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As unmanned aerial systems (UASs) become ever more ubiquitous with National Airspace (NAS) commercial and civilian operations, test sites and proving grounds need to be developed and heavily researched. Small UASs are being used as remote sensing systems, on demand, at the personal level, thus “personal remote sensing” scientific data drones urgently need Ground Truthing Test Sites beyond compliance...
This paper discusses the design and implementation of a light-weight thermal camera payload for small fixed-wing UAVs with a pan/tilt mechanism and georeferencing based on a simple autopilot's GPS and IMU. Further, an effective and simple method to accurately calibrate a thermal camera is developed and tested. In order to evaluate the accuracy of the georeferencing algorithm, a test flight was conducted...
This paper deals with 3D Range-Only (RO) Simultaneous Localization and Mapping (SLAM), where the UAS integrates range measurements to a number of beacons in the environment. In the recent years RO-SLAM has attracted significant interest, it is suitable for non line-of-sight conditions and/or bad lighting, being superior to visual SLAM in some problems. However, some issues constrain its applicability...
Scores of avalanche injuries and fatalities occur annually. This research presents an avalanche search and rescue (SAR) proof-of-concept option that utilizes a small unmanned aerial vehicle (UAV) helicopter with a payload capable of detecting and locating a buried victim's cell phone. Cell phones involved in this research were modern-day fourth generation (4G) Long Term Evolution (LTE) devices with...
Small UAS have highly constrained payload capacity, which dictates what sensors and transmitters can be selected as part of the electronics suite. We present elements of a sense and avoid (SAA) system which enables UAVs to track intruder aircraft not broadcasting ADS-B. Such SAA methods help assure safety in cases of late encounters with non-cooperative threats. This paper presents an approach to...
This paper presents an algorithm for cooperative UAV navigation that exploits vision-based sensing, standalone GPS, differential GPS among antennas embarked on different flying platforms, and measurements obtained by inertial sensors and magnetometers. Unlike other cooperative navigation approaches, the developed technique is mainly aimed at improving navigation performance in outdoor environments,...
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