Simulators
3.3.1 Current Simulators
3.3.2 Simulator Comparison
3.4 AirSim Simulation Examples
3.4.1 Framework Required Programs
3.4.2 Simulation Environment
3.4.3 AirSim Settings
3.4.4 SimpleFlight Simulation
3.4.5 Mission 1: Using SimpleFlight SITL
3.4.6 PX4 Simulation
3.4.7 Mission 2: Using PX4 SITL
3.4.8 Mission 3: Using PX4 HITL
3.4.9 Flight Analysis
References
5 Machine Vision Systems of UAS
5.1 Introduction
5.2 Computer Vision System
5.2.1 Pinhole Camera
5.2.2 Camera Calibration
5.2.3 AirSim Camera Calibration
5.3 Image Stabilization
5.3.1 Mechanical Stabilization
5.3.2 Computational Stabilization
5.4 Object Detection
5.4.1 Problems of Object Detection
5.4.2 Evaluating Object Detection
5.4.3 Object Detection Example
5.5 Visual Object Tracking
5.5.1 VOT Algorithms
5.5.2 Drone VOT System in the AirSim Simulator
References
6 Integration of External Systems
6.1 Introduction
6.2 Sense-and-Avoid Illustrative Example
6.2.1 Simulation Architecture
6.2.2 Software Modules
6.2.3 Detection System
6.2.4 Occupancy Map
6.2.5 Avoidance Strategy
6.2.6 Evaluation
6.2.7 Conclusions
6.3 Decentralized Drone Swarm Illustrative Example
6.3.1 Simulation Architecture
6.3.2 Software Modules
6.3.3 Swarm Generator
6.3.4 Communication Loop
6.3.5 Mission Vote System
6.3.6 Formation Generation Avoiding Collisions
6.3.7 Swarm Formation to Target
6.3.8 Mission Movement
6.3.9 Swarm Obstacle Avoidance
6.3.10 Mission Recalculation
6.3.11 Evaluation
6.3.12 Conclusions
6.4 Terrain Reconstruction Illustrative Example
6.4.1 Simulation Architecture
6.4.2 Software Modules
6.4.3 Multi-UAV Path Planning
6.4.4 UAV Mission
6.4.5 Real-Time Orthoimagery Generation
6.4.6 Evaluation
6.4.7 Conclusions
References
7 Conclusions and Future Works
Chapter 1: Introduction
Chapter 2: Components of UAS
Chapter 3: Simulation of UAS
Chapter 4: Navigation Systems of UAS
Chapter 5: Machine Vision Systems of the UAS
Chapter 6: Illustrative Examples of UAS
Acronyms and Abbreviations
List of Symbols
About the Authors
Index

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Engineering UAS Applications

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