This paper presents a method for high accuracy ground target localization using a Micro Aerial Vehicle (MAV) equipped with a video camera sensor. The proposed method is based on a satellite or aerial image registration technique. The target geo-location is calculated by registering the ground target image taken from an on-board video camera with a georeferenced satellite image. This method does not require accurate knowledge of the aircraft position and attitude, therefore it is especially suitable for MAV platforms which do not have the capability to carry accurate sensors due to their limited payload weight and power resources. The paper presents results of a ground target geo-location experiment based on an image registration technique. The platform used is a MAV prototype which won the 3rd US-European Micro Aerial Vehicle Competition (MAV07). In the experiment a ground object was localized with an accuracy of 2.3 meters from a flight altitude of 70 meters. Nomenclature M AV Micro aerial vehicle s Image scale factor f Camera focal length I res Reference image resolution d MAV's ground altitude λ Ground object distance to the MAV x p , y p Pixel coordinates X i , Y i , Z i Inertial reference frame X v , Y v , Z v Vertical reference frame X b , Y b , Z b Body reference frame X g , Y g , Z g Gimbal reference frame X c , Y c , Z c Camera reference frame CCD Charge coupled cevice F OV Field of view
The presented work is centered on the evaluation of Micro or Mini Air Vehicles (MAV) that have been automatically designed and manufactured. An in-house developed design framework uses several coupled computer software's to generate the geometric design in CAD, a well as list of off the shelf components for the propulsion system, and computer code for autonomous flight ready to upload in the intended autopilot. The paper describes the experiences made so far regarding automation of the design process and of manufacturing. Furthermore, it presents results from evaluation and analysis of the optimization algorithm and flight testing, and from continuing work with the framework to achieve deeper understanding of the process and to fine-tune the design automation performance. The flight data is correlated to the predicted performances to validate the models and design process.
PurposeThe purpose of this paper is to present the latest subscale demonstrator aircraft developed at Linköping University. It has been built as part of a study initiated by the Swedish Material Board (FMV) on a Generic Future Fighter aircraft. The paper will cover different aspects of the performed work: from paper study realised by SAAB to the first flight of the scaled demonstrator. The intention of the paper is to describe what has been realised and explain how the work is may be used to fit within aircraft conceptual design.Design/methodology/approachThe approach has been to address the challenges proposed by the customer of the demonstrator, how to design, manufacture and operate a scaled demonstrator of an aircraft study in conceptual design within five months. Similar research projects have been reviewed in order to perform the current work.FindingsThe results obtained so far have led to new questions. In particular, the project indicated that more research is needed within the area of subscale flight testing for usage in aircraft conceptual design, since a scaled demonstrator is likely to answer some questions but will probably open up new ones.Research limitations/implicationsThe current research is just in its infancy and does not bring any final conclusion but does, however, offer several guidelines for future works. Since the aircraft study was an early phase concept study, not much data are available for validation or comparison. Therefore, the paper is not presenting new methods or general conclusions.Practical implicationsResults from a conceptual aircraft study and a realisation of a scaled prototype are presented, which show that scaled flight testing may be used with some restriction in conceptual design.Originality/valueThe value of this paper is to show that universities can be involved in prototype development and can work in close collaboration with industries to address issues and solutions within aircraft conceptual design.
The presented work is centered on the automation of the design process of Micro or Mini Aerial Vehicles (MAV). A design optimization framework that links together a CAD system for airframe design and a panel code for aerodynamic evaluations has been developed. This paper is based on research and results previously published by the research team. It describes the experiences made so far, and demonstrates with a case study, how fully automated design is indeed possible. The user is required to enter the initial requirements into the system that will then optimize the MAV design. Both the geometry and the propulsion system are taken into account. Finally, a 3D printer is used for manufacturing of the aircraft. The optimization comprises both discrete and continuous variables. Validation of common propulsion system models is also presented.
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