Det finns ett fåtal studier som berör objekthöjders betydelse för bildövertäckning vid UAV-fotografering. Därför är det intressant att undersöka hur objekthöjder, bildövertäckningar, och flyghöjder påverkar varandra samt hur de gemensamt påverkar kvaliteten på data. Syfte är att undersöka hur bildövertäckningen, och flyghöjder påverkar kvaliteten på ortofoton och digitala ytmodeller. Samt undersöka hur objekthöjder påverkar bildövertäckningen. Kriteriet för studieområdet var att det skulle finnas ett högt objekt. Studien utfördes därför i Inre hamn i Karlstad som omfattar Löfbergsskrapan på ca 42 m. Studien avser UAVs som begränsas enligt Transportstyrelsens regler (TSFS 2017:110). Målet var att presentera referenstabeller till företag eller privatpersoner som samlar in mätdata med UAV. Data samlades in på flyghöjderna; 120 m och 90 m, med bildövertäckningarna; 60/60 %, 80/80 %, och 90/90 %. Höjddata för Löfbergsskrapan mättes in med Satlab GNSS. Resultatet visade att bildövertäckningen 60/60 % inte var användbart inom ett område med maximal objekthöjd 42 m. Det behövdes ≥80/80 % bildövertäckning för att få en bra markupplösning. I studien undersöktes även hur mycket bildövertäckningen kan förändras när objekt ligger under markytans plan. Resultatet visar att bildövertäckningen ökar när objektet eller ytan avviker tillräckligt mycket ifrån markytans plan och minskar om det går tillräckligt högt ovanför markytan. Slutsatsen föreslår att bildövertäckningen ska vara minst 80/80 % för flyghöjderna 120 m och 90 m. De inställningarna innebär att byggnader på ca 42 m höjd ska representeras med 2-3 cm markupplösning i ortofoton och digitala ytmodeller samt omfatta en resursvänlig metod. Slutsatsen menar att förändringen av bildövertäckningen varierar mellan 10-50 % när markytan ligger ca 42 m lägre än starthöjden för en UAV. / There are a few available studies purely focusing on the object heights significance on image overlap in UAV-photogrammetry. Therefore, it is interesting to examine how object heights, image overlaps, and altitudes affect each other and how they jointly affect data quality. The purpose is to examine how image overlap, and altitude affect the quality of orthophotos and digital elevation models. And also examine how object heights affect image overlap. The study area was selected with the criterion of including a high rise building. Therefore, the study area was Inre hamn in Karlstad City covering Löfbergsskrapan, a 42 m high coffee roasting house. The study refers to UAVs restricted according to rules set by Transportstyrelsen (TSFS 2017:110). The objective was to present useful reference tables for companies and individuals working with UAV-data. Data was collected on the altitudes; 120 m and 90 m with an image overlap of; 60/60 %, 80/80 %, and 90/90 %. Elevation values was collected with Satlab GNSS. Results showed that using an image overlap of 60/60 % for both altitudes was not viable in an area covering an object of 42 m high. The image overlap should be at least ≥80/80 % to cover objects of 42 m high. The objective was also to examine how image overlap differ when an object is below ground level. Results showed that image overlap increases when an object or surface differ 42 m from ground level and decreases if the object is above ground level. The conclusion suggests that in order to include objects of 42 m high in an area the image overlap should be at least 80/80 % for both altitudes (120 m and 90 m). With those settings the ground resolution in orthophotos and digital elevations models should be 2-3 cm. It was also estimated that the image overlap may alter from settings anywhere between 10-50 % when ground level is 42 m below the point of departure of the UAV.

Ao observar a situação atual, na qual atos de vandalismo e terrorismo tornaram-se frequentes e cada vez mais presentes ao redor do mundo, principalmente em grandes cidades, torna-se clara a necessidade de equipar as forças policiais com tecnologias de observação e monitoramento inteligentes, capazes de identificar e monitorar indivíduos potencialmente perigosos que possam estar infiltrados nas multidões. Ao mesmo tempo, com sua recente popularização, veículos aéreos não tripulados, também chamados VANTs e conhecidos popularmente como "drones", acabaram por tornar-se ferramentas baratas e eficientes para diversas aplicações, incluindo observação, fornecendo a seus utilizadores a capacidade de monitorar alvos, áreas, ou prédios de forma segura e quase imperceptível. Unindo estas duas tendências, este trabalho apresenta o desenvolvimento de um sistema multi-VANT para observção de alvos móveis em multidões, demonstrando a possibilidade de utilização de pequenos VANTs comerciais comuns para o monitoramento de grupos de pedestres. O principal objetivo de tal sistema é monitorar continuamente indivíduos de interesse em um grupo de pessoas, visitando cada um destes indivíduos alternadamente, de forma a manter um registro geral do estado de cada um deles Um sistema deste tipo poderia, por exemplo, ser utilizado por autoridades no controle de manifestações e outras atividades em que grandes grupos de pessoas estejam envolvidos, ajudando a polícia e outros órgãos a identificar indivíduos com comportamento suspeito ou agressivo mais rapidamente, evitando ou minimizando os efeitos de atitudes de vandalismo e de ataques terroristas. Com o intuíto de abordar tal problema da forma mais completa e adequada possível, esta tese apresenta a concepção e o desenvolvimento de um sistema híbrido composto de três diferentes algoritmos: um algoritmo de distribuição de alvos; um de roteamento; e um de repasse de alvos. Primeiramente, neste sistema, um algoritmo de distribuição de alvos baseado em um paradigma de mercado que simula um leilão distribui os alvos entre os VANTs da melhor forma possível. Os VANTs, por sua vez, utilizam um algoritmo genético de roteamento para resolver uma instância do Problema do Caixeiro Viajante e decidir a melhor rota para visitar cada alvo sob sua responsabilidade. Ao mesmo tempo, o sistema analisa a necessidade de redistribuição dos alvos, ativando um algoritmo capaz de realizar esta ação ao perceber sua necessidade quando na iminência de perder algum alvo de vista. Ao fim de seu desenvolvimento, o sistema proposto foi testado em uma série de experimentos especialmente desenvolvidos para avaliar seu desempenho em situações controladas e comprovar sua eficiência para realizar a missão pretendida. / Observing the current scenario, where terrorism and vandalism acts have become commonplace, particularly in big cities, it becomes clear the need to equip law enforcement forces with an efficient observation method, capable of identifying and observing potentially threatening individuals on crowds, to avoid or minimize damage in case of attacks. Moreover, with the popularization of small lightweight Unmanned Aerial Vehicles (UAVs), these have become an affordable and efficient tool, which can be used to track and follow targets or survey areas or buildings quietly, safely and almost undetectably. This work presents the development of a multi-UAV based crowd monitoring system, demonstrating a system that uses small Commercial Of The Shelf (COTS) UAVs to periodically monitor a group of moving walking individuals. The goal of this work is to develop a coordination system for a swarm of UAVS capable of continuously monitoring a large group of individuals (targets) in a crowd, alternately observing each of them at a time while trying to not lose sight of any of these targets. A system equipped with a group of UAVs running this proposal can be used for law-enforcement applications, assisting authorities to monitor crowds in order to identify and to follow suspicious individuals that can have attitudes that could be classified as vandalism or linked to terrorist attack attempts To address this problem a system composed of three parts is proposed and was developed in this thesis. First, an auction algorithm was put in place to distribute interest targets among the multiple UAVs. The UAVs, in turn, make use of a genetic algorithm to calculate the order in which they would visit each of the targets on their observation queue. Moreover, a target handover algorithm was also implemented to redistribute targets among the UAVs in case the system judged that a target was about to be lost by its current observer UAV. The proposed system was evaluated through a set of experiments set-up to verify and to demonstrate the system capabilities to perform such monitoring task, proving its efficiency. During these experiments, it is made clear that the system as a whole has a great potential to solve this kind of moving target monitoring problem that can be mapped to a Time Dependent Travel Salesman Problem (TDTSP), observing targets, and redistributing them among UAVs as necessary during the mission.

Ao observar a situação atual, na qual atos de vandalismo e terrorismo tornaram-se frequentes e cada vez mais presentes ao redor do mundo, principalmente em grandes cidades, torna-se clara a necessidade de equipar as forças policiais com tecnologias de observação e monitoramento inteligentes, capazes de identificar e monitorar indivíduos potencialmente perigosos que possam estar infiltrados nas multidões. Ao mesmo tempo, com sua recente popularização, veículos aéreos não tripulados, também chamados VANTs e conhecidos popularmente como "drones", acabaram por tornar-se ferramentas baratas e eficientes para diversas aplicações, incluindo observação, fornecendo a seus utilizadores a capacidade de monitorar alvos, áreas, ou prédios de forma segura e quase imperceptível. Unindo estas duas tendências, este trabalho apresenta o desenvolvimento de um sistema multi-VANT para observção de alvos móveis em multidões, demonstrando a possibilidade de utilização de pequenos VANTs comerciais comuns para o monitoramento de grupos de pedestres. O principal objetivo de tal sistema é monitorar continuamente indivíduos de interesse em um grupo de pessoas, visitando cada um destes indivíduos alternadamente, de forma a manter um registro geral do estado de cada um deles Um sistema deste tipo poderia, por exemplo, ser utilizado por autoridades no controle de manifestações e outras atividades em que grandes grupos de pessoas estejam envolvidos, ajudando a polícia e outros órgãos a identificar indivíduos com comportamento suspeito ou agressivo mais rapidamente, evitando ou minimizando os efeitos de atitudes de vandalismo e de ataques terroristas. Com o intuíto de abordar tal problema da forma mais completa e adequada possível, esta tese apresenta a concepção e o desenvolvimento de um sistema híbrido composto de três diferentes algoritmos: um algoritmo de distribuição de alvos; um de roteamento; e um de repasse de alvos. Primeiramente, neste sistema, um algoritmo de distribuição de alvos baseado em um paradigma de mercado que simula um leilão distribui os alvos entre os VANTs da melhor forma possível. Os VANTs, por sua vez, utilizam um algoritmo genético de roteamento para resolver uma instância do Problema do Caixeiro Viajante e decidir a melhor rota para visitar cada alvo sob sua responsabilidade. Ao mesmo tempo, o sistema analisa a necessidade de redistribuição dos alvos, ativando um algoritmo capaz de realizar esta ação ao perceber sua necessidade quando na iminência de perder algum alvo de vista. Ao fim de seu desenvolvimento, o sistema proposto foi testado em uma série de experimentos especialmente desenvolvidos para avaliar seu desempenho em situações controladas e comprovar sua eficiência para realizar a missão pretendida. / Observing the current scenario, where terrorism and vandalism acts have become commonplace, particularly in big cities, it becomes clear the need to equip law enforcement forces with an efficient observation method, capable of identifying and observing potentially threatening individuals on crowds, to avoid or minimize damage in case of attacks. Moreover, with the popularization of small lightweight Unmanned Aerial Vehicles (UAVs), these have become an affordable and efficient tool, which can be used to track and follow targets or survey areas or buildings quietly, safely and almost undetectably. This work presents the development of a multi-UAV based crowd monitoring system, demonstrating a system that uses small Commercial Of The Shelf (COTS) UAVs to periodically monitor a group of moving walking individuals. The goal of this work is to develop a coordination system for a swarm of UAVS capable of continuously monitoring a large group of individuals (targets) in a crowd, alternately observing each of them at a time while trying to not lose sight of any of these targets. A system equipped with a group of UAVs running this proposal can be used for law-enforcement applications, assisting authorities to monitor crowds in order to identify and to follow suspicious individuals that can have attitudes that could be classified as vandalism or linked to terrorist attack attempts To address this problem a system composed of three parts is proposed and was developed in this thesis. First, an auction algorithm was put in place to distribute interest targets among the multiple UAVs. The UAVs, in turn, make use of a genetic algorithm to calculate the order in which they would visit each of the targets on their observation queue. Moreover, a target handover algorithm was also implemented to redistribute targets among the UAVs in case the system judged that a target was about to be lost by its current observer UAV. The proposed system was evaluated through a set of experiments set-up to verify and to demonstrate the system capabilities to perform such monitoring task, proving its efficiency. During these experiments, it is made clear that the system as a whole has a great potential to solve this kind of moving target monitoring problem that can be mapped to a Time Dependent Travel Salesman Problem (TDTSP), observing targets, and redistributing them among UAVs as necessary during the mission.

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.

Ao observar a situação atual, na qual atos de vandalismo e terrorismo tornaram-se frequentes e cada vez mais presentes ao redor do mundo, principalmente em grandes cidades, torna-se clara a necessidade de equipar as forças policiais com tecnologias de observação e monitoramento inteligentes, capazes de identificar e monitorar indivíduos potencialmente perigosos que possam estar infiltrados nas multidões. Ao mesmo tempo, com sua recente popularização, veículos aéreos não tripulados, também chamados VANTs e conhecidos popularmente como "drones", acabaram por tornar-se ferramentas baratas e eficientes para diversas aplicações, incluindo observação, fornecendo a seus utilizadores a capacidade de monitorar alvos, áreas, ou prédios de forma segura e quase imperceptível. Unindo estas duas tendências, este trabalho apresenta o desenvolvimento de um sistema multi-VANT para observção de alvos móveis em multidões, demonstrando a possibilidade de utilização de pequenos VANTs comerciais comuns para o monitoramento de grupos de pedestres. O principal objetivo de tal sistema é monitorar continuamente indivíduos de interesse em um grupo de pessoas, visitando cada um destes indivíduos alternadamente, de forma a manter um registro geral do estado de cada um deles Um sistema deste tipo poderia, por exemplo, ser utilizado por autoridades no controle de manifestações e outras atividades em que grandes grupos de pessoas estejam envolvidos, ajudando a polícia e outros órgãos a identificar indivíduos com comportamento suspeito ou agressivo mais rapidamente, evitando ou minimizando os efeitos de atitudes de vandalismo e de ataques terroristas. Com o intuíto de abordar tal problema da forma mais completa e adequada possível, esta tese apresenta a concepção e o desenvolvimento de um sistema híbrido composto de três diferentes algoritmos: um algoritmo de distribuição de alvos; um de roteamento; e um de repasse de alvos. Primeiramente, neste sistema, um algoritmo de distribuição de alvos baseado em um paradigma de mercado que simula um leilão distribui os alvos entre os VANTs da melhor forma possível. Os VANTs, por sua vez, utilizam um algoritmo genético de roteamento para resolver uma instância do Problema do Caixeiro Viajante e decidir a melhor rota para visitar cada alvo sob sua responsabilidade. Ao mesmo tempo, o sistema analisa a necessidade de redistribuição dos alvos, ativando um algoritmo capaz de realizar esta ação ao perceber sua necessidade quando na iminência de perder algum alvo de vista. Ao fim de seu desenvolvimento, o sistema proposto foi testado em uma série de experimentos especialmente desenvolvidos para avaliar seu desempenho em situações controladas e comprovar sua eficiência para realizar a missão pretendida. / Observing the current scenario, where terrorism and vandalism acts have become commonplace, particularly in big cities, it becomes clear the need to equip law enforcement forces with an efficient observation method, capable of identifying and observing potentially threatening individuals on crowds, to avoid or minimize damage in case of attacks. Moreover, with the popularization of small lightweight Unmanned Aerial Vehicles (UAVs), these have become an affordable and efficient tool, which can be used to track and follow targets or survey areas or buildings quietly, safely and almost undetectably. This work presents the development of a multi-UAV based crowd monitoring system, demonstrating a system that uses small Commercial Of The Shelf (COTS) UAVs to periodically monitor a group of moving walking individuals. The goal of this work is to develop a coordination system for a swarm of UAVS capable of continuously monitoring a large group of individuals (targets) in a crowd, alternately observing each of them at a time while trying to not lose sight of any of these targets. A system equipped with a group of UAVs running this proposal can be used for law-enforcement applications, assisting authorities to monitor crowds in order to identify and to follow suspicious individuals that can have attitudes that could be classified as vandalism or linked to terrorist attack attempts To address this problem a system composed of three parts is proposed and was developed in this thesis. First, an auction algorithm was put in place to distribute interest targets among the multiple UAVs. The UAVs, in turn, make use of a genetic algorithm to calculate the order in which they would visit each of the targets on their observation queue. Moreover, a target handover algorithm was also implemented to redistribute targets among the UAVs in case the system judged that a target was about to be lost by its current observer UAV. The proposed system was evaluated through a set of experiments set-up to verify and to demonstrate the system capabilities to perform such monitoring task, proving its efficiency. During these experiments, it is made clear that the system as a whole has a great potential to solve this kind of moving target monitoring problem that can be mapped to a Time Dependent Travel Salesman Problem (TDTSP), observing targets, and redistributing them among UAVs as necessary during the mission.

En karta är en färskvara som är i ständigt behov av ajourhållning. Ajourhållning görs normalt med traditionella metoder: fotogrammetriska och/eller geodetiska. Men i och med att utvecklingen går framåt har intresset för en ny metod, UAS (Unmanned Aerial Systems), ökat. UAS är en relativt ny fotogrammetrisk metod där obemannade flygfarkoster används. Detta examensarbete har utvärderat vilken osäkerhet vanligt förekommande detaljer i en karta kan få i framställda "produkter" som genererats med hjälp av UAS-bilder som georefererats med naturliga stödpunkter. Produkterna som framställdes var en digital ytmodell och ett ortofoto och togs fram i datorprogrammet Agisoft Photoscan. Bilderna som bearbetades i denna studie erhölls från Swecos UAS-flygning och var tagna över deponiområdet Fågelmyra i Ornäs, Dalarnas län. I den digitala ytmodellen och i ortofotot mättes detaljer in för att sedan kontrolleras mot kontrollpunkter inmätta med nätverks-RTK (Real-Time Kinematic). Studien visade att detaljer inmätta i den digitala ytmodellen och ortofotot resulterade i en osäkerhet på 0,28 m respektive 0,08 m i plan. Varför osäkerheterna skiljer sig mellan den digitala ytmodellen och ortofotot kan ha att göra med att det är svårt att identifiera objekt i den digitala ytmodellen. Utifrån denna studie kan det konstateras att UAS och georeferering med naturliga stödpunkter lämpar sig för kartering av mindre områden. Dessutom kan det konstateras att UAS är effektiv och relativt enkel teknik. / A map is in constant need of being updated. Map updating is normally performed with traditional methods such as photogrammetric and/or geodetic. But by technical development the interest in new methods has increased, like in UAS (Unmanned Aerial Systems). UAS is a relatively new photogrammetric method using unmanned aerial vehicles (UAV). The purpose of this study is to evaluate what uncertainty common details in a map can get in "products" generated from UAS images georeferenced with natural ground control points. The products that were generated was a digital surface model and an orthophoto and was produced in the software Agisoft Photoscan. The images that were processed in this study were obtained from Sweco’s UAS flight and taken over landfill area Fågelmyra in Ornäs, Dalarna county. In the digital surface model and the orthophoto details were measured and controlled against check points surveyed with Network RTK (Real-Time Kinematic). The study has shown that the surveyed details in the digital surface model and ortohophoto resulted in a planimetric uncertainty of 0.28 m and 0.08 m, respectively. The reason for why the uncertainties for the digital surface model and orthophoto are different may be that it is difficult to identify objects in the digital surface model. Based on this study it can be concluded that UAS and georeferencing with natural ground control points is suitable for mapping of smaller areas. In addition, it can be concluded that UAS is efficient and relatively easy technique.

The master’s thesis expresses an opinion on trends in UAV integration into non-segregated airspace issue. In the beginning, barriers to integration are characterized and a broader context is shown. Since necessity of the technical realization of the “see and be seen” principle exists, requirements for so called Sense and Avoid systems are presented. Various methods of Sense and Avoid are briefly described, highlighting their contribution to air safety and their potential for future development. The UAV communication topic is described in the last chapter, providing a list of the volume of transmitted messages, analyzing data link frequencies and selecting appropriate means of UAV operations.

Background. The use of Unmanned Aerial Vehicles (UAVs) is today prevalent in both defense applications as well as in civilian tasks and is predicted to have a major socio-economic impact [22]. The opportunities involved with using Augmented Reality (AR) during UAV operations have engaged previous research intending to improve an operator’s situational awareness which allows operations to be carried out without putting people in dangerous situations [1,11,47]. In the case of a system where multiple UAVs are simultaneously active with the possibility to share information, opportunities arise for visualization of tracked entities either located behind objects in the environment or outside the field of view of a UAV. While previous research has been done in the field of AR on hidden elements, the impact of those techniques in a multi-UAV scenario is unexplored. Objectives. The thesis aimed to answer the question of what the impact is of different visualization techniques in regards to response time, depth perception, and clarity in a multi-UAV scenario involving entities occluded by the environment or otherwise hidden. Methods. This thesis has gone forward with a Systematic Literature Review (SLR) to in a systematic way compile the most important visualization techniques for AR visualizations of hidden elements. The techniques proposed by the SLR were implemented in an application simulating a multi-UAV scenario as well as evaluated in an experiment and a survey to fill in the gaps in previous research. Results. The SLR provided this work with multiple important aspects for visualization of entities, both occluded as well outside the field of view including the importance to utilize occlusion as a depth cue but also concrete techniques for implementation. Through the SLR the Excavation box, Naive ghosting, Silhouette, Ruler, Halo, and Radar techniques were selected for implementation in a multi-UAV scenario. The evaluation showed that for clarity the Excavation box and Silhouette techniques were preferred over the Naive ghosting technique, that the Halo technique is preferred for estimation of position but also aspects such that the occlusion depth cue may be unnecessary at the distances involved in the general multi-UAV scenario evaluated. Conclusions. Based on the findings of this thesis can visualizations in a multi-UAV scenario be created, heightening the situational awareness of UAV operators and therefore allowing tasks to be completed without putting people in dangerous situations [1, 11, 22, 47]. / Bakgrund. Drönare är idag använda i både försvarssammanhang och allmänna samhällssituationer och förväntas ha ett betydande socio-ekonomiskt avtryck i framtiden [22]. Genom att använda sig av augmenterad verklighet (AR) under drönaruppdrag, ett område där tidigare forskning genomförts, kan en operatörs medvetenhet kring sin omgivning höjas och därmed uppdrag genomföras utan att människor sätts i farliga situationer [1,11,47]. I situationer där flera drönare samtidigt är aktiva och kan dela information med varandra dyker möjligheter upp att visualisera spårade entiteter som befinner sig både bakom objekt i miljön och utanför synfältet för en specifik drönare. Tidigare forskning har gjorts inom AR för dolda element men hur dessa fungerar i detta system med flera drönare är outforskat. Syfte. Denna avhandlings mål var att svara på frågan kring hur olika visualiseringstekniker fungerar i avseende med responstid, djupuppfattning och tydlighet i situationer med flera aktiva drönare med spårade, dolda entiteter. Metod. Denna avhandling har genomfört en Systematic Literature Review (SLR) för att systematiskt ta fram de viktigaste teknikerna inom forskningen för AR visualiseringar av dolda element. De tekniker föreslagna av SLR:en implementerades i en applikation som simulerar ett multi-drönar scenario följt av en evaluering genom ett experiment och en undersökning för att bidra i ett område där forskning saknas. Resultat. SLR:en bidrog med flera viktiga principer och tekniker relevanta för att svara på avhandlingens forskningsfråga. Baserat på dessa resultat implementerades sex stycken tekniker: Excavation box, Naive ghosting, Silhouette, Ruler, Halo och Radar. Evalueringen visade att för tydlighet bör Excavation box eller Silhouette användas över Naive ghosting, Halo-tekniken är att föredra vid positionsestimering och att aspekter som att använda sig av täckning som guide för djupuppfattning kanske är onödig vid distanserna som är relevanta i det evaluerade scenariot. Slutsatser. Baserat på upptäckterna i denna avhandling kan visualiseringar för system med flera drönare skapas vilka ökar medvetenheten kring en operatörs omgivning och därför utföra uppdrag utan att människor utsätts för farliga miljöer [1,11,22,47].

<div>Counter Unmanned Aerial System (C-UAS) development and fielding has greatly accelerated over the last several years to protect against all classes of Unmanned Aerial System (UAS) threats. Integration of the detection and tracking systems, the engagement systems, and other portions of the kill chain including command and control (C2) is ongoing. A significant concern is that the majority of these developments are designed for defending ships at sea. Most of these technological advances cannot be used within restricted waters or in port, foreign or domestic, due to the potential of high collateral damages and the fact that they are not currently readily available for dissemination to the Fleet.</div><div>The problem addressed by this project is to determine how to defend high value units from the threat of weaponized UAVs while moored pier-side with currently in-place weapons systems. This study will take a parameter-driven approach based on existing technologies to determine if an enhanced fire-control system integrated with standard issue weaponry can increase watchstander accuracy required to safely defend a high value unit pierside.</div>

Laserskanning har blivit en vanlig metod för dokumentation, övervakning, underhåll och ut­veckling av olika industrimiljöer. Särskilt för inmätning och visualisering av komplexa rörledningar på industrianläggningars tak är punktmoln från laserskanning ett viktigt verktyg för att på ett enkelt sätt hitta potentiella platser för installation av nya rörledningar. Detta examensarbete genomfördes i samarbete med konsultbolaget Swecos mätningsgrupp i Karlstad och undersökte om det är möj­ligt att ersätta punktmoln från terrester laserskanning med punktmoln skapade med flygbilder tagna med UAS (Unmanned Aerial System) för dokumentering av komplexa rördragningar på industritak. Studien genomfördes på ett mindre område (5x25 m) på reningsverket i stadsdelen Sjöstad (Sjö­stadsverket) i Karlstad. Området innehöll omfattande rörledningar i olika dimensioner och andra detaljer såsom rattar, flänsar och gallerluckor. Detta område ansågs därför vara lämpligt att använda för studiens syfte och tillträdet förutsatte dessutom inte omfattande och dyra säkerhetsutbildningar. Undersökningen genomfördes genom markering av ett sextiotal kontrollpunkter som sedan mättes in med totalstation i ett lokalt referenssystem. Bakåtobjekten användes även som fästpunkter för sfäriska måltavlor under laserskanningen. Dessutom mättes även målade markstödsignaler på bet­ongen in i samband med detta för att möjliggöra en georeferering av flygbilderna. Därefter genom­fördes terrester laserskanning inom undersökningsområdet från nio uppställningar med varierande instrumenthöjder samt två UAS-flygningar med flygfotografering från tio respektive 22 m flyghöjd. Efterbearbetningarna började med att etablera ett lokaltreferenssystem, vilket användes för geo­referering av både laserskanningspunkmolnet samt respektive flygfotograferingspunktmoln. De er­hållna lokala koordinaterna för kontrollpunkterna i respektive punktmoln jämfördes gentemot de totalstationsinmätta koordinaterna för att analysera lägesosäkerheten. Punktmolnet från terrester laserskanning innehöll 55 tydligt identifierbara kontrollpunkter medan punktmolnen från UAS-flygningen visade 53 respektive 22 identifierbara kontrollpunkter. Den kvadratiska medelavvikelsen (RMS) i 3D för dessa punkter uppgick till 8 mm i laserskann­ingspunktmolnet respektive 25 mm för båda flygbildspunktmoln. Efter detta analysmoment valdes punktmolnet från flygningen på 22 m höjd bort inför de fortsatta analyserna då cirka två tredjedelar av kontrollpunkterna inte var identifierbara. Även mät- och lägesosäkerheten från flygbildspunktmolnet från tio meters höjd visade sig dock i början vara otillräckligt för att kunna ersätta terrester laserskanning med flygfotografering med UAS. Ändå tillät detaljeringsgraden en identifiering av ett stort antal kontrollpunkter och vidare analyser visade att den stora lägesosäkerheten främst berodde på kontrollpunkter kopplade till vissa detaljtyper (dolda stödben och omarkerade bultar). En nyberäkning av lägesosäkerheten utan dessa kontrollpunkter gav betydligt bättre värden för lägesosäkerhet inom flygbildspunktmolnet från tio meters höjd, ett RMS i 3D på 12 mm. Eftersom användningarna där Sweco skulle vilja ersätta terrester laserskanning med flygfoto­graf­ering inte kräver en detaljnivå på bultstorlek visade sig därmed flygfotografering med UAS som en lämplig alternativ metod för att dokumentera komplexa rördragningar på industritak. / This study explored the possibility of using aerial photography from Unmanned Aerial Systems (UAS) as a replacement for terrestrial laser scanning in documenting complex pipeline systems on industrial roofs. The research, conducted in collaboration with Sweco's survey group in Karlstad, focused on visual qualities and positional uncertainty in point clouds generated by terrestrial laser scanning and aerial photography. Control points were marked and surveyed using a total station, then terrestrial laser scanning and UAS-aerial photography was performed to generate point clouds. Analysis revealed that the aerial photography at 22 m altitude was not suitable due to unrecognizable control points. However, the aerial photography at 10 m altitude, after excluding certain types of control points, showed improved positional uncertainty. As the desired applications did not require fine-level detail, UAS aerial photography proved to be a suitable alternative for documenting complex pipeline systems on industrial roofs.