Development of an Unmanned Aircraft Mounted Software Defined Ground Penetrating Radar
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1 Development of an Unmanned Aircraft Mounted Software Defined Ground Penetrating Radar J. F. Fitter, A. B. McCallum & J. P. Leon University of the Sunshine Coast, Sippy Downs, Australia 8-Sep-16 1
2 Project Objectives Objective 1 Evaluate sensor platforms suitable for mounting of GPR (Ground Penetrating Radar) and operation in alpine and arctic environments while meeting specific technical specifications; Objective 2 Evaluate the viability of using a SDR (Software Defined Radio) to implement a GPR suitable for use on a small, lightweight RPA (Remotely Piloted Aircraft). The design specifications for the GPR are defined explicitly; 8-Sep-16 2
3 Dirty Dangerous Difficult Project Justification Alpine snow field inspection Sea ice survey Land mine detection Masonry chimney inspection Glaciology Geological survey 8-Sep-16 3
4 Objective #1 Evaluate sensor platforms suitable for mounting of GPR (Ground Penetrating Radar) and operating in alpine and arctic environments while meeting the following specifications; Small and Low cost. Portable. Lightweight (WH&S limits < 14 Kg/person). Easily deployed. Easily transportable by air or land vehicle. Medium payload capability (~ 5 Kg). Medium endurance (> 1 hour). Exceptionally stable. Can operate in harsh or cold environment. Low operator skills required. 8-Sep-16 4
5 Objective #2 Evaluate the viability of using a SDR (Software Defined Radio) to implement a GPR suitable for use on a small, lightweight RPA (Remotely Piloted Aircraft). The design specifications for the GPR are as follows; Small and Lightweight (< 5 Kg). Low cost. Low power consumption (< 20W). Resolution < 1m to a depth of 10m. Local data storage (~ 1TB). Capable of rapid re-configuration. Precise GPS positioning and tracking. Accurate position data without GPS. Telemetry downlink for low resolution data. Low operator skills required. 8-Sep-16 5
6 Survey of Sensor Platforms 8-Sep-16 6
7 Sensor Platform Types Quadcopter Multicopter Helicopter Coanda Effect VTOL Coanda Multicopter Aeroplane 8-Sep-16 7
8 Quadcopter - 4 motors, 4 arms, consumer grade. 8-Sep-16 8
9 Octacopter - 8 motors. ISC 5 4 arms. Compact Less stable Less efficient Large 8 arms. Stable Efficient 8-Sep-16 9
10 ISC 5 Multicopter Endurance Modelling 8-Sep-16 10
11 Multicopter Endurance Modelling Maximum endurance vs Total vehicle weight Endurance increases rapidly with battery weight increase. Endurance gains decrease and become negative at high total weight. Endurance is moderately effected by motor power density. 8-Sep-16 11
12 Multicopter Endurance Modelling Maximum endurance vs battery/frame weight ratio. Endurance increases rapidly with increasing battery/frame weight ratio. Endurance gains plateau at a battery/frame weight ratio of approximately 2. Higher motor specific power enables a higher battery/frame weight ratio. 8-Sep-16 12
13 Multicopter Endurance Modelling Maximum endurance vs Battery specific energy Endurance is a linear function of battery specific energy. Motor specific power has little effect on endurance. Endurance is strongly effected by battery technology. 8-Sep-16 13
14 Multicopter Endurance Modelling Extended plot of maximum endurance vs Battery specific energy Internal combustion engines using liquid fuel currently outperform electric power solutions even at efficiencies of below 40%. Hydrogen fuel cells offer great promise as a replacement for Lithium batteries. Endurance is strongly effected by battery technology. 8-Sep-16 14
15 Review of Energy Sources Stored Electrical Energy Lithium Ion Polymer Pouch Cells Lithium Ion Cylindrical Cells Direct Conversion Electrical Energy Hydrogen PEM (Proton Exchange Membrane) Fuel Cell 8-Sep-16 15
16 Lithium Ion Polymer Prismatic Pouch Cells 8-Sep-16 16
17 Lithium Ion Cylindrical Cells 8-Sep-16 17
18 Hydrogen PEM 1 Fuel Cell Stack 1 Proton Exchange Membrane 8-Sep-16 18
19 Software Defined Radio GPR 8-Sep-16 19
20 Radio Architecture Classic radio All components physically and logically combined Software defined radio Physically independent components Logically independent components 8-Sep-16 20
21 SDR Physical Implementation Airborne system Ettus B200-Mini UDOO-X86 8-Sep-16 21
22 Pulse Radar Basics GPR Operating Principle ISC 5 B-Scan A-Scan 8-Sep-16 22
23 SFMCW Radar Basics Actual HIL Simulation 8-Sep-16 23
24 Radar Resolution Enhancement The solution: A sequence of chirps, each with a different centre frequency The problem Range resolution, R R = c/2b R R = c/2nb 8-Sep-16 24
25 End of Presentation Thankyou for your attention. 8-Sep-16 25
26 ABDILLA, A., RICHARDS, A. & BURROW, S. Power and Endurance Modelling of Battery-Powered Rotorcraft Fig. 10. ARDrone2.0 Endurance: Model accounting for battery variability together with Experimental Results for Stable Operation. Flights at an AUWexceeding 550g exhibited unstable behaviour which frequently necessitated manual landing prior to vehicle autolanding. 8-Sep-16 26
27 GATTI, M., GIULIETTI, F. & TURCI, M Maximum endurance for battery-powered rotary-wing aircraft. Aerospace Science and Technology. Fig. 3. Hovering time as a function of the battery ratio. 8-Sep-16 27
28 KRAWCZYK, J. M., MAZUR, A. M., SASIN, T. & STOKLOSA, A. W FueL cells as alternative power for unmanned aircraft systems current situation and development trends. Transactions of the Institute of Aviation, 237, Figure Mass and efficiency comparison of propulsion systems providing a shaft power of 50kW for 2 hours (hepperle, 2012). 8-Sep-16 28
29 BLDC Motors Low KV direct drive Out-runner. Optimised for Multicopter use. Motor specific power 3W/g Motor constant 100 KV High KV in-runner with 6.7:1 planetary reduction drive. Optimised for high performance aeroplane use. Motor specific power 6W/g Motor constant xxx KV 8-Sep-16 29
30 Li-Ion Cell Welding DIY welding of Cylindrical Li-Ion cells using low cost commercial electric spot welder. Connecting strips are Nickel. Cell casing is steel. 8-Sep-16 30
31 Survey Mission Profile 8-Sep-16 31
32 Noisy GPS Data Simulation 8-Sep-16 32
33 Visual SLAM Simulation 8-Sep-16 33
34 8-Sep-16 34
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