Christian Eling

Real-Time Single-Frequency GPS/MEMS-IMU Attitude Determination of Lightweight UAVs

In this paper, a newly-developed direct georeferencing system for the guidance, navigation and control of lightweight unmanned aerial vehicles (UAVs), having a weight limit of 5 kg and a size limit of 1.5 m, and for UAV-based surveying and remote sensing applications is presented. The system is intended to provide highly accurate positions and attitudes (better than 5 cm and 0.5∘) in real time, using lightweight components. The main focus of this paper is on the attitude determination with the system. This attitude determination is based on an onboard single-frequency GPS baseline, MEMS (micro-electro-mechanical systems) inertial sensor readings, magnetic field observations and a 3D position measurement. All of this information is integrated in a sixteen-state error space Kalman filter. Special attention in the algorithm development is paid to the carrier phase ambiguity resolution of the single-frequency GPS baseline observations. We aim at a reliable and instantaneous ambiguity resolution, since the system is used in urban areas, where frequent losses of the GPS signal lock occur and the GPS measurement conditions are challenging. Flight tests and a comparison to a navigation-grade inertial navigation system illustrate the performance of the developed system in dynamic situations. Evaluations show that the accuracies of the system are 0.05∘ for the roll and the pitch angle and 0.2∘ for the yaw angle. The ambiguities of the single-frequency GPS baseline can be resolved instantaneously in more than 90% of the cases.

Direct Georeferencing of Micro Aerial Vehicles – System Design, System Calibration and First Evaluation Tests

& TIAN 2011), infrastructure inspection (MERZ & KENDOUL 2011) or surveying (EISENBEISS et al. 2005)UAVs are meanwhile often deployed. Recently, there has been a discussion concerning the term UAV. Since this paper is particularly dealing with lightweight UAVs the more specific termMAV (micro aerial vehicle) will be used throughout this paper. MAVs can generally be characterized having a weight limit of 5 kg and a size limit of 1.5 m (EISENBEISS 2009).

Automatic optimization of height network configurations for detection of surface deformations

Abstract Levellings are performed to observe height changes of different epochs at discrete surveying points. A reliable estimation of surface deformations by a bivariate polynomial needs a sufficient configuration of the underlying network. Because the spacial distribution of the surveying points is not homogeneous in the discussed regions, the network configuration has to be optimized. This study proposes an optimization procedure that estimates the optimal number and position of the surveying points considered for a reliable analysis. Furthermore, the already existing observations are accepted or rejected due to the network’s geometry. Therefore, two different approaches are combined. First, the sampling theorem from time series analysis is used to estimate the number and position of the surveying points. Second, the partial redundancies from statistics take the reliability into account. Applying the optimization procedure to several test regions, the benefit of the optimized network configurations is discussed.

Fast and effective online pose estimation and mapping for UAVs

Online pose estimation and mapping in unknown environments is essential for most mobile robots. Especially autonomous unmanned aerial vehicles require good pose estimates at comparably high frequencies. In this paper, we propose an effective system for online pose and simultaneous map estimation designed for light-weight UAVs. Our system consists of two components: (1) real-time pose estimation combining RTK-GPS and IMU at 100 Hz and (2) an effective SLAM solution running at 10 Hz using image data from an omnidirectional multi-fisheye-camera system. The SLAM procedure combines spatial resection computed based on the map that is incrementally refined through bundle adjustment and combines the image data with raw GPS observations and IMU data on keyframes. The overall system yields a real-time, georeferenced pose at 100 Hz in GPS-friendly situations. Additionally, we obtain a precise pose and feature map at 10 Hz even in cases where the GPS is not observable or underconstrained. Our system has been implemented and thoroughly tested on a 5 kg copter and yields accurate and reliable pose estimation at high frequencies. We compare the point cloud obtained by our method with a model generated from georeferenced terrestrial laser scanner.

Solifluction meets vegetation: the role of biogeomorphic feedbacks for turf‐banked solifluction lobe development

Vegetation is an important factor influencing solifluction processes, while at the same time, solifluction processes and landforms influence species composition, fine-scale distribution and corresponding ecosystem functioning. However, how feedbacks between plants and solifluction processes influence the development of turf-banked solifluction lobes (TBLs) and their geomorphic and vegetation patterns is still poorly understood. We addressed this knowledge gap in a detailed biogeomorphic investigation in the Turtmann glacier foreland (Switzerland). Methods employed include geomorphic and vegetation mapping, terrain assessment with unmanned aerial vehicle (UAV) and temperature logging. Results were subsequently integrated with knowledge from previous geomorphic and ecologic studies into a conceptual model. Our results show that geomorphic and vegetation patterns at TBLs are closely linked through the lobe elements tread, risers and ridge. A conceptual four-stage biogeomorphic model of TBL development with ecosystem engineering by the dwarf shrub Dryas octopetala as the dominant process can explain these interlinked patterns. Based on this model, we demonstrate that TBLs are biogeomorphic structures and follow a cyclic development, during which the role of their components for engineer and non-engineer species changes. Our study presents the first biogeomorphic model of TBL development and highlights the applicability and necessity of biogeomorphic approaches and research in periglacial environments. Copyright

Development, Calibration and Evaluation of a Portable and Direct Georeferenced Laser Scanning System for Kinematic 3D Mapping

Abstract In recent years, kinematic laser scanning has become increasingly popular because it offers many benefits compared to static laser scanning. The advantages include both saving of time in the georeferencing and a more favorable scanning geometry. Often mobile laser scanning systems are installed on wheeled platforms, which may not reach all parts of the object. Hence, there is an interest in the development of portable systems, which remain operational even in inaccessible areas. The development of such a portable laser scanning system is presented in this paper. It consists of a lightweight direct georeferencing unit for the position and attitude determination and a small low-cost 2D laser scanner. This setup provides advantages over existing portable systems that employ heavy and expensive 3D laser scanners in a profiling mode. A special emphasis is placed on the system calibration, i. e. the determination of the transformation between the coordinate frames of the direct georeferencing unit and the 2D laser scanner. To this end, a calibration field is used, which consists of differently orientated georeferenced planar surfaces, leading to estimates for the lever arms and boresight angles with an accuracy of mm and one-tenth of a degree. Finally, point clouds of the mobile laser scanning system are compared with georeferenced point clouds of a high-precision 3D laser scanner. Accordingly, the accuracy of the system is in the order of cm to dm. This is in good agreement with the expected accuracy, which has been derived from the error propagation of previously estimated variance components.

Magnetic Field Sensor Calibration for Attitude Determination

Abstract The presented work aims to give an overview of different calibration methods for magnetic field sensors, which are used for attitude determination. These methods are applicable in the field without any additional equipment. However, sometimes they require simplification assumptions. The paper addresses the validity of these assumptions, the accuracy and efficiency of the methods and the influence of the calibration error on the orientation estimation. Both simulations and measurements are used for evaluation. The measurements are performed using a GNSS multi-antenna system, providing an orientation reference (roll, pitch, yaw) without unknown external magnetic disturbances and with a sufficient accuracy (about 0.5 degrees). It is shown in simulations, that a full calibration of the sensor (including soft and hard iron disturbances by nearby materials) is possible without any additional equipment. However, experiments show, that some parts of the full calibration procedure are sensitive to an accurate execution of the necessary movements, which may lead to calibration errors in the same order of magnitude as a simplified method, which ignores the presence of soft iron disturbances.

Direct Georeferencing for Portable Mapping Systems: In the Air and on the Ground

AbstractDuring the last few years, the acquisition of geometric information about objects by using a moving sensor platform has gained increasing popularity in the surveying community. A large numb...

Investigations on the Influence of Antenna Near-field Effects and Satellite Obstruction on the Uncertainty of GNSS-based Distance Measurements

Abstract Antenna near-field effects are one of the accuracy limiting factors on GNSS-based distance measurements. In order to analyse these influences, a measurement campaign at an EDM calibration baseline site with optimum GNSS conditions was performed. To vary the distance between the antenna mount and the absolutely calibrated antennas, spacers with different lengths were used. Due to the comparison of the resulting GNSS-based distance measurements to a reference solution, the influences of the antenna near-field could be analyzed. The standard deviations of the differences to the reference solution, i. e., 0.31 mm for the distance and 0.46 mm for the height component, indicate that equal spacer and antenna combinations at both stations lead to a very high accuracy level. In contrast, different spacer and antenna combinations decrease the accuracy level. Thus, an identical set-up at both antenna stations and the usage of individually calibrated antennas minimize the near-field effects during the double-differencing process. Hence, these aspects can be identified as a prerequisite for highly accurate GNSS-measurements. In addition to near-field effects, the influence of satellite obstructions is investigated. Four realistic shadowing scenarios are numerically simulated on the basis of the observations, which were collected in the optimum surrounding of the EDM calibration baseline site. The comparison to nominal values indicates that a shadowing leads only to a slight decreasing of the accuracy. Consequently, there is a strong suspicion that multipath effects and signal distortions seem to have a greater influence on the accuracy of GNSS-based distance measurements than the satellite constellation.