海洋低空无人机监测系统

2014

International

Conference

on

Wireless

Communication

and

Sensor Network

UAV Low Altitude Marine Monitoring System

Jie-liang Huang, Wen-yu Cai

School of Electronics &

Information

Hangzhou Dianzi

University

Hangzhou, China

E-mail: jieliang_huang@,

caiwy@

Abstract

—

As the human pays more and more attention to

the

exploration

of

marine

resources,

the

marine

activities

show

diversity.

At

the

aspect

of

the

exploration

of

some

uncharted

and

potentially

dangerous

waters

or

islands,

the

marine

low

altitude

surveillance

UAV

(unmanned

aerial

vehicle)

is

obviously

very

important.

As

a

tool

to

obtain

first- hand

information,

UAV

can

take

off

near

the

monitored

area.

Carrying

with

a

high-definition

camera,

altimeter,

GPS,

barometric

pressure

and

humidity

sensors,

the

UAV

can

monitor the area for real-time, get the latitude and longitude of

specific landmarks, measure altitude and barometric

pressure

and

humidity

and

etc.

Therefore

we

can

have

a

general

understanding

of

the

whole

area

to

eliminate

risk

factors.

In

addition,

for

different

application

environments,

UAV

can

be

equipped

with

different

monitoring

devices,

which

makes

the

application for more flexible and the areas for more diversity.

II.

T

HE

C

OMPOSITION OF

S

YSTEM

UAV

low-altitude

Marine

monitoring

system

consists

of

ground flight control system, aerial surveillance flight

system,

UAV driving flying platform, wireless HD video transmission

system and so on.

A.

Ground Flight Control System

Ground

flight

control

systems

is

useful

for

the

flight

control of UAV and the processing and display of related

data,

including

data

transceiver

module,

debug

interface,

gesture

controller(as shown

in Fig.1). By the

composition of

wireless

module,

JTAG

interface,

the

control

handle,

STM32

controller,

PC

terminal,

it

can

be

achieved

on

the

UAV

attitude,

altitude,

speed,

heading,

route

control,

with

remote

control and autonomous flight

modes.

In

order

to

improve

the

reliability

of

the

flight

control

system, the system uses the wireless transceiver module

with

a

high transmission rate and low error

rate to ensure that the

control

signals

can

be

transmitted

in

real

-time

and

received

correctly. Because digital connection being instead of analog,

which

improves

the

accuracy

of

signal

transmission

and

increases

the

anti-jamming

capability.

The

body

has

the

ability

to

be

extended

and

flexible

configuration,

and

some

typical

system

components

may

be

changed

according

to

the

needs of the missions.

Keywords-low altitude; UAV; high- definition cameras;

altimeters; GPS; barometric pressure and humidity sensor

I.

I

NTRODUCTION

With

the

national

marine

economy

being

proposed,

the

low-altitude

UAV

remote

sensing

is

applied

to

marine

monitoring

and

monitors

marine

emergencies,

marine

disasters,

marine

environment

dynamically

with

real-time

tracking,

to

provide

real-time

field

data

for

the

marine

forecasters

for

Rapid Alert and a scientific basis of decisions

and

solution

for

the

marine

management.

Regardless

of

the

protection

of

the

marine

disaster

prevention

and

mitigation

services

and

the

need

for

the

development

of

national

high-

tech, it is urgent to develop the real-time monitoring system

of

the

marine

environment

with

quick

response

and

intensification

and

establish

the

report

of

efficient

disaster

warning service on the basis of new

technology.

Low-altitude

UAV

remote

sensing

marine

monitoring

as

an monitoring technology of important and in the initial stage,

on one hand, can do emergency response, without waiting for

satellite

transit

or

the

limit

of

flying

height

of

traditional

aviation

Airborne

remote

sensing;

On

the

other

hand,

can

overcome

the

defects

of

the

optical

remote

sensing

technology

of

traditional

satellite

in

South

cloudy

and

rainy

weather

and

will

greatly

enhance

the

ability

of

monitoring

Marine

dynamically

and

urgently

monitoring

of

disaster

prevention

and

maneuver

reduction,

which

provides

quality

services to the marine disaster prevention and mitigation, then

escorts for the economic development of regional

marine.

This

article

will

focus

on

UAV

low

altitude

marine

monitoring

system

with

Art- tech

Diamond

2500

Glider

unmanned marine as the hardware platform, then describe

the

consist, the key technology and its applications of

system.

Figure 1. Ground flight control system.

B.

Aerial Surveillance Flight System

Aerial surveillance flight system is response to the control

signal of ground flight control system. It adjusts the flight

of

the UAV in real- time and collects relevant data

information

by a variety of sensors, which includes three parts of

sensors,

actuators

and

flight

controller

(as

shown

in

Fig.2).

By

the

composition

of

GPS

module,

battery

voltage

detection

module, altimeter, barometer and

humidity detection module,

wireless

module,

attitude

acquisition

module,

STM32

controllers, actuators, it can measure the location latitude and

longitude, altitude, barometric pressure and humidity,

life

60

61

978-1-4799-7091-9/14 $$31.00 ?

2014

IEEE

DOI 10.1109/WCSN.2014.19

time

equivalent,

which

are

sent

to

the

ground

flight

control

system

through

the

wireless

module.

UAV

realizes

remote

mode

through

adjusting

attitude,

speed,

course

and

heading

by controlling brushless motors, various

steering.

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D.

Wireless Video Transmission System

Wireless

video

transmission

system

is

used

for

video

acquisition,

processing,

transmission

and

display,

including

cameras,

video

wireless

transmitter

module,

wireless

video

receiver

module

and

a

PC

terminal

(as

shown

in

Fig.4).

Wireless video transmitter module converts the analog image

information

into

digital

signals

that

is

suitable

for

transmission

in

real-time.

Wireless

video

receiver

module

receives the image signal that is processed and passed to a PC

terminal

for

display

through

the

network

cable.

Since

the

control

signal

and

the

image

signal

transmission

systems

are

separate, so it is able to ensure the high-resolution images and

the stability of UAV control.

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Figure 2. Aerial surveillance flight system.

C.

UAV Driving Flying Platform

The

unmanned

flying

platform

with

reasonable

layout

of

aerodynamic and stable performance is the basic guarantee of

the

system.

UAV

is

mainly

made

with

fiberglass

and

carbon

fiber

composite

materials,

which

is

light

weight

and

high

strength.

Fuselage

is

the

form

of

compartments,

having

a

larger volume, which is easy for installation and

maintenance.

The payload of UAV and the size of equipment

warehouse

are

based

on

remote

sensing

equipment

and

the

weight

and

size settings of control systems.

Art-tech

Diamond

2500

Glider

advances

laminar

flow

airfoil

wing

with

the

wingspan

of

2.5

meters

and

excellent

gliding performance (as shown in Fig.3). The whole machine

adopts

EPO

material

with

good

impact

resistance.

It

can

achieve

vertical

rise,

flying

fast,

manipulate

flexibly

and

stably

with a brushless and powerful

motor. The assembly of

aircraft

is

simple

and

also

the

tail

and

peace

wing

are

removable, which makes it easy to

transport.

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Figure 4. Wireless video transmission system.

III.

T

HE

K

EY

T

ECHNOLOGY

The

key

technology

of

UAV

low

altitude

marine

monitoring

system

is

designing

the

remote

control

program

and

autonomous

flight

procedures.

These

two

points

will

be

introduced below.

A.

Remote Control Program

Remote

control

program

is

used

for

remote

sensing

control

mode.

Remote

control

is

the

most

basic

control

of

UAV. Although the degree of autonomous flight of UAV has

been

significantly

improved,

the

functions

of

basic

remote

control

also

reserved.

The

most

important

feature

of

remote

control

is

the

ability

to

give

full

play

to

the

experience

advantage

and

the

initiative

of

senior

human

intelligent

behavior

of

hand

manipulation,

which

achieves

the

control

effect that is difficult to automatic control.

The

process

flow

chart

of

ground

part

is

shown

in

Fig.5.

After

system

initialization,

the

data

of

control

handle

is

read

continuously

to

determine

whether

the

data

is

updated

(determining

whether

an

operation

or

not).

Once

data

is

updated,

it

is

immediately

sent

out

by

wireless

module

in

certain

data

frame

format

(control

signal).

After

the

successful

transmission

of

data,

it

returns

and

continues

reading control handle again and

again.

Data frame

format:

@ + the number of bytes of the frame + throttle + pitch

+

yaw + roll + flap + cameraX + cameraY + 0x0d

;

Figure 3. Art-tech Diamond 2500 Glider.

The program defines a character array to store data

frame.

The

is

used

to

identify

the

start

bit

of

the

data

frame.

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