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Rozprawy doktorskie na temat „UAV”

Autor: Grafiati
Data publikacji: 4 czerwca 2021
Data aktualizacji: 7 lipca 2024

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1

Andersson, Per-Olov. "UAV/UCAV i fredens tjänst : UAV/UCAV och dess operativa betydelse i framtida Peace Support Operations". Thesis, Försvarshögskolan, 2001. http://urn.kb.se/resolve?urn=urn:nbn:se:fhs:diva-1898.

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Luftstridskrafter har spelat en betydande roll i senare tiders Peace Support Operations (PSO). Obemannade flygande system har varit en del av dessa insatser, hur kommer rollfördelningen att vara i framtiden? Syftet med uppsatsen är att undersöka och göra en bedömning avseende hur obemannade flygsystem kan utnyttjas och ha en roll i framtida Peace Suport Operations. Litteratur- och dokumentstudier, föreläsningar och intervjuer ligger som faktabakgrund för bedömningen av hur en framtida PSO kan se ut samt vilken roll obemannade flygsystem kan ha i en framtida Peace Suport Operation. Jämförelse har skett mellan bemannade och obemannade flygande system varvid fördelar och nackdelar har belysts. Resultatet av studien är att obemannade flygande system bör kunna få en betydande roll i framtida Peace Suport Operations främst avseende underrättelseinhämtning och uppgifter där vapenleverans inte är huvuduppgiften. Obemannade flygande farkoster med stridsuppgift (UCAV) har däremot betydande hinder som måste övervinnas innan dessa kan få en viktig roll i framtida PSO. Det är inte uteslutet att UCAV efter en tids utveckling kan få en viktig roll i en framtida PSO främst inom uppgifter som karaktäriseras av stor risktagning, krav på lång uthållighet eller uppträdande i ohälsosam miljö.
Avdelning: ALB - Slutet Mag 3 C-upps.Hylla: Upps. ChP 99-01
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Hajri, Riadh. "UAV to UAV Target Detection and Pose Estimation". Thesis, Monterey, California. Naval Postgraduate School, 2012. http://hdl.handle.net/10945/7351.

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The objective of this thesis is to investigate the feasibility of using computer vision to provide robust sensing capabilities suitable for the purpose of UAV to UAV detection and pose estimation using affordable CCD cameras and open coding libraries. We accomplish this by reviewing past literature about UAV detection and pose estimation and exploring comparison of multiple state-of-the-art algorithms. The thesis presents implementation studies of detection approaches including color-based detection and component-based detection. We also present studies of pose estimation methods including the PosIt algorithm, homography-based detection, and the EPFL non-iterative method. The thesis provides a preliminary strategy for detecting small UAVs and for estimating its six degree of freedom (6DOF) pose from image sequences within the prescribed airspace. Discussion of its performance in processing synthetic data is highlighted for future applications using real-life data sets.
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Stalmakou, Artsiom. "UAV/UAS path planning for ice management information gathering". Thesis, Norges teknisk-naturvitenskapelige universitet, Institutt for teknisk kybernetikk, 2011. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-13232.

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The key objective of this work is the proposition of the path planning strategy for unmanned aerial vehicle (UAV) intended for information gathering in Arctic environments / ice-infested regions. Two different path planning strategies are considered; one for analysis of the surveillance area defined as a grid and the other for analysis of the surveillance area defined as a sector. The mixed integer linear programming (MILP), YALMIP modeling language and GUROBI optimizer are used for formulation and solution of the path planning optimization problems. Furthermore, both path planning strategies are tested for the cases of constant and variable ice flow, respectively; the following are investigated in each simulation case: flight path of the UAV, coverage of the surveillance area, speed and acceleration of the UAV and the solver-time. Moreover, throughout this work only a planar motion is considered, with one single UAV used in each simulation case.
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Holtby, Johan. "Autonom UAV". Thesis, Uppsala universitet, Institutionen för informationsteknologi, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-168611.

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In Abisko National Park there are a numberof weather stations. To be able toretrieve the data from the nodes in thefuture a Quadrocopter-prototype has beendeveloped during this master thesisproject as a first step. A quadrocopter isa helicopter with four rotors placed in across formation. The quadrocopter cannavigate autonomous between different GPSpositionsthat are updated during flighttrough Xbee-modules. All levels fromsources code, design of the electronics todevelopment of the chassis was performedduring the project. During GPS-navigationthe quadrocopter can achieve a stationaryposition with a mean stationary offset ofless than 0.5 meters even in light winds.
I Abisko Nationalpark finns det ett antal väderstationer. För att på sikt kunna läsa av väderdata från dessa har en quadrocopter-prototyp utvecklats i detta examensarbete. En quadrocopter är en helikopter med fyra rotorer placerade i ett kryss. Quadrocoptern kan navigera autonomt mellan olika GPS-positioner som ges trådlöst via Xbee-moduler. Alla nivåer från källkod, design av elektronik till utformning och tillverkning av chassit har gjorts inom detta projekt. Vid GPS-navigering kan quadrocoptern uppnå en stationär position med en medelvärdesavvikelse mindre än 0.5 meter trots lättare vindar.
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Dahl, David, i Fredrik Stetler. "UAV Antarctica". Thesis, KTH, Skolan för teknikvetenskap (SCI), 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-152700.

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One of the biggest problems of our time is the global warming. A direct result of this phenomena is the melting of ice of the glaciers on the north and the south pole. As this continues, the melted ice will contribute to an increase of the sea level, and may cause enormous natural disasters. To be able to prevent this, it’s important to study its affects. This reports contains a concept study of a Unmanned Aerial Vehicle, a UAV, set on the coast of Antarctica by the Australian owned base Davis Station to document the changes and retracting of the glacier borderline. The purpose of the aircraft is to scout a pre-determined path whilst documenting the glaciers with photography from above.
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6

Ljungbäck, Jacob, i David Williamsson. "UAV Helikoptertransmission". Thesis, KTH, Maskinkonstruktion (Inst.), 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-176309.

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En grupp på Maskinkonstruktion, KTH har påbörjat arbetet med att utveckla en UAV helikopter (Förarlös helikopter) som framförallt är tänkt att användas vid minröjning. Ramen, rotorerna och motorn är valda och tillverkade men det behövs en transmission från motorn till rotorerna. Denna rapport innehåller utvecklingen av den transmissionen inklusive centrifugalkoppling, axlar och lager. Målet med arbetet är att utforma hela transmissionen från idé till färdig konstruktionslösning med tillhörande CAD modell. Arbetet innefattar däremot inte val av tillverkningsmetod, testflygning med färdig transmission eller vidare arbete för att omkonstruera konstruktionen vid behov. Samtliga delar som skall konstrueras har som mål att ha så låg vikt som möjligt. Vid projektets början utfördes en informationsökning där sökning på internet efter liknande konstruktionslösningar samt möte med uppdragsgivarna genomfördes för att få en bild av projektets omfattning, lista deras önskemål och krav. Dessutom utfördes litteraturstudier både i tidigare kurslitteratur och vetenskapliga rapporter inom området. Konceptframtagningen utfördes med hjälp av en brainstorming och kravspecifikation. En QFD matris användes för att omvandla uppdragsgivarnas krav och önskemål till konkreta produktegenskaper för att göra kravspecifikationen. Plastkugghjul och smala axlar i stål visade sig vara önskvärda. Resultatet blev tre olika koncept. För att uppfylla uppdragsgivarnas och projektdeltagarnas krav och önskemål valdes ett koncept med dubbla kuggremmar och en kuggväxel eftersom det konceptet fick bäst resultat i beslutsmatrisen. Med hjälp av analytiska beräkningar och Fem modeller dimensionerades transmissionen så att kravspecifikationen uppfylldes. Plastkugghjulen och kuggremmarna uppfyllde dock inte kravet om minimal säkerhetsfaktor på 1,6. För att kunna optimera konstruktionen ännu mer måste en testflygning genomföras för att utvärdera de laster som verkar på komponenterna. När dessa är kända är det troligen möjligt att minska vikten. För att minska vikten ytterligare bör en konstruktionslösning med smörjmedel användas eftersom det möjliggör betydligt högre krafter och kontakttryck i kugghjulen som då kan bli betydligt mindre. Uppdragsgivarna bör därför överväga om transmission som utformats i denna rapport med en total vikt på ca 1,8 kg skall användas eller om en dyrare och mer komplicerad konstruktion skall väljas för att minska vikten.
A group of researchers at the department of Machine Design KTH are working with the development of a UAV helicopter (unmanned helicopter) which main purpose is demining. The frame, rotor blades and engine are already chosen but a transmission is also needed. This Bachelor thesis contains the development of the transmission including the centrifugal clutch, shafts and bearings. The goal of the thesis is to design a transmission with a structured product development process and to produce a complete CAD model. The thesis will not include choosing manufacturing methods, test flight with the finish transmission or detail design. The weight should be as low as possible for all parts. At the beginning of the project, an information retrieval was made on the internet, old course books and scientific journals to find similar designs. To understand the project and to know what the clients wanted and their demands, a meeting was also accomplished. The conceptual design was achieved with the help of brainstorming and analyzing the product requirements. To find out the requirements, a QFD matrix was used to transform the client’s wishes and demands into product features. Plastic gears and slim steel shaft scored high in the QFD and are therefore desirable. The result of the conceptual design was three concepts. To find out which of the concept that meets the client’s and project member’s demands best, a decision matrix was used. The result was that the concept with twin belts and one gearbox scored highest and was therefore chosen. To design the transmission in a way that meets the product requirements, both analytical- and FEM calculations were done. Only the plastic gears and the belt didn’t meet the requirement that the safety factor should at least be 1,6. To optimize the design further a test flight is needed to measure the forces that are applied on the transmission. After the test flight the forces are known and therefore it’s probably possible to reduce the weight. To reduce the weight even further a design with lubricated gears would make the gears smaller and lighter since the lubricant enables higher contact pressure. The clients should therefore consider a more expansive and complicated design if the weight should be reduced from the 1, 8 kg that the current design weighs.
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7

BOZKURT, Ugur, i Mustafa Aslan. "Assembly of a UAV : hardware design of a UAV". Thesis, Halmstad University, School of Information Science, Computer and Electrical Engineering (IDE), 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-3247.

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This bachelor thesis is dedicated to assemble the hardware system of a UAV (Unmanned Aerial Vehicle) in order to prepare the platform for an autonomous flight in the air for a given path through the pre-programmed check points. A UAV is an aircraft that contains sensors, GPS, radio system, servomechanisms and computers, which provide the capability of an autonomous flight without a human pilot in the cockpit. A stable flight requires sensing the roll, pitch, and yaw angles of aircraft. Roll and pitch angles were ensured by a sensor system of FMA Direct Company called co-pilot flight stabilization system (CPD4), which allows controlling ailerons and elevator manually.

An autopilot is required for steering the aircraft autonomously according the GPS data and the establish waypoints that the airplane have to pass by. The GPS gives heading information to the autopilot, and this uses the information of the next waypoint to decide which direction to go. Hereby an autonomous flight is provided. In this project a lego mindstorm NXT was used as an autopilot that is product of LEGO Company [1]. The output of the autopilot is used to control the airplane servos to fly in the desired direction. A software and hardware interface was designed to allow the autopilot to receive the data from the co-pilot sensor and to transmit data to the co-pilot processor, which will finally steer the actuator servos. Experiments were performed with different parts of the system and the results reported.

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8

Blomberg, Andreas. "Utvärdering av mätosäkerheten vid georeferering med UAS och Post Processed Kinematic-GNSS". Thesis, Högskolan i Gävle, Avdelningen för Industriell utveckling, IT och Samhällsbyggnad, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:hig:diva-22145.

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UAS has been become a very popular tool in surveying and evaluation of the systems measurement uncertainties are necessary. The most common method for georeferencing UAS data is to use ground control points (GCP) in order to use them in block adjustment. In recent years’ new techniques for direct georeferencing with UAS have been presented, which in theory means that the position of the UAS can be determined accurately enough and therefore GCP’s can be excluded. This study evaluates  uncertainties of the UAS Freya from SmartPlanes that don’t need GCP’s for georeferencing. The technique applied in the evaluation is based on Post Processed Kinematic (PPK) for coordinate determination of the UAS, which means that the collected GNSS data can be post processed using a reference station.   The test area was a 280 x 320 m block in the north end of Gävle airport, Sweden. Each flight is conducted in two orthogonal blocks and evaluated in three different ways against the 16 GCP. The altitude was about 90 m for all flights. The uncertainty of the PPK-technique is tested and evaluated with three different methods to ensure both accuracy and potential use. In total five flights were assessed and evaluated with Agisoft PhotoScan against 16 GCP spread over the area. The position of each GCP’s was determined with four independent network RTK measurements.  The results show that the georeferencing with the PPK-technique and block adjustment has potential to meet the uncertainties in level with indirect georeferencing using GCP. The results show very similar planimetric uncertainties, around 0,020 m in RMS, for all evaluations with the PPK-technique. The results of the uncertainty in height is more scattered where the two lowest results in a RMS under 0,015 m and the highest over 0,100 m for the difference against the 16 GCP.  It is possible to achieve low uncertainties with the method without the use of GCP. For areas where establishment of GCP is not possible, using UAS equipped with PPKtechnology provides a very suitable alternative to use. The results show relatively large differences between the evaluations and in order to determine the exact cause of them, further studies are required.
Den starka teknikutvecklingen för UAS resulterar i flera nya produkter på marknaden och för att utvärdera deras mätosäkerheter krävs det kontroller av systemen. Den vanligaste metoden vid georeferering med UAS är att använda koordinatbestämda flygsignaler på marken. På senare år har metoder för direkt georeferering presenterats, vilket i teorin innebär att positionen för UAS kan bestämmas så pass noggrant att flygsignaler kan uteslutas. I denna studie utvärderas mätosäkerheter för Freya, ett UAS från SmartPlanes som med hjälp av bra positionering och blockutjämning ska kunna användas för georeferering utan flygsignalering. Systemet från Smartplanes bygger på Post Processed Kinematic (PPK) för koordinatbestämning, vilket innebär att insamlat GNSS data kan efterberäknas med korrektioner från en referensstation. Mätosäkerheten för PPK-tekniken testas och utvärderas med 3 olika metoder för att se både på mätosäkerhet samt möjlig användning. Totalt fem flygningar har utförts på ett testområde som var cirka 280x320 m och beläget i den norra delen av Gävle flygplats. Flyghöjden var kring 90 m för alla flygningar som vidare har bearbetats och utvärderats i programvaran PhotoScan från Agisoft. Kontrollen av mätosäkerheten har gjorts mot 16 spridda kontrollpunkter på marken som har positionsbestämts med fyra oberoende nätverks-RTK mätningar vardera. Varje flygning är utförd i två ortogonala block och utvärderades med fyra olika konfigurationer mot de 16 kontrollpunkterna.  Resultaten visar att georeferering med hjälp av blockutjämning och PPK-tekniken har potential för att uppnå mätosäkerheter i nivå med indirekt georeferering med hjälp av stödpunkter på marken. I plan visar resultaten på väldigt jämna mätosäkerheter, kring 0,020 m i RMS, för alla utvärderingar med PPK-tekniken. Resultaten i höjd är mer spridda där de lägsta visar mätosäkerheter under 0,015 m RMS och de högsta över 0,100 m i RMS för avvikelsen mot kontrollpunkterna. Det är fullt möjligt att uppnå låga mätosäkerheter med metoden utan användning av stödpunkter. För användningsområden där stödpunkter inte kan etableras är detta UAS med PPK-tekniken ett mycket lämpligt alternativ att använda. Resultaten visar på relativt stora skillnader mellan de olika testade metoderna och för att avgöra den exakta orsaken till dem skulle vidare studier behövas.
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Grafström, Erik, Erik Hansson i Max Morén. "Quadrotor UAV : Konstruktion och användbarhetsstudie av en UAV i sensornätverk". Thesis, Uppsala universitet, Institutionen för informationsteknologi, 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-143813.

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Quadrotor UAVs are self-stabilizing, autonomous flying machines that has recently become more popular than ever. Unmanned Aerial Vehicles have their roots in the military, where they were developed for use in reconnaissance and combat. During the last few years, advances in the fields of electronic sensors, electric motors and microcontrollers have enabled smaller designs and autonomic flight control even for private use. The quadrotor, which is the particular kind of UAV we are looking closer at in this paper, has 4 rotors in an X-like formation. This configuration has many advantages such as good lift capacity, non-complex mechanical structure and serviceability. In this project we aquired a current overview of the domain and determine whether it is possible to construct a quadrotor UAV designed for use in a WISENET sensor network on a low budget and short time schedule. Based on existing community project AeroQuad, a quadrotor is constructed with a budget of about 500 euro. Combining theoretical and practical analysis, we conclude that a quadrotor UAV can be constructed within the given specifications.
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Löfqvist, Ulf. "Kollisionsundvikning för UAV". Thesis, Linköping University, Department of Electrical Engineering, 2007. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-8192.

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I en obemannad flygfarkost måste datorer ta över pilotens förmåga att värdera risker och undvika kollisioner. På algoritmnivå brukar man dela in problemet i tre delar: Upptäckt och estimering av inblandade farkosters positioner och hastigheter, kollisionsriskberäkning och slutligen undanmanöver.

Saabs arbete med obemannade farkoster har tidigare berört kollisionsundvikning lite ytligt men nu börjat på större allvar. Det här examensarbetet är en del i denna satsning och har resulterat i ett sätt att beräkna kollisionsrisken samt ett sätt att beräkna en undanmanöver, givet att de inblandade farkosternas positioner och hastigheter är kända.

I examensarbetet behandlas parvisa kollisionsscenarier mellan ickekommunicerande farkoster givet två olika fall. Dels där den främmande farkostens position skattats väl, dels där den främmande farkostens position skattats sämre. En enkel simuleringsmiljö har utvecklats, där två algoritmer för beräknandet av kollisionsrisken, en för varje fall, testats samtidigt som undanmanövern testats för en mängd kollisionsscenarier. Givet att den främmande farkostens position skattats väl behöver den obemannade farkosten cirka 6 s på sig för att kunna undvika en kollision. I fallet där den främmande farkostens position skattats sämre kan vi beräkna kollisionsrisken och i vissa fall sluta oss till hur farkosterna är orienterade och därigenom göra ett undanmanöverval.


Saabs work with unmanned aerial vehicles has only scratched the surface of collision avoidance, but is now advancing. This master thesis sheds light on some parts of the collision avoidance problem and has resulted in an innovative way to calculate the risk of collision and a way to determine an avoidance maneuver.

In this master thesis collision scenarios between non-communicating vehicles are being looked upon in pairs, given two different sets of data. Good estimates of the unknown vehicles position and unsatisfying position estimate. Through the development of a simple simulation environment, two algorithms, one for each set of data, has been tested simultaneously with tests of the collision avoidance maneuver for several collision scenarios. Given a good estimate of the unknown aerial vehicles position, the unmanned vehicle need approximately 6 seconds to act to avoid a collision. For the case with unsatisfactory estimate of the unknown vehicle the risk of collision can be calculated and in some cases the orientation of the aerial vehicles and thus a choice of avoidance maneuver can be made.

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Pineda, Stephen Michael Joseph. "Sabino Canyon UAV". Thesis, The University of Arizona, 2014. http://hdl.handle.net/10150/321916.

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Palo, Cassie Marie. "Sabino Canyon UAV". Thesis, The University of Arizona, 2014. http://hdl.handle.net/10150/321927.

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Steinke, James David. "Sabino Canyon UAV". Thesis, The University of Arizona, 2014. http://hdl.handle.net/10150/321965.

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Smith, Winston. "Collaborative UAV Surveillance". OpenSIUC, 2019. https://opensiuc.lib.siu.edu/theses/2565.

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Autonomous collaborative robotics is a topic of significant interest to groups such as the Air Force Research Lab (AFRL) and the National Aeronautics and Space Administration (NASA). These two groups have been developing systems for the operation of autonomous vehicles over the past several years, but each system has several critical drawbacks. AFRL’s Unmanned Systems Autonomy Services (UxAS) supports pathfinding for multiple tasks performed by groups of vehicles, but has no formal verification, very little physical flight time, and no concept of collision avoidance. NASA’s Independent Configurable Architecture for Reliable Operations of Unmanned Systems (ICAROUS) has collision avoidance, partial formal verification, and thousands of hours of physical flight time, but has no concept of collaboration. AFRL and NASA each wanted to incorporate the features of the other’s software into their own, and so the CRoss-Application Translator for Operational Unmanned Systems (CRATOUS) was created. CRATOUS creates a communication bridge between UxAS and ICAROUS, allowing for full feature integration of the two system. This combined software is the first system that allows for the safe and reliable cooperation of groups of unmanned vehicles.
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Hedenström, Linus, i Sebastian Eriksson. "An investigation of detecting potholes with UAV LiDAR and UAV Photogrammetry". Thesis, Högskolan i Gävle, Samhällsbyggnad, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:hig:diva-36836.

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Potholes are caused by erosion and as such always emerging on our roadnetwork. Potholes may not only cause great damages to vehicles, but can alsocause road accidents, which in the worst case are fatal. Today, the detection ofpotholes is usually based on citizen reports or ocular inspection by vehicle,where a loose description of the potholes properties and location can be given.Recent research has explored the possibility of aerial inspection of paved roadswith the new, cost effective, Structure-from-Motion (SfM) technique, whichcan produce 3D point clouds from photogrammetric data. SfM point cloudshave then been used in conjunction with processing algorithms toautomatically detect and extract potholes from paved surfaces. However, theresults have not been optimal for practical use. The purpose of this study is,therefore, to explore the possibility of using UAV LiDAR for potholedetection in paved roads as a better alternative to the currently popularStructure-from-Motion (SfM) technique. A LiDAR point cloud is derived by alaser scanner and may have several advantages over SfM, for instance, theinsensitivity to poor light conditions and modelling errors. This study is setout to answer how point clouds derived from UAV SfM and UAV LiDARcompare to each other regarding detecting potholes of different sizes, wheredetected potholes will be compared to ground truth data. An elevation check,consisting of 126 height control points along the paved road, will also be usedto evaluate the height accuracy in the clouds. Data collection is done with theUAV system mdLiDAR3000DL aaS containing a RIEGL miniVUX-1DLlaser scanner for LiDAR data and Sony RX1R II 42.4 megapixel camera forSfM data. The data for both methods are collected during the same flight. Theproposed method automatically detects and extracts potholes from a pavedsurface based on the vertical distance to local reference planes which representthe undamaged road surface. The point clouds are filtered in CloudComparebefore imported to TerraScan for detection and extraction of potholes. Theextraction results are then controlled by a set of terrestrial measurements bytotal station. The results show that potholes with a smaller width of at least16.5 cm and a depth of at least 2.7 cm can be detected and extracted frompoint clouds derived by UAV LiDAR at a flight altitude of 30 m. Theextracted potholes had a standard deviation of 1.40 cm in width and 6.7 mmin depth. Shadows on the road caused height anomalies in the point cloudproduced by Structure-from-Motion (SfM), which made pothole detectionimpossible with the proposed methodology.
Potthål skapas genom erosion i vägar och uppstår varje år i vägnätet. Skadornapåverkar inte bara fordonens skick, utan kan även vara orsaken till olyckorsom i vissa fall är dödliga. I dagsläget detekteras potthål genom ockulärt frånfordon av kommunala arbetare eller så rapporteras de in av medborgare via etjänst där en lös beskrivning kan ges angående potthålens egenskaper ochposition.På senare tid har studier utforskat möjligheterna för flygburen inspektion avasfalterade vägar med den nya, kostnadseffektiva, Structure-from-Motion(SfM) tekniken som kan producera 3D-punktmoln från fotogrammetrisk data.Punktmolnen som är framtagna genom denna metod har vidare använtstillsammans med bearbetningsalgoritmer för att detektion och extraktion avpotthål i asfalterade vägar. Dock har resultaten inte varit optimala för attmetoden ska fungera i praktiken. Syftet med den här studien är därför attutforska möjligheten för att använda UAV LiDAR som en bättre metod fördenna process. Punktmoln framtagna genom LiDAR-teknik, mer känt somlaserskanning, kan ha ett flertal potentiella fördelar över SfM som okänslighetmot modelleringsfel och dåliga ljusförhållanden.Denna studie ger svar på hur punktmoln framtagna genom UAV LiDAR ochUAV SfM förhåller sig till varandra när det gäller detektion av potthål i olikastorlekar från asfalterade vägar, där potthålens dimensioner kommer attjämföras mot markbundna kontrollmätningar. Vidare görs en höjdkontrollmot 126 höjdstöd i båda punktmolnen för att jämföra kvaliteten förhöjdmätningar på den asfalterade vägen genom respektive metod.Insamlingen av data gjordes samtidigt under samma flygning för bådametoderna. Drönaren som användes var Microdrones mdLiDAR3000DL aaSmed en RIEGL miniVUX-1DL laserskanner och en Sony RX1R II 42,4megapixelkamera monterad. Mjukvarorna som har använts för bearbetning ärCloudCompare för filtrering av brus med mera och TerraScan för självadetektions -och extraktionsprocessen.Resultatet visar att det är möjligt att extrahera potthål från LiDAR-baseradepunktmoln med en mindre bredd på minst 16,5 cm och ett djup på 2,7 cm.Standardavvikelsen för potthålens bredd är 1,4 cm och 6,7 mm i djup.Grupper av avvikande punkter skapades på vägen i det SfM-baseradepunktmolnen som en följd av ett modelleringsfel i skuggområden på vägen,vilket vidare gjorde detektion -och extraktionsprocessen omöjlig med denframtagna metoden.
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16

Bengtsson, Magnus. "UCAV vs. Armed UAV - en studie i realiteters inverkan på visioner". Thesis, Försvarshögskolan, 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:fhs:diva-1399.

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Många försvarsanalytiker och luftmaktsteoretiker har sedan 1990-talet gjort gällande att teknisktavancerade så kallade UCAV farkoster, kan komma att ersätta eller komplettera många av de idagmest avancerade stridsflygplanens uppgifter. Dessa förväntningar har inte infriats. De beväpnadeUAV som nu används i pågående operationer skulle mer kunna liknas vid beväpnade propellerdrivnasegelflygplan och utvecklingen av dessa kan sägas ha varit mer pragmatisk än innovativ.Utvecklingen skulle kunna förklaras som två olika utvecklingsspår, Armed UAV och UCAV. Undersökningenvisar att det är Armed UAV:s egenskap, uthållighet som gör att den är ett så efterfrågatsystem i dagens lågintensiva konflikter. UCAV å andra sidan har visat sig vara både dyrareoch komplexare än man tidigare förutsåg, men framförallt är dess egenskaper hastighet, autonomioch signaturanpassning i dagsläget inte efterfrågade.
During the last decade of the 20th century, visionary theorists predicted that advanced UCAVswould replace or complement existing fighter aircraft of today. Those predictions have not beenfulfilled. The Armed UAVs used in today’s conflicts could almost be seen as armed sailplanes andthe development can be described as more pragmatic then innovative. The development could beexplained as two separate development tracks, Armed UAV and UCAV. The analysis shows thatArmed UAVs characteristic persistence is the driving factor in today’s low intensive conflicts. Themore glamorous UCAV on the other hand has showed to be more complex and expensive thanexpected, and especially that its characteristics: speed, autonomy and stealth are not demanded intoday’s conflicts.
Avdelning: ALB - Slutet Mag 3 C-upps. Hylla: Upps. ChP 06-08
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17

Bäckström, Morgan. "Insamling av höjddata med UAV : En jämförelse mellan laserskanning, GNSS och UAV". Thesis, Karlstads universitet, Institutionen för miljö- och livsvetenskaper (from 2013), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kau:diva-68520.

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Projektet har genomförts i samarbete med Mora kommun som önskat att prova UAV som teknik för att bestämma markhöjder i ett bostads- och grönområde där mark kommer att schaktas vid en marksanering. Projektets syfte har varit att jämföra kvalitet på insamlade markhöjder från UAV med laserskanning och terrestra metoder samt att undersöka hur resultatet påverkas av olika flyghöjder. Med metoderna avvägning och inmätning med satellitteknik mättes sju flygstödspunkter och fyra mätpunkter in. Vid flygstödspunkterna placerades flygsignaler under flygningarna med UAV vilka skedde på 120 respektive 60 meters höjd över marken. Insamlade data bearbetades i Agisoft Photoscan 1.4.2 och med det framtagna punktmolnet kunde mätningar i modeller genomföras. Även insamling av höjddata från Lantmäteriets GSD Höjddata, grid 2+ data inhämtades. Därefter jämfördes koordinater för punkterna från bearbetningen med insamlade data. Resultatet visar på att standardavvikelsen i höjd vid 120 meters flyghöjd var 64 millimeter. Vid exkludering av mätpunkt 13, som var felaktigt inmätt, blev avvikelsen endast 29 millimeter. För 60 meters flyghöjd var standardavvikelsen 76 millimeter och med mätpunkt 13 exkluderad endast 24 millimeter. Dessa resultat förhåller sig till kraven för kvalitet enligt Lantmäteriets HMK-standardnivå 2, vilket är nivån för kartering av tätorter för bland annat detaljplaneläggning.
The objective of the study was to compare elevation data, from UAV photo, with NRTK, trigonometric leveling and airborne laser scanning. The concrete issues to investigate were: • What quality is achieved by data acquisition using UAV, compared to laser scanning and terrestrial measurement with NRTK? • How much does different flight altitudes affect the result? The aerial photos were taken at 60 and 120 meters above ground, using seven flight support points and four ground control points. Those were measured with NRTK and terrestrial measurement. Collected images have been processed, with Agisoft Photoscan 1.4.2, into models in which coordinates are retrieved for comparison. The coordinates were compared and showed a deviation of 24 to 76 millimeters which is an acceptable result for a HMK standard level 2.
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18

Kara, Mohamed Mohamed. "Design and control of UAV systems : a tri-rotor UAV case study". Thesis, University of Manchester, 2012. https://www.research.manchester.ac.uk/portal/en/theses/design-and-control-of-uav-systems-a-trirotor-uav-case-study(2b492c93-6b35-4317-ba6d-4c5e805d38fd).html.

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The field of UAV systems is an active research area with potential for development and enhancement in various perspectives. This thesis investigates different issues related to the design, operation and control of UAV systems with a focus on the application side of each proposed solution where the implementation side and applicability of the proposed solutions are always considered with high priority. The thesis discusses unmodeled actuator dynamics and their effect on UAV systems when using feedback linearisation to linearize nonlinear models of UAVs. The analysis shows potential risk when implementing feedback linearisation and neglecting actuator dynamics even for first order actuator system. A solution algorithm of two stage feedback linearisation is proposed to handle actuator dynamics and linearize the main dynamics of the system. In the field of design and operation of UAVs, this thesis proposes a systematic design procedure for electric propulsion systems that are widely used in UAVs. The design procedure guides the designer step by step to achieve minimum propulsion system weight or maximum flight time or a trade off between the two factors from the supplied solution sets. On the navigation side, the thesis proposes a new indoor navigation system that is easy to implement and less costly compared with other indoor navigation systems. The proposed system can be classified under computer-vision based navigation systems, however, it needs less information and less computational capacity. The thesis also contributes to the structure design of UAV systems by producing a novel tri-rotor UAV platform. The proposed UAV is novel in structure and design and has a centralized control system that stabilizes and tracks both rotational and transitional motion of the vehicle simultaneously.
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19

Lönnberg, Erika. "Autonom landning med UAV". Thesis, Linköping University, Department of Electrical Engineering, 2003. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-1660.

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På SAAB AB pågår projekt vilka har till syfte att utveckla en obemannad flygfarkost (UAV) som komplement till vanliga flygplan, exempelvis Gripen. För att kunna göra detta behöver SAAB samla kunskaper om UAV:er i allmänhet och detta examensarbete är en del i denna process.

Detta examensarbete har utförts hos SAAB AB, avdelningen Future Products i Linköping. Syftet var att ta fram styrlagar som möjliggör autonom landning för en UAV. Även en kortare utredning om vilka sensorer som kan komma att behövas ingick i examensarbetet.

Slutsatserna visar att ytterligare förbättringar behövs innan en autonom landning kan genomföras med den algoritm som tagits fram inom ramen för detta examensarbete. Bland annat behöver man ta hänsyn till turbulens. Vad gäller val av sensorer kan man i början använda sig av standard produkter som är kommersiellt tillgängliga för att reducera kostnaderna i projektet.


At SAAB AB there are projects running whose purpose is to develop an Unmanned Aerial Vehicle (UAV) to be used as a complement to ordinary aircrafts like Gripen. In order to do this SAAB has to collect generic knowledge about UAV:s and this final thesis is a part of this process.

This final thesis has been performed at SAAB AB in the department for Future Products in Linköping. The purpose was to develop control algorithms which makes autonomous landing possible for UAV:s. A brief investigation about which sensors that may have to be used was also performed as a part of the final thesis.

The conclusions show that further improvements are needed before an autonomous landing can be carried out with the algorithm that was developed within the scope of this thesis. Among other things, turbulence must be taken into consideration. Regarding the sensors, it is possible to start out with commercial of the shelf (COTS) products in order to decrease costs in the project.

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20

Hedqvist, Emma, i Daniel Jakobsson. "Uppdatering av nationella höjdmodellen över begränsade områden med hjälp av UAS". Thesis, Högskolan i Gävle, Avdelningen för Industriell utveckling, IT och Samhällsbyggnad, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:hig:diva-22073.

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I det här examensarbetet undersöks möjligheten att använda UAS över begränsade områden när den nationella höjdmodellen skapad av Lantmäteriet ska uppdateras. Ämnet var ett förslag från Lantmäteriet och huvudsyftet var att testa om UAS kan användas som komplettering till traditionell flygfotografering. Det blir allt vanligare att använda UAS inom till exempel geomatiken, eftersom det är ett bra verktyg när ett snabbt och effektivt resultat krävs. Lantmäteriet använder flygburen laserskanning vid genereringen av nationella höjdmodellen och den uppdateras med traditionell flygfotografering. Andra aspekter som undersökts i detta examensarbete var vilken mätosäkerhet kan uppnås med UAS vid framställandet av en DHM, vilken skillnad i lägesosäkerhet finns mellan studiens punktmoln jämfört med nationella höjdmodellen, samt mot punktmolnet genererat från traditionell flygfotografering och den ekonomiska aspekten vid användning av UAS. Detta utfördes genom att samla in data med hjälp av UAS över Furuvik, Gävle. Flyghöjden var 88 m över ett område på ca 1 ha. Därefter skapades en höjdmodell som kontrollerades enligt den tekniska specifikationen SIS-TS 21144:2013. I examensarbetet jämfördes punktmolnet som genererades från flygfoton tagna med UAS mot nationella höjdmodellen. Osäkerheten för den genererade höjdmodellen vid användandet av UAS visade ett bra resultat i höjd med en standardosäkerhet på 0,015 m. Punktmolnet genererat från Lantmäteriets bildmatchning låg 0,315-0,392 m under studiens punktmoln medan punktmolnet från laserskanningen låg 0,014-0,155 m över. Resultatet visade att användning av UAS är väldigt kostnadseffektivt när den nationella höjdmodellen över begränsade områden ska uppdateras. Det rekommenderas därför för Lantmäteriet att använda UAS för detta ändamål. Det blir mer än väl godkänt resultat och kostnaden är liten med tanke på resultatet, d.v.s. en metod för att verkligen kunna ajourhålla nationella höjdmodellen och komplettera traditionell flygfotografering över begränsade områden. Med denna metod slipper de vänta på att den traditionella flygfotograferingen ska ske. Tekniken går hela tiden framåt och inom en snar framtid kommer även laserskanning kunna ske med UAS. Det skulle vara intressant att se resultat av den metoden. Intressant skulle även vara att se om det i framtiden går att utesluta flygsignalering och verkligen kunna använda direkt georeferering för att spara tid ute i fält.
In this thesis we are going to investigate possibility of using UAS, over small areas, for updating national elevation model produced by the National Land Survey of Sweden. The subject of the thesis was proposed by the National Land Survey of Sweden. One of the main objectives of the study was to test if UAS can be used as a complement to traditional aerial photo. The use of UAS has increased over the years within for example geomatics, because it is a great tool when quick and effective results are required. The National Land Survey of Sweden uses airborne laser scanning to generate the national elevation model. The elevation model is then updated by traditional aerial photogrammetry. Other objectives that have been investigated in this study are what uncertainty can be expected with UAS when generating a DEM, the differences in uncertainty between the point cloud generated in this study to the national height model and to the point cloud generated from the traditional photogrammetry and the economic aspects when using UAS. For this purpose data was collected by UAS in Furuvik, Gävle. The flight height was 88 m over the area of about 1 ha. Then a DEM was created and controlled according to the technical specification SIS-TS 21144:2013. In this thesis a comparison between the point cloud generated in this study and the national elevation model has been performed. Uncertainty of the produced DEM using UAS showed very good result in height with a standard deviation of 0.015 m. The point cloud generated from the traditional photogrammetry was 0.315-0.392 m below the point cloud generated in this study, while the point cloud from laser scanning was 0.014-0.155 m above. The results showed that using UAS are very cost-effective to update the national elevation model. It is advisable for the National Land Survey of Sweden to update the national height model over small areas with this method. There will be more than efficient and the costs are small considering the result. In other word this method is to recommend when updating the national elevation model and can be used as a complement to traditional photogrammetry within limited areas. With this method, they will not have to wait for the traditional aerial photography to take place. The technology is constantly moving forward and in the near future laser scanning with UAS will occur. It would be interesting to see the results of that method. It would also be interesting to see if it is possible to exclude the ground control points, and really be able to use direct georeferencing to save time in the field.
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21

Pereira, Daniel Filipe Batista. "Estudo geral de viabilidade sobre sistemas de reabastecimento de um UAV-UAS". Master's thesis, Universidade da Beira Interior, 2012. http://hdl.handle.net/10400.6/2015.

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O objectivo da presente dissertação é estudar a viabilidade de um sistema de reabastecimento autónomo para um UAV/UAS. Entender-se-á qual a importância e as vantagens da criação de um sistema com este propósito. Para enquadrar o projecto com o seu objectivo foi essencial conhecer as necessidades que um sistema desta natureza acarreta, quais os equipamentos obrigatórios a ter, bem como estudar a melhor forma de o conseguir, qual a configuração que trará mais vantagens de modo a facilitar todo o processo. O enquadramento legal do projecto também estará presente neste estudo. Em suma, este trabalho apresentará uma proposta viável para a criação de uma plataforma autónoma de reabastecimento de uma aeronave não tripulada. Concluindo, a segurança e autonomia são aspectos vantajosos que a criação deste sistema trará. Esta plataforma possibilitará missões 7 dias semanais, 365 dias por ano, não implicando a presença humana no local de reabastecimento.
The aim of the present dissertation is to study the viability of an autonomous refueling system for an UAV/UAS. It will be understood what are the advantages of the creation of the system with this purpose. To frame the project with the aim was essential knowing the needs that a system with this nature originates, what are the obligatory components whilst studying the best mode to get it, which the configuration that brings more advantages to facilitate all process. The legal framework of the project will be presented in this study. In short, this work presents one viable proposal to create an autonomous platform of refueling for an unmanned aircraft. Concluding, the safety and autonomy are advantageous aspects that the creation of this system will bring. This platform will allow missions of 7 days a week, 365 days per year, not implying the human presence at the refueling site.
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22

Larsson, Alexander, i Olle Oscarsson. "Trädhöjdsbestämning med UAV-fotogrammetri och UAV-laserskanning : En jämförande studie för detektering av riskträd". Thesis, Högskolan i Gävle, Samhällsbyggnad, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:hig:diva-32699.

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UAV (Unmanned Aerial Vehicle) eller drönare används för insamling av geografisk data och fotografering av såväl företag, myndigheter och privatpersoner. Tekniken förenklar insamling av data över stora geografiska områden och kan utnyttjas för kartering, modellering och analysering som volymbestämning. Studien genomfördes med syftet att detektera trädhöjder ur punktmoln genererade med laserskanning och digital fotogrammetri från luften. Vidare undersöktes det vilken metod som gav det mest tillförlitliga resultatet samt om teknikerna var applicerbara för detektering av riskträd. Riskträd innebär i denna studie träd som utgör ett potentiellt hot mot viktig infrastruktur som till exempel kraftledningar. Numera sker datainsamlingen primärt via helikopter för identifiering av sådana träd. Genom att använda olika drönartekniker för datainsamlingen kan kostnaderna reduceras. Insamlingen av data genomfördes över ett glest barrskogsområde i Rörberg strax utanför Gävle. Laserdata samlades in med en LiDAR (Light Detection and Ranging)-sensor från YellowScan monterad på en Geodrone X4L Professional-drönare och de fotogrammetriska data med en drönare av typen DJI Phantom 4 RTK (Real Time Kinematic) med standardkamera. För bägge insamlingarna georefererades insamlade data direkt genom enkelstations-RTK för laserskanningen och med SWEPOS Nätverks-RTK för den fotogrammetriska flygningen. För att kontrollera kvaliteten av insamlade data mättes sex stycken kontrollprofiler in med totalstation i skogspartiet. Dessa jämfördes sedan mot de skapade punktmolnen. Medelavvikelsen och standardavvikelsen mellan LiDAR och kontrollprofilerna fastställdes till -0,038 m och 0,049 m. För fotogrammetrin och kontrollprofilerna bestämdes medelavvikelsen till +0,060 m och standardavvikelsen 0,090 m. Dessa värden jämfördes sedan mot kraven i SIS-TS 21144:2016. För att bestämma absoluta höjder mättes tio stycken träd in med totalstation. Trädens högsta och lägsta punkter koordinatbestämdes och utifrån subtraktion erhölls absoluta värden för vilka höjder från LiDAR- och fotogrammetriskt framställda trädhöjdsmodeller kom att jämföras mot. Jämförelsen mellan metoderna visade en medelavvikelse på -0,325 m för LiDAR och -0,928 m för fotogrammetrin. Slutsatsen av denna studie visar att LiDAR är den mest lämpade tekniken för detektering av trädhöjder och skapande av trädhöjdsmodeller. Detta baseras på erhållna höjdvärden, den digitala terrängmodellens kvalitet och den goda täckningen av punkter i plan och höjd för punktmolnet.
UAVs (Unmanned Aerial Vehicles) or drones are commonly used for collecting spatial data and aerial images by companies, state agencies and civilians. The UAV techniques makes collection of geodata easier for large areas and can be used for mapping, 3D modelling and other analyses, e.g. for volume determination. The aim of this study was to compare 3D point clouds generated from airborne laser scanning and digital photogrammetry for detecting heights of trees. It was also investigated which method produced the most reliable results and if these were applicable for detecting risk trees. The definition of risk trees in this study are trees that run the potential risk of damaging important infrastructure such as electric power transmission lines. Nowadays the collection of data is mainly conducted using helicopters for identifying the risk trees, but with UAV technologies costs can be significantly reduced. The collection of data was performed over a sparse coniferous forest area in Gävle, Sweden. Laser data was collected using a YellowScan LiDAR (Light Detection and Ranging) sensor mounted on a drone. For the photogrammetric data, a DJI Phantom 4 RTK (Real Time Kinematic) drone was used with its standard camera. Both techniques were directly georeferenced using Single station RTK and SWEPOS Network RTK respectively. To check the quality of the collected data, six control profiles were established using a total station. These measurements were then compared to the generated point clouds. Our results show that the mean deviation and standard deviation in height between LiDAR point clouds and the control profiles are -0,038 m and 0,049 m, respectively. The mean deviation and standard deviation for photogrammetric point clouds and control profiles are +0,060 m and 0.090 m, respectively. These values were then compared to the requirements in SIS-TS 21144:2016. To determine absolute tree heights, ten random trees were measured using a total station. The coordinates of the highest and lowest points of each tree were then subtracted to serve as absolute height values. The comparison of the two UAV methods showed mean height deviations of   -0,325 m for LiDAR and -0,928 m for the photogrammetry. This study concludes that LiDAR is the most suitable technology of the two methods tested for detecting tree heights and creating canopy height models. This is based on the obtained height values, the quality of the digital terrain model and the good distribution of points in plane and height for the point cloud.
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23

Wagner, Anthony Julian. "Online Unmanned Ground Vehicle Mission Planning using Active Aerial Vehicle Exploration". Thesis, Virginia Tech, 2019. http://hdl.handle.net/10919/90785.

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This work presents a framework for the exploration and path planning for a collaborative UAV and UGV system. The system is composed of a UAV with a stereo system for obstacle detection and a UGV with no sensors for obstacle detection. Two exploration algorithms were developed to guide the exploration of the UAV. Both identify frontiers for exploration with the Dijkstra Frontier method using Dijkstra's Algorithm to identify a frontier with unknown space, and the other uses a bi-directional RRT to identify multiple frontiers for selection. The final algorithm developed was for to give the UGV partial plans when an entire plan is not yet found. This improves the overall mission tempo. The algorithm is designed to keep the UGV a safe distance from the unknown frontier to prevent backtracking. All the algorithms were tested in Gazebo using the ROS framework. The Dijkstra Frontier method was also tested on the hardware system. The results show the RRT Explore algorithm to work well for exploring the environment, performing equally or better than the Dijkstra Frontier method. The UGV partial plan method showed a decreased traveled distance for the UGV but increases in UGV mission time with more conservative distances from danger. Overall, the framework showed a good exploration of the environment and performs the intended missions.
Master of Science
This work presents a framework for the exploration and path planning for a collaborative aerial and ground vehicle robotic system. The system is composed of an aircraft with a camera system for obstacle detection and a ground vehicle with no sensors for obstacle detection. Two exploration algorithms were developed to guide the exploration of the aircraft. Both identify frontiers for exploration with the Dijkstra Frontier method using path planning algorithms to identify a frontier with unknown space (Dijkstra Frontier), and the other uses a sampling based path planning method (RRT Explore) to identify multiple frontiers for selection. The final algorithm developed was for to give the ground vehicle intermediate plans when an entire plan is not yet found. The algorithm is designed to keep the ground vehicle a safe distance from the unknown frontier to prevent backtracking. All the algorithms were tested in a simulation framework using Robot Operating System and one exploration method was tested on the hardware system. The results show the RRT Explore algorithm to work well for exploring the environment, performing equally or better than the Dijkstra Frontier method. The ground vehicle intermediate plan method showed a decreased traveled distance for the ground vehicle but increases in ground vehicle mission time with more conservative distances from danger. Overall, the framework showed a good exploration of the environment and performs the intended missions.
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24

Martin, Michael. "Global Versus Reactive Navigation for Joint UAV-UGV Missions in a Cluttered Environment". Thesis, Monterey, California. Naval Postgraduate School, 2012. http://hdl.handle.net/10945/7380.

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This thesis presents the coordination of an unmanned, multi-vehicle team that navigates through a congested environment. A novel approach is outlined that enables the control of multiple vehicles based on both computer vision and optimal trajectory algorithms. Various sensors are used to achieve localization in the indoor environment in lieu of global positioning data. Specifically, a Quanser Qball quadrotor is equipped with a downward-looking camera and sonar altimeter, while a Quanser Qbot ground vehicle is outfitted with sonar and infrared range finders. This equipment is complemented by an Optitrack motion-capture system. Using conventional image-processing techniques, the birds-eye images supplied by the quadrotor provide information regarding the dynamic environment that surrounds the ground vehicle. The ground vehicle can then produce a global, optimal trajectory, assuring collision-free operations. The optimization problem is addressed by applying the Inverse Dynamics in the Virtual Domain (IDVD) method that uses both the inverse kinematics of the ground vehicle and obstacle information. Furthermore, the IDVD method enables the separation of spatial and temporal planning. As verification of the results of this research, the developed approach for path planning is executed in a fully controlled lab environment and then compared with a sonar-based, reactive obstacle avoidance technique.
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25

Strano, Bruno. "UAV: Design,Simulation and Control". Master's thesis, Alma Mater Studiorum - Università di Bologna, 2018.

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Search and rescue operations in the Alpine area must be carried out as soon as possible to safeguard the lives of those involved in an accident. The use of drones in this area is of great interest due to the effectiveness with which it is possible to carry out SER operations in a short time. The AirBorne project deals with the development and study of drones to be applied in this field, in collaboration with the Aslatech company. This thesis aims to analyze the construction techniques of these drones and analyze the differences between two configurations to select the best components to be included in a final configuration. It also analyzes a key point for drones used in SER operations, ie control. An obstacle avoidance algorithm is presented and analyzed based on the use of artificial potentials. A simulation environment is then presented and analyzed in which a drone with ultrasound sensors will be simulated. A version of the obstacle avoidance control will be adapted to the specific case of ultrasonic sensors, analyzing the differences and testing their performance and feasibility
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26

Moëll, Daniel, i Joachim Nordin. "VTOL UAV - A Concept Study". Thesis, Linköping University, Linköping University, Department of Management and Engineering, 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-15495.

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This thesis deals with the development of a Conceptual Design Tool for unmanned helicopters, so called VTOL UAVs. The goal of the Design Tool is:

• Quick results

• Good accuracy

• Easy to use

The two first points of the goal are actually more or less dependent on each other. In almost all cases a high accuracy gives a slow calculator and vice versa. In order to fulfill the goal a compromise between calculation accuracy and calculation time needs to be done.

To make the Design Tool an easy to use program a graphical user interface is used. The graphical user interface allows the user to systematically work his way thru the program from a fictive mission to a complete design of a helicopter. The pre-requirements on the user have been eliminated to a minimum, but for the advanced user the possibilities to create more specific and complex helicopters are good.

In order to develop a Conceptual Design Tool the entire helicopter needs to be seen as a complete system. To see the helicopter as a system all of the sub parts of a helicopter need to be studied. The sub parts will be compared against each other and some will be higher prioritized than other.

The outline of this thesis is that it is possible to make a user friendly Conceptual Design Tool for VTOL UAVs. The design procedure in the Design Tool is relatively simple and the time from start to a complete concept is relatively short. It will also be shown that the calculation results have a good agreement with real world flight test data.

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27

Santos, Diogo Afonso Paulitos dos. "Os UAV na componente terrestre". Master's thesis, Academia Militar, 2009. http://hdl.handle.net/10400.26/11918.

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O trabalho que se apresenta analisa um modelo de implementação de uma Unidade equipada com UAVs que se adeque à Componente Terrestre, estudando a que Unidade deverá estar subordinada uma força de UAVs, que tipologia de UAVs são necessários, que escalões deverão constituir e por fim apresenta-se um projecto da Academia da Força Aérea para a produção de UAVs. Para a elaboração deste trabalho recorreu-se essencialmente à pesquisa bibliográfica, dando primazia a estudos de militares de Forças Armadas nacionais e do estrangeiro, a manuais militares de referência e a vários documentos de diversas organizações. De forma a complementar a pesquisa bibliográfica em assuntos específicos foram realizadas duas entrevistas, nomeadamente no que concerne ao modelo de UAVs a implementar na Componente Terrestre e ainda sobre o Programa de Investigação e Tecnologia de Veículos Aéreos Não Tripulados. Do estudo subjacente a este trabalho conclui-se que a Componente Terrestre Portuguesa ainda não está implementada uma estrutura com as capacidades Intelligence, Surveillance, Target Aquisition, Reconaissance contudo o Exército Português pretende desenvolver uma estrutura que contemple estas capacidades. Os estudos que acompanham a implementação desta estrutura, incluem na sua constituição o Pelotão Unmanned Aerial Vehicle Low Altitude Medium Endurance. Relativamente ao Pelotão Unmanned Aerial Vehicle o estudo aponta para que este seja constituído por Unmanned Aerial Vehicles do tipo Mini e Low Altitude Medium Endurance. As aeronaves do tipo Mini deverão constituir duas secções que apoiem os batalhões de manobra e o Esquadrão de Reconhecimento. As aeronaves do tipo Low Altitude Medium Endurance destinam-se a apoiar o escalão brigada enquadrados numa estrutura Intelligence, Surveillance, Target Aquisition, Reconaissance. No final desta dissertação apresenta-se o Programa de Investigação e Tecnologia de Veículos Aéreos Não Tripulados da Academia da Força Aérea do qual são consideradas como hipóteses de aquisição potencialmente vantajosas dois tipos de UAV, o Asa-Voadora (Mini) e o Antex-X03 (Low Altitude Medium Endurance).
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28

Cakir, Zeynep. "Development Of A Uav Testbed". Master's thesis, METU, 2011. http://etd.lib.metu.edu.tr/upload/12613209/index.pdf.

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The development and testing for a UAV testbed to be used in academic research and undergraduate education is proposed in this thesis. Analysis on commercial off-the-shelf UAV systems and autopilots lead to the development of a custom, open-architecture and modular UAV testbed. The main focus is to support research in UAV control field and education of the undergraduate students. The integration and use of commercial-off-the-shelf avionics and air vehicle are described in detail. System performance is examined both in flight and on the ground. Results of the system tests show that the developed system is a functional UAV testbed to be used in research of different flight control algorithms.
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29

Drougge, Max. "Spårning av rotorblad på UAV". Thesis, Linköpings universitet, Fluida och mekatroniska system, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-125660.

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Arbetet gick ut på att utvärdera befintliga spårningsmetoder, utforma en procedur för spårning, ge förslag på lämplig utrustning och om tid fanns, testa konceptet. Arbetet skulle också dokumenteras så att krav, design och beslut kan förstås av någon som inte varit delaktig i arbetet. För att minska vibrationerna i UAV behöver rotorbladen spåras, det vill säga, rotorbladen ska befinna sig på samma höjd vid samma position i rotationen. Om spårningen inte är korrekt kan detta leda till oönskade vibrationer som kan vara farliga för UAV:er. I dagsläget används en metod som är väldigt tidskrävande. Metoden har heller inte speciellt god precision i mätningarna. För att komma fram med en ny spårningsmetod jämfördes olika metoder som används idag. Vilka krav som fanns på metoden, även kostnad och tid togs med vid utformandet. Spårningsmetoden som tagits fram innefattar en avståndsmätare som använder sig av ljus. Mätning sker på respektive rotorblad, därefter skickas data för behandling till en mikrokontroller. Resultatet blev ett nytt spårningskoncept med stor potential. Med mer utvecklingsarbete och testning skulle det kunna bli en egen produkt som kan till exepel säljas tillsammans med UAV eller helt separat. Examensarbetet har utförts hos företaget CybAero AB.
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30

Bechtel, Wayne, Nathaniel Hathaway, Trevor Jerdee, Eric Laskey, Jill McConaghy, Lisa Quade, Kariym Smith, Scott Sparrow i James Tuey. "Roving UAV IED interdiction system". Thesis, Monterey, California. Naval Postgraduate School, 2011. http://hdl.handle.net/10945/6957.

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Approved for public release; distribution is unlimited.
In support of the Naval Postgraduate School's Systems Engineering Capstone, a project team was formed from Cohort 311-093A to perform an analysis on the possibility of utilizing Unmanned Air Vehicles (UAVs) in campaign against improvised explosive devices (IEDs). The goal of the project was to determine if a weapon system is feasible to increase capabilities to the warfighter in the fight against the IED threat. The project scope was limited to the UAV classes with local (squad/battalion) control to provide an organic increase in capabilities
specifically Tier I (man-portable) and Tier II (tactical) families of UAVs. Modeling and simulation, warhead analysis, and a cost analysis were used to score the proposed alternatives on specific Key Performance Parameters. This information was analyzed and a recommendation was made to only arm the Tier II UAV using a small missile.
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31

Sakamoto, Philemon. "UAV mission planning under uncertainty". Thesis, Massachusetts Institute of Technology, 2006. http://hdl.handle.net/1721.1/36230.

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Thesis (S.M.)--Massachusetts Institute of Technology, Sloan School of Management, Operations Research Center, 2006.
Includes bibliographical references (p. 205-209).
With the continued development of high endurance Unmanned Aerial Vehicles (UAV) and Unmanned Combat Aerial Vehicles (UCAV) that are capable of performing autonomous fiunctions across the spectrum of military operations, one can envision a future military in which Air Component Commanders control forces comprised exclusively of unmanned vehicles. In order to properly manage and fully realize the capabilities of this UAV force, a control system must be in place that directs UAVs to targets and coordinates missions in a manner that provides an efficient allocation of resources. Additionally, a mission planner should account for the uncertainty inherent in the operations. Uncertainty, or stochasticity, manifests itself in most operations known to man. In the battlefield, such unknowns are especially real; the phenomenon is known as the fog of war. A good planner should develop plans that provide an efficient allocation of resources and take advantage of the system's true potential, while still providing ample "robustness" ill plans so that they are more likely executable and for a longer period of time.
(cont.) In this research, we develop a UAV Mission Planner that couples the scheduling of tasks with the assignment of these tasks to UAVs, while maintaining the characteristics of longevity and efficiency in its plans. The planner is formulated as a Mixed Integer Program (MIP) that incorporates the Robust Optimization technique proposed by Bertsimas and Sim [12].
by Philemon Sakamoto.
S.M.
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32

Dotti, Michele. "Stima dell'assetto di un UAV". Bachelor's thesis, Alma Mater Studiorum - Università di Bologna, 2014. http://amslaurea.unibo.it/6362/.

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Lo scopo del lavoro è simulare il comportamento di un sistema di misura dell'assetto detto ARS (Attitude Reference System), dove sostanzialmente le misure fornite da giroscopi ed accelerometri, quindi accelerazioni e velocità angolari, vengono elaborate da un filtro osservatore dello stato che permette di ricavare la stima dell'angolo di elevazione Q e dell'angolo di inclinazione f, non misurabili direttamente, e quindi dell'orientamento del sistema rispetto al piano orizzontale.
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33

Eriksson, Kjell. "HPM-vapen vs. kommersiell UAV". Thesis, Försvarshögskolan, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:fhs:diva-6273.

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Detta arbete i militärteknik studerar om högeffektpulsad mikrovågsstrålning kan uppnå verkan mot kommersiella UAV. Analysen genomförs på två olika icke-dödliga HPM-vapen. Data hämtas från ett scenario där vapenverkan innebär hög risk för skada på tredje man. En Försvarsmaktsstudie har konstaterat att Luftvärnsbataljon saknar förmåga att verka mot små UAV.Dagsaktuell kunskap har inhämtats om scenariots miljö samt från forskning och industri genom studiebesök. Inhämtad kunskap har möjliggjort en logisk-matematisk parameterstudie på ett scenario med militärtekniskt perspektiv. Analysens slutsatser är att kommersiella UAV innehar låg skyddsnivå, att beslut om insats underlättas i alla miljöer och att en elektronisk sköld i form av HPM-vapen skyddar en stor volym samtidigt. HPM-vapen kan inte som ensamt vapensystem stå för skydd och uppnå säkerställd verkan mot kommersiell UAV. HPM-vapen kan däremot komplettera övriga verkanssystem och göra luftförsvaret starkare genom system av system. HPM-vapen kan bidra till att minska ett befintligt förmågeglapp mot kommersiella UAV.
This paper in military technology discusses whether high power microwaves can affect commercial UAVs. Two non-lethal HPM-weapons are analyzed. The data is collected from a scenario where there is a high risk for collateral damage. A Swedish Armed Forces study stated that the Air Defence Battalion lacks ability to affect small UAVs. The latest knowledge is obtained from the environment in the scenario, from research and from the industry. This knowledge has enabled a logical-mathematical parametric study on the scenario within a military perspective. The result of the study is the assessment that commercial UAVs are assessed to have low protection factor, facilitates decision to act in all environments and provides an electronic shield protection of a large surface at the same time. HPM-weapons can´t stand as a single system for protection against commercial UAVs and achieve guaranteed effect. However, HPM-weapons can complement other weapon systems and thus make the air defense stronger through systems of systems. HPM-weapons can reduce the capability deficiency against commercial UAVs.
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34

Martináková, Veronika. "Vyhodnocení snímků pořízených pomocí UAV". Master's thesis, Vysoké učení technické v Brně. Fakulta stavební, 2018. http://www.nusl.cz/ntk/nusl-390231.

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The master´s thesis deals with the application of unmanned aerial vehicle (UAV) in photogrammetry and mapping. The first part describes the UAV that was used for imaging, legislative restrictions resulting from its operations, planning and realization of the flight. The second part of this thesis is focused on processing results, especially on evaluation the accuracy of the results gained by UAV with and without a GNSS module. The data are evaluated in the 3rd accuracy rating class (ČSN 01 3410). The theoretical principles are explained as well. The main aim of the thesis is to demonstrate the effective use of the GNSS module Emlid Reach and the unmanned aerial vehicle in geodesy.
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35

Quist, Eric Blaine. "UAV Navigation and Radar Odometry". BYU ScholarsArchive, 2015. https://scholarsarchive.byu.edu/etd/4439.

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Prior to the wide deployment of robotic systems, they must be able to navigate autonomously. These systems cannot rely on good weather or daytime navigation and they must also be able to navigate in unknown environments. All of this must take place without human interaction. A majority of modern autonomous systems rely on GPS for position estimation. While GPS solutions are readily available, GPS is often lost and may even be jammed. To this end, a significant amount of research has focused on GPS-denied navigation. Many GPS-denied solutions rely on known environmental features for navigation. Others use vision sensors, which often perform poorly at high altitudes and are limited in poor weather. In contrast, radar systems accurately measure range at high and low altitudes. Additionally, these systems remain unaffected by inclimate weather. This dissertation develops the use of radar odometry for GPS-denied navigation. Using the range progression of unknown environmental features, the aircraft's motion is estimated. Results are presented for both simulated and real radar data. In Chapter 2 a greedy radar odometry algorithm is presented. It uses the Hough transform to identify the range progression of ground point-scatterers. A global nearest neighbor approach is implemented to perform data association. Assuming a piece-wise constant heading assumption, as the aircraft passes pairs of scatterers, the location of the scatterers are triangulated, and the motion of the aircraft is estimated. Real flight data is used to validate the approach. Simulated flight data explores the robustness of the approach when the heading assumption is violated. Chapter 3 explores a more robust radar odometry technique, where the relatively constant heading assumption is removed. This chapter uses the recursive-random sample consensus (R-RANSAC) Algorithm to identify, associate, and track the point scatterers. Using the measured ranges to the tracked scatterers, an extended Kalman filter (EKF) iteratively estimates the aircraft's position in addition to the relative locations of each reflector. Real flight data is used to validate the accuracy of this approach. Chapter 4 performs observability analysis of a range-only sensor. An observable, radar odometry approach is proposed. It improves the previous approaches by adding a more robust R-RANSAC above ground level (AGL) tracking algorithm to further improve the navigational accuracy. Real flight results are presented, comparing this approach to the techniques presented in previous chapters.
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36

Ptáček, Ondřej. "Zpracování snímků pořízených pomocí UAV". Master's thesis, Vysoké učení technické v Brně. Fakulta stavební, 2014. http://www.nusl.cz/ntk/nusl-227111.

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This diploma thesis deals with the processing and evaluation of the pictures taken by unmanned aerial vehicles - UAV. The introductory part is devoted to the definition, use, applications and types of UAV especially for photogrammetric purposes. Also the software equipment is described, including a description and examples of several types of possible outcomes. Further the measurements, computational works and process of elaboration in used software programs are described. Achieved outcomes of elaboration are also presented. In conclusion, the overall evaluation and assessment of the results of measurement is done of set of points.
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37

Arnošt, Petr. "Návrh řídicího modulu UAV robotu". Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2012. http://www.nusl.cz/ntk/nusl-230255.

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This diploma thesis is focused on the design of the control software for the unmanned aerial vehicle. Parrot Ar.Drone quadrocopter was a representative of the unmanned aerial vehicle. This thesis describes the way of control and communication with the unmanned aerial vehicle. Based of this information the flight control software for Ar.Drone quadrocopter is created.
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38

MARDANI, AFSHIN. "Communication-Aware UAV Path Planning". Doctoral thesis, Politecnico di Torino, 2020. http://hdl.handle.net/11583/2796755.

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39

Munoz, Mauricio F. "Agent-based simulation and analysis of a defensive UAV swarm against an enemy UAV swarm". Thesis, Monterey, California. Naval Postgraduate School, 2011. http://hdl.handle.net/10945/5700.

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Unmanned systems, including unmanned combat aerial vehicles (UCAVs), are increasingly important in military operations. Given the growth of unmanned systems technology worldwide, these systems may increasingly pose a real threat to U.S. and Allied forces in the near future. This thesis proposes a future concept of employing a defensive UCAV swarm, launched from a friendly sea-based platform. To simulate this defensive swarm system, an agent-based simulation model was developed, and appropriate designs of experiments and statistical analyses were conducted. The investigated factors were drawn from the literature review to create several experimental designs with the objective of identifying the significant design factors of the Blue UCAV system. The result of the analysis shows that only five of the eleven candidate factors analyzed are significant, which can be used to inform the engineering specification of preliminary requirements for potential future development.
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40

Kempe, Pontus. "Användning av UAV för datainsamling för 3D-modeller : Undersökning av flyg- och fotograferingsparametrar för UAV". Thesis, Karlstads universitet, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kau:diva-73511.

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In this thesis, 12 aerial photographs flights were taken over a small building in the municipality of Trosa, with a drone, or the correct name in this case is UAV (Unmanned Aerial Vehicle). Where the purpose was to create 3D models from the aerial images. UAV by model DJI Mavic Pro was used and controlled with smartphone apps like DroneDeploy and Pix4Dmapper. Different values ​​for flight and shooting parameters were tested to see how it affects the quality of the 3D model. The flight and photographing parameters that were investigated were the UAV's flight speed, flight altitude and overlap between the images. Each parameter was given a low and a high accuracy value based on what is recommended. Which results in that flight height was the parameter that had a decisive influence on the model's pixel resolution and pixel density. The resolution for a 3D model with a flying height of 25 meters was 0,828 cm / pixel. While overlap did not give a marginal difference in the model's pixel resolution and pixel density. However, there were clear differences between models with low and high overlap. The flightspeed could not be properly investigated as changes to the flightspeed of DroneDeploy did not match the flightspeed in reality.   Smartphone apps, DroneDeploy and Pix4Dcapture that handle the UAV in autonomous data collection, compared where flights with similar values ​​where used for flight and shooting parameters. Three flights were made in each app where all parameters had a low, recommended and high accuracy value. The model’s pixel resolution and pixel density were equivalent between the apps, so a questionnaire survey was conducted where the models with high accuracy were compared. Which results in that all preferred the model created with aerial photos from Pix4Dcapture where it was described as better structure and higher detail.   Two different software programs, Agisoft Photoscan and Pix4Dmapper that manage aerial images to create 3D models was compared to each other. Images from flights with DroneDeploy were used where all parameters had a low, recommended and high accuracy value. Which results in 3 models for each software. All models from Pix4Dmapper had a much higher pixel density. A model from each software with aerial images with high accuracy was compared in a questionnaire. There, all preferred the model created in Pix4Dmaps and described as being more accurate angle, size and clearer windows as well as keeping the original structure better.
I detta examensarbete genomfördes ett 12 flygfotograferingar över en mindre byggnad i Trosa kommun, m.h.a. en drönare, eller den korrekta benämningen i det här fallet är UAV (Unmanned Aerial Vehicle). Där ändamålet var att skapa 3D modeller från flygbilderna. UAV av modell DJI Mavic Pro användes och styrdes med smartphone appar som DroneDeploy och Pix4Dmapper. Olika värden för flyg- och fotograferingsparametrar testades för att se hur det påverkar 3D-modellens kvalitet. Det flyg- och fotograferingsparametrar som undersöktes var UAV:ns flyghastighet, flyghöjd samt överlappning mellan bilderna. Varje parameter fick ett lågt och ett högt noggrannhetsvärde utifrån vad som är rekommenderat. Vilket resultera i att flyghöjden var den parameter som hade en avgörande påverkan för modellens pixelupplösning och pixeltäthet. Upplösningen för en 3D modell med en flyghöjd på 25 meter var på 0,828 cm/pixel. Medan överlappning inte gav en marginell skillnad på modellens pixelupplösning och pixeltäthet. Däremot syntes tydliga skillnader mellan modeller med låg och hög överlappning. Flyghastigheten kunde inte undersökas korrekt då ändringar för flyghastigheten i DroneDeploy inte stämde överens med flyghastigheten i verkligheten. Smartphone apparna, DroneDeploy och Pix4Dcapture som hanterar UAV:n vid autonom datainsamling som jämfördes där flygningar med liknanden värden användas för flyg- och fotograferingsparametrar. Tre flygningar gjordes i varje app där alla parametrar hade en låg, rekommenderad och hög noggrannhetsgrad. Modellernas pixelupplösning och pixeltäthet var likvärdiga mellan apparna, så en enkätundersökning gjordes där modellerna med hög noggrannhetsgrad jämfördes. Vilket resultera i att samtliga föredrog modellen skapad med flygbilder från Pix4Dcapture där den beskrevs som bättre struktur och högre detaljrikedom. Två olika programvaror, Agisoft Photoscan och Pix4Dmapper som hanterar flygbilder för att skapa 3D modeller jämfördes. Bilder från flygningar med DroneDeploy användes där alla parametrar hade en låg, rekommenderad och hög noggrannhetsgrad. Vilket resultera i 3 modeller för varje programvara. Samtliga modeller från Pix4Dmapper hade en mycket högre pixeltäthet. En modell från varje programvara med flygbilder med hög noggrannhetsgrad jämfördes i en enkät. Där samtliga föredrog modellen skapad i Pix4Dmapper och beskrev den som mer korrekt vinkel, storlek och tydligare fönstren samt att den behöll den ursprungliga strukturen bättre.
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41

Lee, Hua. "High-Precision Geolocation Algorithms for UAV and UUV Applications in Navigation and Collision Avoidance". International Foundation for Telemetering, 2008. http://hdl.handle.net/10150/606155.

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ITC/USA 2008 Conference Proceedings / The Forty-Fourth Annual International Telemetering Conference and Technical Exhibition / October 27-30, 2008 / Town and Country Resort & Convention Center, San Diego, California
UUV homing and docking and UAV collision avoidance are two seemingly separate research topics for different applications. Upon close examination, these two are a pair of dual problems, with interesting correspondences and commonality. In this paper, we present the theoretical analysis, signal processing, and the field experiments of these two algorithms in UAV and UUV applications in homing and docking as well as collision avoidance.
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42

Spring, Ted. "Uncertainty comparison of Digital Elevation Models derived from different image file formats". Thesis, Högskolan i Gävle, Avdelningen för Industriell utveckling, IT och Samhällsbyggnad, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:hig:diva-17193.

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Unmanned Aerial Systems (UAS) have become increasingly popular recently for surveying and mapping because of their efficiency in acquiring remotely sensed data in a short amount of time and the low cost associated with them. They are used to generate digital elevation models (DEM) derived from aerial photography for various purposes such as the documentation of cultural heritage sites, archaeological surveying or earthwork volume calculations. This thesis investigates the possible effects different file formats may have on the quality of elevation models. In this thesis, an UAS survey was simulated using a digital camera to produce six DEMs based on JPEG, TIFF and RAW format in Agisoft Photoscan by taking two sets of images of a city model, in different light conditions. Furthermore, a reference DEM was produced in Geomagic Studio using data from a Leica Nova MS50 Multistation. The DEMs were then compared in Geomagic Control. The results from the 3D comparison in Geomagic Control show that the standard deviation of all elevation models is 4 mm with the exception of the elevation model derived from raw-edited images taken with lighting, which has a standard deviation of nearly 6 mm. Also, all of the models have an average deviation of 0.4 mm or less. The significant deviations in all DEMs occur in areas where the multistation lacked vision of certain objects of the city model such as walls, or on the edges of the analysed area. Additionally, the georeferencing results from Photoscan show that the DEMs based on normal light condition images have slightly lower georeferencing errors than the DEMs with lighting. It has been concluded that it is difficult to say whether file formats have any noticeably effect on the uncertainty of digital elevation models.
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43

Castaneda, Brandown Leon, Edwin Huanachin Cordova, Victor Torres Diaz i Nique Jose Reyes. "Reduction of non-contributory work of personnel using UAV methodology (Phantom 4 Pro RTK) and conventional Topography with Total Station (Leica TS 06), in road projects". Institute of Electrical and Electronics Engineers Inc, 2020. http://hdl.handle.net/10757/656564.

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El texto completo de este trabajo no está disponible en el Repositorio Académico UPC por restricciones de la casa editorial donde ha sido publicado.
At present, topographic surveys in road projects are very important, since it allows us to know the conditions and variable characteristics of the area to be executed. Commonly these surveys are carried out using a total station, high precision equipment, which in turn generates a lot of demand for time in the field and a greater number of personnel for a wide study area. For this reason, another alternative for obtaining terrain data is the use of the photogrammetric technique with UAV, since the objective is to increase productivity in the topographic survey. In this article, the productive development generated in the crews was analyzed using the total station survey methodology and the UAV photogrammetric technique using balance charts with the aim of obtaining the productive, contributory and non-contributory works, since the latter two they do not add value to the development of the project. This research was carried out in a rural area with a study area of 3 Ha and its classification by orography is of type 2 soil (undulated terrain), located in the Cuculí town center, Chongoyape district, Chiclayo province in the department of Lambayeque, Peru. In order to demonstrate that the UAV survey reduces non-contributory work by 47.2%, among the most outstanding activities obtained in this research are the leisure time that the staff presents in different situations of the project development, care of topographic equipment and another of the most outstanding was the use of cell phones in the field, which do not provide efficiency in the development of data collection and therefore would increase in time and cost of linear works, sanitation and projects in open places in the stage of design engineering.
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Strupplová, Lucie. "Business plan (model lean canvas)". Master's thesis, Vysoká škola ekonomická v Praze, 2014. http://www.nusl.cz/ntk/nusl-261832.

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The well arranged and instructivee business plan is the basic part of every business project.. Currently is very often used the lean canvas model of the business plan. This model shows us very istructively all the factors influencing the project realisation. The dissertation is divided into the two basic parts. In the thoretical were compared the essential forms of the business plan with their differences. The practical part consists of creating the lean canvas model for the progressive company using the UAV and the MAIA application, monitoring the flight of the UAV. The economic data were analyzed and the structured scheme of the project, with the prediction was realized. The lean canvas model was very useful and optimal for this company and it´s project.
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Frantz, Natalie R. "Swarm intelligence for autonomous UAV control". Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 2005. http://library.nps.navy.mil/uhtbin/hyperion/05Jun%5FFrantz.pdf.

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Barretta, Salvatore. "UAV based Narrowband - Internet of things". Master's thesis, Alma Mater Studiorum - Università di Bologna, 2021. http://amslaurea.unibo.it/22761/.

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in this thesis we simulated via Java and Matlab environments a scenario in which a single drone is exploited to carry the NB-IoT base station over an a-priori known area. More specifically, we examined the performance of a drone flying over a area where IoT devices are grouped in clusters and trying to serve as many nodes as possible, with the trajectory solved exploiting the well-known solution of the Travel Salesman Problem (TSP), through which the UAV, that in this study we consider starting from the center of a cluster, finds the minimum path to subsequently reach the center of all the other clusters before reaching again the starting point, where the flight is considered ended. Starting from this assumption we wanted to find the scenario that can best benefit from joint use of NB-IoT and UAV, analyzing both its network throughput and how resources are scheduled by this standard. Then we want to compare the previous results with the new ones obtained changing the way random access is simulated in the code.
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Zamanzadeh, Amin. "MIMO system for Skeldar UAV System". Thesis, Linköping University, Communication Systems, 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-16928.

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This thesis examines the possibility of installing a wireless communication system based on multiple antennas, on an Unmanned Aerial Vehicle (UAV). The communication system is based on MIMO technology. This technology uses the fact that we can make use of several antennas at the transmitter and the receiver to create independent signal path which in turn can increase the roboustness of the communication link. Advantages and disadvantages of this new system arediscussed. However, this report concludes that the benefits of MIMO outweights the disadvantages.

Furthermore a simulation environment for the MIMO system is designed and implemented, based on a specific scenario. Moreover, the results from the simulation also points to a benefit of the MIMO technology.

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Rugarn, Jonatan. "Rapid Development of Realistic UAV Simulations". Thesis, Linköping University, Department of Computer and Information Science, 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-17099.

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Instrument Control Sweden (ICS) is a software company that develops NATO STANAG 4586 compatible ground station software for control of unmanned systems such as unmanned aerial vehicles (UAVs). To perform testing and demonstration of the ground station software ICS needs a realistic UAV simulator that implements the STANAG 4586 protocol. This thesis studies what methods are best suited for the rapid development of such a simulator.

One goal with the project was to examine what existing flight simulator systems and flight dynamics models can be used to rapidly develop a UAV simulator. Another goal was to design and implement such a simulator. It is found that it’s possible to quickly develop a UAV simulator based on existing projects such as the flight simulator FlightGear, the simulation framework OpenEaagles and the flight dynamics model (FDM) JSBSim.

The design of the simulator is modular, object-oriented and features real-time design techniques. The main application is a simulation of a Vehicle Specific Module, which implements the STANAG 4586 protocol. Another module based on the OpenEaagles framework simulates the aircraft and its subsystems. A third module consists of the JSBSim FDM and simulates the flight dynamics and movements of the aircraft under the forces and moments affecting it.

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Kjenstad, Sindre Kløw. "Stabilized Camera for a Nano-UAV". Thesis, Norwegian University of Science and Technology, Department of Engineering Cybernetics, 2010. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-9116.

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This thesis describes the design and creation of a system for stabilizing a camera mounted on a nano-UAV. A prototype voice coil actuator was produced, and Hall effect sensors were used to measure the angle of the actuator. The actuator and sensor is used to counter vibrations in the UAV. A circuit board used to control the actuator was designed and created, and a controller for the system was implemented. Testing showed that the controller was able to counter vibrations, but the bandwidth was low, only a few hertz. Wires connected to the actuator and sensor had significant impact on the system. They caused a spring/damper effect which meant more current was required, which again caused lower bandwidth due to saturation. On the other hand, the wires also lead to passive damping of higher frequencies. Unfortunately, there is a frequency band around 10 Hz where neither active nor passive control provides damping.

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Hankoylu, Merve. "Landing Autopilot Design For An Uav". Master's thesis, METU, 2011. http://etd.lib.metu.edu.tr/upload/12613049/index.pdf.

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In this thesis, a landing autopilot for an UAV (IAI Pioneer RQ-2) is designed based on a nonlinear MATLAB model implemented with MATLAB/Simulink. In order to control the movement of the UAV at lateral and longitudinal axes, a speed, an altitude, a heading angle (direction) and a yaw rate controllers are designed. Controller design procedure is started with determination of different trim points of the aircraft. Next, the corresponding initial states and initial inputs are obtained. The model is linearized about those trim points and the gain values are determined. The resultant gain scheduled controller is used on the non-linear model. The response of the aircraft to these controllers is tested in a constrained landing area that is constructed with respect to applicable aviation regulations. The aircraft position is investigated whether it is inside or outside of this safe landing area. If it is inside, an optimized landing path set is obtained. The steepest descent method is used for multidimensional search and parabolic fit method is used for one dimensional search (as line search) in the optimization phase. In case it is outside the defined landing area a special algorithm which takes the aircraft into the desired region is applied. In addition, the area is allowed to move as much as possible depending on the situation with special regards to the length of the runway. Also a lateral position controller is designed in order to provide the reach of the aircraft to the main landing path.
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