Modelos de arquitetura têm sido utilizados para permitir o desenvolvimento mais adequado e estruturado de sistemas, desde os mais simples até os mais complexos. A utilização desses modelos em sistemas embarcados, principalmente quando se trata de sistemas embarcados críticos, como é o caso de veículos aéreos não tripulados (VANT), visam a permitir conformidades de padrões, redução no tempo de produção, redução e facilidade no processo de manutenção e desenvolvimento. Sistemas embarcados críticos possuem requisitos específicos, tais como alta confiabilidade e resposta em tempo real, segurança e desempenho. A definição de um modelo arquitetural que permita que esses quesitos sejam levados em consideração, propicie o atendimento aos padrões, além de permitir o desenvolvimento correto e acelerado é inovador, permitindo que não só a comunidade científica venha a ter benefícios com a sua concepção, mas também a indústria brasileira possa ganhar. Nesse sentido, este trabalho desenvolveu um modelo de arquitetura para a interconexão de sistemas aéreos não tripulados (SANTs) em Unified Modeling Language (UML)/System Modelling Language (SysML) denominado LARISSA (Layered ARchitecture model for Interconnection of SystemS in uAs). Como resultado deste trabalho foi possível a modelagem e especificação completa de um SANT fazendo uso desse modelo e a realização de diversos experimentos que permitiram validar o LARISSA. Os experimentos, focados na parte de comunicação, permitiram a concepção de um simulador de redes de VANTs. Os resultados obtidos demonstraram a eficiência e a eficácia do modelo de arquitetura LARISSA, além da sua flexibilidade em permitir que diferentes experimentos possam ser realizados, o que auxilia na obtenção de dados que facilitam o processo de certificação desses VANTs. / Architecture models have been used to allow more adequate and structured development of systems, from the simplest to the most complex. The use of models in embedded systems are used to enable compliance standards, reduction in production time and ease of maintenance and development, especially when it comes to critical embedded systems such as unmanned aerial vehicles. Critical embedded systems have specific requirements, such as high reliability and real-time response, security and performance. The definition of an architectural model that deals with these requirements and standards and provides the service to standards allowing the correct and fast development is innovative and will provide benefits to the scientific and industrial communities. In this sense, this work developed an architectural model for the interconnection of Unmanned Aerial Systems (UAS) in Unified Modeling Language (UML)/System Modelling Language (SysML) called LARISSA (Layered ARchitecture model for Interconnection of SystemS in uAs). As a result of this development it was possible the modelling and specification of a complete UAS and the conduction of several experiments that allowed LARISSA validation. The experiments focused on the communication enabled the design of a UAV networks simulator. The results showed the efficiency and effectiveness of LARISSA architecture model, as well as its flexibility in carrying out different experiments, which helps in getting data to facilitate the certification process of these UAVs.

Several configurations of Unmanned Aerial Vehicles (UAVs) were proposed to support different applications. One of them is the tailsitter, a fixed-wing aircraft that takes off and lands on its own tail, with the high endurance advantage from fixed-wing aircraft and, as helicopters and multicopters, not requiring a runway during takeoff and landing. However, a tailsitter has a complex operation with multiple flight stages, each one with its own particularities and requirements, which emphasises the necessity of a reliable autopilot for its use as a UAV. The literature already introduces tailsitter UAVs with complex mechanisms or with multiple counter-rotating propellers, but not one with only one propeller and without auxiliary structures to assist in the takeoff and landing. This thesis presents a tailsitter UAV, named AVALON (Autonomous VerticAL takeOff and laNding), and its autopilot, composed of 3 main units: Sensor Unit, Navigation Unit and Control Unit. In order to choose the most appropriate techniques for the autopilot, different solutions are evaluated. For Sensor Unit, Extended Kalman Filter and Unscented Kalman Filter estimate spatial information from multiple sensors data. Lookahead, Pure Pursuit and Line-of-Sight, Nonlinear Guidance Law and Vector Field path-following algorithms are extended to incorporate altitude information for Navigation Unit. In addition, a structure based on classical methods with decoupled Proportional-Integral-Derivative controllers is compared to a new control structure based on dynamic inversion. Together, all these techniques show the efficacy of AVALONs autopilot. Therefore, AVALON results in a small electric tailsitter UAV with a simple design, with only one propeller and without auxiliary structures to assist in the takeoff and landing, capable of executing all flight stages. / Diversas configurações de Veículos Aéreos Não Tripulados (VANTs) foram propostas para serem utilizadas em diferentes aplicações. Uma delas é o tailsitter, uma aeronave de asa fixa capaz de decolar e pousar sobre a própria cauda. Esse tipo de aeronave apresenta a vantagem de aeronaves de asa fixa de voar sobre grandes áreas com pouco tempo e bateria e, como helicópteros e multicópteros, não necessita de pista para decolar e pousar. Porém, um tailsitter possui uma operação complexa, com múltiplos estágios de voo, cada um com suas peculiaridades e requisitos, o que enfatiza a necessidade de um piloto automático confiável para seu uso como um VANT. A literatura já introduz VANTs tailsitters com mecanismos complexos ou múltiplos motores contra-rotativos, mas não com apenas um motor e sem estruturas para auxiliar no pouso e na decolagem. Essa tese apresenta um VANT tailsitter, chamado AVALON (Autonomous VerticAL takeOff and laNding), e seu piloto automático, composto por 3 unidades principais: Unidade Sensorial, Unidade de Navegação e Unidade de Controle. Diferentes soluções são avaliadas para a escolha das técnicas mais apropriadas para o piloto automático. Para a Unidade Sensorial, Extended Kalman Filter e Unscented Kalman Filter estimam a informação espacial de múltiplos dados de diversos sensores. Os algoritmos de seguimento de trajetória Lookahead, Pure Pursuit and Line-of-Sight, Nonlinear Guidance Law e Vector Field são estendidos para considerar a informação da altitude para a Unidade de Navegação. Além do mais, uma estrutura baseada em métodos clássicos com controladores Proporcional- Integral-Derivativo desacoplados é comparada a uma nova estrutura de controle baseada em dinâmica inversa. Juntas, todas essas técnicas demonstram a eficácia do piloto automático do AVALON. Portanto, AVALON resulta em um VANT tailsitter pequeno e elétrico, com um design simples, apenas um motor e sem estruturas para auxiliar o pouso e a decolagem, capaz de executar todos os estágios de voo.

UAV (Unmanned Aircraft Vehicle) har revolutiontionerat ortofotoframställningen med sitt bidrag till ökad säkerhet, lägre kostnader samt effektivare arbetsgång vid framställning av ortofoton. Den traditionella flygfotogrammetrin med flygplan och utplacering av flygsignaler har varit den givna metoden i många år. Att flyga med UAV istället för flygplan sparar tid och pengar däremot är utplacering och inmätning av flygsignaler fortfarande tidskrävande och därför kostsamt. Företaget DJI har tagit fram en ny UAV med namnet DJI Phantom 4 RTK vilken stödjer möjligheten att använda satellitbaserad positionering för direkt georeferering. Den här studien har jämfört två olika georefereringsmetoder för framställning av ortofoton med UAV: direkt georeferering med NRTK (satellitbaserad positionering och nätverks-RTK) samt indirekt georeferering med olika antal markstödspunkter. Studien utfördes vid Högskolan i Gävle på en yta av åtta hektar. En undersökning av avvikelser i plan och höjd resulterade i acceptabla värden enligt de riktlinjer som följdes i HMK – Ortofoto (2017) samt de kontroller som genomfördes enligt SIS-TS 21144:2016. RMS-värdet i plan för den indirekta georefereringsmetoden ligger på 0,0102m. För den direkta georefereringsmetoden ligger RMS-värdet i plan vid användning av markstödpunkter mellan 0,0132 och 0,0148 m. Slutligen för den direkta georefereringsmetoden utan markstödpunkter är RMS-värdet i plan på 0,0136 m. RMS i höjd ligger inom intervallet 0,008-0,025 m. Det som redovisas i studien visar att en accepterad kvalitet av ortofoton går att erhålla baserat på de RMS-värden i plan och höjd med samtliga georefereringsmetoder som testats. Efter genomförda kontroller och utvärdering av de resultat kan det konstateras att de olika georefereringsmetoderna skiljer inte mycket åt varandra kvalitetsmässigt.Dock är den direkta georefereringsmetoden utan markstödpunkter mycket effektivare ur ett tidsperspektiv. Phantom 4 RTK är ny på marknaden och det behöver utföras mer forskning för att få en större insikt av dess potential. Dock krävs det mer forskning kring direkt georeferering för utvärdering av orotofotons kvalitet. / UAV (Unmanned Aircraft Vehicle) has revolutionized the creation of orthophotos with its contribution to increased safety, lower costs and more effective ways when making orthophotos. The traditional aerial photogrammetry with airplanes and placement of flight signals has been the standard method for years. To fly with UAV instead of an airplane is cheaper and saves time, however, the placement and measurements of flight signals is still time consuming and therefore expensive. The company DJI has developed a new UAV called Phantom 4 RTK that supports satellite based technology for direct georeferercing. This study compared two different measuring methods when producing orthophotos with UAV: direct georeferencing with NRTK (Network Real Time Kinematic) and indirect georeferencing when using different number of Ground Control Points (GCP). The study was conducted at the University of Gävle over an area of eight hectares. An investigation of the deviation in plane and height resulted in acceptable units based on the guidelines that were followed in HMK – Ortofoto and the controls that were followed from SIS- TS 21144:2016. The RMS value in plane for the indirect georeferencing method is 0,0102 m. For the direct georeferencing method the RMS value in plane when using ground control points is between 0,0132 and 0,0148 m. At last the RMS value for the direct georeferencing method without ground control points is 0,0136m. The RMS value in height is between the intervals 0,008-0,025 m. The data presented in this study show that an accepted quality in the orthophotos can be acquired based on the RMS values in plane and height for every georeferencing that was tested. After accomplished controls and evaluation the results show that the different georeferencing methods doesn´t differantiate too much from each other based on their quality. However, the direct georeferencing method with ground control points is more effective from a time perspective. Phantom 4 RTK is new on the market and more research is necessary in order to understand the potential of this technology and its posibility to integrate into society. More research is recquired for the direct georeferencing method in order to evaluate the quality of orthophotos.

No description available.

Les cours d’eau font l’objet de prescriptions législatives encourageant leur restauration, et l’arasement de barrages est une des solutions utilisées actuellement en France pour y parvenir. La végétation riparienne participe à l’intégrité et à la stabilité des systèmes fluviaux, Elle est donc une composante majeure à évaluer dans le cadre des actions de restauration .Les objectifs de la thèse sont d'analyser la dynamique de colonisation des berges exondées à court terme dans le contexte de l’arasement des barrages de la Sélune (Normandie) et de développer des indicateurs de suivi à long terme des zones ripariennes. Dans un premier temps, une analyse des dynamiques de colonisation aux échelles intra et interannuelles réalisée à l’aide d’images drone et de relevés terrain a révélé la pertinence de l’utilisation d’images drones pour cartographier la végétation, ainsi que des dynamiques successionnelles rapides, avec un potentiel de restauration passive et de stabilisation des sédiments. Dans un second temps, l’analyse de nuages de points LiDAR en trois dimensions acquis en hiver et en été a montré la complémentarité des deux dates d’acquisition pour cartographier des indicateurs de statut des ripisylves à large échelle tels que les essences principales, l’ombrage ou la densité de strates herbacées et arbustives. Ces résultats permettent de discuter les dimensions méthodologiques et opérationnelles de l’utilisation des approches par télédétection pour le suivi des ripisylves. / Rivers are the object of legislation encouraging their restoration, and dam removal operations represent one of the solution to achieve it in France. Riparian vegetation plays a fundamental role in stabilizing and maintaining fluvial systems, being at the interface between terrestrial and aquatic environments. It is therefore a very important component which has to be evaluated in river restoration operations. One of the consequences of dam removal on riparian vegetation is the colonization of the dewatered sediments in the reservoir. The objective of the thesis are to define short term colonization dynamics of vegetation in context of dam removal (Sélune River, Normandy), and to develop long term indicators for the monitoring of riparian vegetation. First, an analysis of intra and interannual colonization dynamics revealed the potential of using drone images to map riparian vegetation, and fast successional dynamics with high passive restoration and sediment stabilization potential. Secondly, the analysis of 3D point clouds extracted from LiDAR data acquired in winter and summer highlighted the complementarity of the two acquisition dates to map indicators of riparian status at large scale, such as main riparian species, shading or density of herbaceous and shrubby strata. These results make it possible to discuss the methodological and operational dimensions of the use of remote sensing approaches for the monitoring of riparian vegetation

Small unmanned aircraft systems (UAS) are rapidly gaining popularity. As the excitement surrounding small UAS has grown, the Federal Aviation Administration (FAA) has repeatedly stated that UAS must be capable of detecting and avoiding manned and unmanned aircraft. In developing detect-and-avoid (DAA) technology, one of the key challenges is identifying a suitable sensor. Automatic Dependent Surveillance-Broadcast (ADS-B) has gained much attention in both the research and consumer sectors as a promising solution. While ADS-B has many positive characteristics, further analysis is necessary to determine if it is suitable as a DAA sensor in environments with high-density small UAS operations. To further the understanding of ADS-B, we present a characterization of ADS-B measurement error that is derived from FAA regulations. Additionally, we analyze ADS-B by examining its strengths and weaknesses from the perspective of DAA on small UAS. To demonstrate the need and method for estimation of ADS-B measurements, we compare four dynamic filters for accuracy and computational speed. The result of the comparison is a recommendation for the best filter for ADS-B estimation. We then demonstrate this filter by estimating ADS-B measurements that have been recorded from the National Airspace System (NAS). We also present a novel long-range, convex optimization-based path planner for ADS-B-equipped small UAS in the presence of intruder aircraft. This optimizer is tested using a twelve-state simulation of the ownship and intruders.We also consider the effectiveness of ADS-B in high-density airspace. To do this we present a novel derivation of the probability of interference for ADS-B based on the number of transmitting aircraft. We then use this probability to document the need for limited transmit range for ADS-B on small UAS. We further leverage the probability of interference for ADS-B, by creating a tool that can be used to analyze self-separation threshold (SST) and well clear (WC) definitions based on ADS-B bandwidth limitations. This tool is then demonstrated by evaluating current SST and WC definitions and making regulations recommendations based on the analysis. Coupling this tool with minimum detection range equations, we make a recommendation for well clear for small UAS in ADS-B congested airspace. Overall these contributions expand the understanding of ADS-B as a DAA sensor, provide viable solutions for known and previously unknown ADS-B challenges, and advance the state of the art for small UAS.

Unmanned Aerial Vehicle (UAV) är en benämning på en obemannad flygande farkost. UAV är en benämning för själva farkosten och därför har Unmanned Aircraft System (UAS) tagit över eftersom det är ett begrepp som rör hela systemet som förutom flygfarkost innefattar start, landning, markstation och kommunikationslänk. Inom mätningsteknik är UAS ett relativt nytt begrepp och tekniken har sin historia mestadels inom det militära området. Syftet med denna studie är att analysera samt utvärdera två programvaror och en molntjänst för bearbetning och framtagning av ortofoto från UAS-data. De frågor som ställts inför arbetet är: kan en molntjänst ersätta ett avancerat datorprogram vid generering av ortofoton? Kan dessa datorprogram ge ett bra resultat utan hjälp av andra GIS-program? Vilket program är enklast att förstå och använda samt vilka är skillnaderna mellan programmen? Dessa frågor har besvarats genom användning av insamlat data och för att få utvärderingen rättvis har därför tre olika dataset skapats. Programtjänsterna som har utvärderats är Agisoft PhotoScan 0.9.0 och Pix4UAV Desktop/Cloud 2.1.2. Insamling av data har skett genom en flygning med en oktokopter över Fågelmyratippen i Dalarna. Resultaten visar att priset snabbt blir högt om endast Pix4UAV Cloud används och att överlag är PhotoScan billigare än Pix4UAV Desktop. Kvalitetsrapporten som följer med varje projekt är överskådlig i PhotoScan och mer ingående i Pix4UAV Desktop/Cloud. Trots samma indata blir utdatat olika vid bearbetning av de olika programmen, till exempel skiljer sig markupplösningen åt mellan programmen. Generellt är PhotoScan tydligare på att visa hur arbetsprocessen går till. Supporten hos båda företagen är bra, tips och tricks finns på respektive hemsida. Till PhotoScan finns även en manual för nedladdning samt en YouTube-kanal med instruktionsvideor. De enda slutsatserna vi drar är att Pix4UAV Cloud inte klarar av att ersätta ett avancerat bildbehandlingsprogram och att för tillfället bör ytterligare ett GIS-program användas som komplement för att få bästa resultat. I övrigt har vi endast skrapat på ytan av programmen och rekommenderar att läsaren tar till sig det vi skrivit under resultat och diskussion för att sedan bilda sig en egen uppfattning med hjälp av respektive programs prövotid. Till sist presenteras förslag på vidare studier inom ämnet. / Unmanned Aerial Vehicle (UAV) is a term for a remote controlled airbornevehicle. Since UAV is an acronym for the vehicle itself, Unmanned Aircraft Systems(UAS) has therefore replaced UAV, as it is a concept related to the wholesystem, beside the vehicle it also includes landing, ground station andcommunications link. Within land surveying UAS is a relatively new concept asthe technology has its history mainly associated to the military. The purposeof this study is to analyze and evaluate two software and a cloud service for processingand preparation of orthophotos from data collected with a UAS. The questions tobe answered in this thesis are: Can a cloud service replace an advancedcomputer software for generating orthophotos? Can these produce good resultswithout the help of other GIS software? Which software is the easiest tounderstand and to use and what are the main differences. These questions wereanswered by using collected data, and to get the evaluation fair three datasetshave been created. The software being evaluated are Agisoft PhotoScan andPix4UAV desktop/cloud. The data collection was done by a flight with an octokopterover Fågelmyratippen in Dalarna. The results show that the price quicklybecomes high if only Pix4UAV Cloud is used and that generally PhotoScan ischeaper than Pix4UAV Desktop. The quality report that comes with each projectis easy to understand in PhotoScan but more detailed in Pix4UAV Desktop/Cloud. Despitethe use of same data the results vary when processed, for example the groundresolution. Generally PhotoScan is better at showing the work process. Eachcompany’s support is good and they both have tips and tricks at their websites.On the Agisoft webpage there is a manual available for download and they alsohave a YouTube-channel with instruction videos. The conclusion is that thecloud service is not capable of replacing an advance image processing software.Another conclusion is that for the moment another GIS-program should be used toget the best results. We like to point out that we only scratched the surfaceof the software and we recommend that the reader embrace what we write inresults and discussion to then form their own opinion by using the softwareevaluation period. I the last part we present subjects of further study.

No description available.

This diploma thesis deals with the simulation of the radio communication system for satellite control of unmanned aircraft, namely the command and control communication link – the forward link. The aim of the thesis is to create a simulator in the Matlab environment. The simulator includes a model of the transmitter, radio channel and receiver. Four-state CPM modulation with partial response and filtered symbol shape is used. The radio channel performs noise, frequency Doppler shift and time delay to the received signal. Subsequently, in the Acquisition Unit, the Doppler shift and time delay are detected and compensated. At the end of the thesis, the simulation results of the presented model are presented in the form of graphs đť¸s/đť‘0.

This master's thesis deals with the design of foldable propeller for UAVs. The design of the foldalble propeller is created based on theory of propellers and also on tha detail ana-lyzis of existing foldalble propellers with similar dimensions. The propeller is then manufac-tured and tested. One of the part of this thesis also describes design of central hub. At the end the methodical procedure of creating foldable propellers is suggested.