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High-precision Positioning and Real-time Data Processing of UAV-Systems
Matthes Rieke,
Theodor Foerster, Jakob Geipel, Torsten Prinz
Institute for Geoinformatics – University of Muenster
UAV-g 2011 Conference – September 16, 2011 – Zurich, Switzerland
http://purl.net/ifgi/copter
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Sensor platforms ● Current available UAV systems use common GPS receivers
● Not addressing use cases where high position accuracy is inevitable
● Creating orthophos using Direct Georeferencing
http://purl.net/ifgi/copter 2
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Approach for improving position accuracy
• Micro- or small-sized UAV systems
• Improvement using Real Time Kinematic
• Prototypical realization using a Microdrones md4-200 • Overview of the used hardware
• Conceptual design of data processing software
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Teaser of the used hardware
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Possible use case
• Improve/Enable Direct Georeferencing
• Currently limited due to several aspects • Exterior orientation (e.g. low-cost GPS/GNSS, IMU) • Alignment of time of image acquisition and positioning
Focus on improving absolute positioning using advanced GNSS
techniques + timestamp synchronisation
• Stabilize flight trajectory
• Decrease the position delta between planned and actual image position
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REAL TIME KINEMATIC Improving position accuracy on-the-fly
http://purl.net/ifgi/copter 6
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Real Time Kinematic
• Specialized form of Differential GNSS
• Ground based Augmentation System
• Takes phase observations into account for error estimation
• Based on correctional signals from national services
http://purl.net/ifgi/copter 7
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Real Time Kinematic
• What do you need?
• 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
• Payload!
http://purl.net/ifgi/copter 8
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Real Time Kinematics
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DATA PROCESSING Benefitting from improved positioning
http://purl.net/ifgi/copter 10
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Software approach
● Software running on groundstation
● Support for different UAV platforms ● Synchronization of multiple data streams to enable
real-time measurement capabilities ● Modulized architecture to foster reusability
● Realized using Software Framework
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Framework Approach
● Architecture
http://purl.net/ifgi/copter 12
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Framework Approach
● 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
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Framework Approach
● Basis is description of Plugin Behaviour ● Input/Output phenomena using XML descriptions ● When to determine a position?
http://purl.net/ifgi/copter 14
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RESULTS AND FUTURE WORK Applying in real-world situations
http://purl.net/ifgi/copter 15
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Hardware integration
• Currently only DGPS receiver used
• Future work involves an RTK-enabled L1/L2 GPS/GLONASS receiver
• Problem of moved centroid
• Hardware optimization
• Implementation of Direct Georeferencing workflow
• Move to md4-1000 to gain more payload
http://purl.net/ifgi/copter 16
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Hardware integration
http://purl.net/ifgi/copter 17
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Use case – precision farming
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Push-based communication
Precision farming
Monitoring workflow
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Source Code available at:
http://purl.net/ifgi/copter 19
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WHAT IS MISSING?
http://purl.net/ifgi/copter 20
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Thank you for your kind attention! Questions?
http://purl.net/ifgi/copter Matthes Rieke – [email protected]
http://purl.net/ifgi/copter 21