RF Silent Drone Navigation ANNA JAMES OUR TEAM Matthew Dupree - - PowerPoint PPT Presentation

▶
rf silent drone navigation
SMART_READER_LITE
LIVE PREVIEW

RF Silent Drone Navigation ANNA JAMES OUR TEAM Matthew Dupree - - PowerPoint PPT Presentation

Nov 21, 2023 215 likes •552 views

RF Silent Drone Navigation ANNA JAMES OUR TEAM Matthew Dupree Xihan Liu Yingchao Zhu Student Lead Data Analysis PCB/Schematic 01 OVERVIEW Liftoff from a boat at sea Land on a boat at sea Limited-size landing area Moving

slide-1
SLIDE 1

RF Silent Drone Navigation

slide-2
SLIDE 2

Matthew Dupree Student Lead

OUR TEAM

ANNA JAMES

Xihan Liu Data Analysis Yingchao Zhu PCB/Schematic

slide-3
SLIDE 3

OVERVIEW

01

slide-4
SLIDE 4

❏ Liftoff from a boat at sea ❏ Land on a boat at sea ○ Limited-size landing area ○ Moving landing area ○ Miss == wet hardware ❏ RF-silent: No radio communication ○ No pilot ○ No landing beacon ○ No external processing

➢ Computer vision is hard

  • n an energy budget!

Overview

slide-5
SLIDE 5

Problem Formalization

slide-6
SLIDE 6

Block Diagram

Ethernet Companion Computer: Raspberry Pi 3B+ Camera: Raspberry Pi Camera Module V2 LiPo to 5V Voltage Regulator Lipo Battery Flight Controller: Pixhawk 2.4.8

UART

GPS: Micro M8N GPS Module Motors Electronic Speed Controllers Power Management Board

I2C PWM

Parallel 3-Phase

slide-7
SLIDE 7

Block Diagram

Ethernet Companion Computer: Raspberry Pi 3B+ Flight Controller: Pixhawk 2.4.8

UART

Camera: Raspberry Pi Camera Module V2 Parallel Lipo Battery Power Management Board LiPo to 5V Voltage Regulator Servo GPS: Micro M8N GPS Module

I2C

Motors Electronic Speed Controllers

PWM

3-Phase

slide-8
SLIDE 8

Hardware

02

slide-9
SLIDE 9

Three-layer design ❏ Top: GPS, Flight Controller, Telemetry radio ❏ Middle: Companion Computer, Camera ❏ Bottom: 4s Lipo Battery

slide-10
SLIDE 10

Hardware

Pixhawk v2.4.8 ❏ Flight control unit (FCU) ❏ Uses ArduPilot firmware ❏ Ensures drone stability in flight

Top view

slide-11
SLIDE 11

Hardware

uBlox M8N Micro GPS ❏ GPS unit ❏ Provides drone lat/long coordinate reference ❏ Used until landing target detected

Top view

slide-12
SLIDE 12

Hardware

Transceiver Telemetry Radio ❏ Broadcasts debugging information to GCS ❏ Used for our testing -- not required for flight

Top view

slide-13
SLIDE 13

❏ Middle: Companion Computer, Camera

slide-14
SLIDE 14

Hardware

Raspberry Pi 3B+ ❏ Companion computer ❏ Performs CV tasks to identify the target and communicate target transform to FCU

Side view

slide-15
SLIDE 15

Raspberry Pi Camera Module v2 ❏ 8 megapixel camera capable of taking photographs of 3280 x 2464 pixels ❏ Used to detect AprilTags in 10FPS 640x480 mode

Hardware

Bottom view

slide-16
SLIDE 16

❏ Bottom: 4s Lipo Battery

slide-17
SLIDE 17

Printed Circuit board (PCB)

03

slide-18
SLIDE 18

Schematic

❏ Function as a voltage regulator to convert the input voltage from 14-22V to 5V output voltage ❏ Diode after the input voltage in order to prevent reverse current

slide-19
SLIDE 19

PCB board

slide-20
SLIDE 20

PCB Board

❏ 2-layer PCB ❏ 45 * 59 mm ❏ Holes for thermal dissipation

slide-21
SLIDE 21

Software

04

slide-22
SLIDE 22

Landing Target

AprilTag 3 ❏ Landing Detection Target ❏ Works on resource-constrained platforms (like our RPi 3B+) ❏ Full transforms from single stills!

slide-23
SLIDE 23

Stats With current onboard processing, we have tested that at 5 meter altitude the craft can search at 10FPS in a 5x6.7 meter box below the vehicle for a 16.5cm square tag.

Tag Images

Could do far better with more processing power! (Example photo taken at ~2m

  • alt. and has been cropped.)
slide-24
SLIDE 24

First-choice: PX4 Autopilot ❏ Great droning OS ❏ Great debug tools (eg MAVLink Shell) ❏ Doesn’t support our precision landing use! Old but gold: ArduPilot Multicopter ❏ Heavily used ❏ Many configurations ❏ Advanced features ❏ Spaghetti-code ❏ Difficult configuration ❏ Missing debugging shells

FCU Firmware

slide-25
SLIDE 25

❏ All open-source parts ❏ Free to use ❏ Spreads tasks among processes to make best use of hardware ❏ Lots of logging tools!

Companion OS

Ubiquity Robotics’ Ubuntu Mate 18.04 With ROS Kinetic

slide-26
SLIDE 26

Processing Pipeline ❏ A large stack of software packages from the Robot Operating System (ROS) ecosystem ❏ High-throughput communication between nodes via ROS topics ❏ Relies on many complex configuration files

Pipeline

Logging Target Positions MAVROS PixHawk COTS FCU Tag Positions Vision_to_MAVROS Images Apriltag_ROS Raspberry Pi Camera Module V_sub.py (Our custom visualizer) Logging

Legend Hardware ROS Node Data Debugging Software

RasPiCam_node MAVExplorer Logging

Packages in bold we had to largely rewrite or write entirely ourselves!

slide-27
SLIDE 27

SSH Pipe Position Rotation

Data EXTRACTION

ROS topic echo

ROS/MAVLink/UART

Flight Controller MAVLink Shell

Shell Pipe

YAML Converter v_sub.py

Location Data ❏ Drone location found relative to the camera position ❏ Data points are converted to angle and distance and North-East- Down ❏ For debugging, our

v_sub.py plots the

streaming data onto a Matplotlib 3D plot

Companion Computer

slide-28
SLIDE 28

Demo

05

slide-29
SLIDE 29
slide-30
SLIDE 30

Acknowledgements

Special Thanks to:

Navsea, Project Sponsor Alan Jaeger, Navsea Representative

  • Dr. Yogananda Isukapalli, CE Capstone Project Instructor

Aditya Wadaskar, TA Kyle Douglas, TA

slide-31
SLIDE 31

THANKS!

slide-32
SLIDE 32

Questions?