proposed uhv focuses on the following functions: remote controllable stream, lake-floor surveying...
TRANSCRIPT
• Proposed UHV focuses on the following functions:
Remote controllableStream, lake-floor surveyingPositioning using GPS and INSReal-time data processing and displaying results
The Objective of the proposed UAV
Components of Proposed UAV
1. UHV platform including frame, motors and controller board
and remote control
2. Ultrasonic sensor
Components of Proposed UAV
PART NUMBER ST-601
Nominal Frequency 70/190
Overall sensitivity -30dB distance : 100cm
Capacitance [pF] 1,400
Total Beam angle[˚](3dB down) 20±5
Detectable range [m] 50/20Resolution [mm] 3min
Dimension[ mm] [Diameter × thickness] 62 X 63h
Weight [kg] 1.2(with 10m cable)
3. Microcontroller main board (MCU)
Arduino mega 2560 board (one mounted in UAV, and one for base station)
Components of Proposed UAV
4. Wireless data transmission module for remote controlling:
XBee Pro 900 RPSMA 50mW (http://goods.ruten.com.tw/item/show?21304077019543)
Highest 9.6kbps baud rate 100 mW (+17 dBm) power output Up to 10 Km
Components of Proposed UAV
5. INS/GPS module for determining position and orientation and path planning
(developing from previous researches)
Components of Proposed UAV
Operation principle
Operation principle
Operation principle
• Software to process INS/GPS data to provide position and orientation of the UHV
• Software to process the Ultrasonic data acquired from UHV and transform them into a Geo-reference frame that can be used for multi-purpose– water-floor mapping– Detecting underwater object– Monitoring underwater infrastructure
Post-processing works
Post-processing works
Components with cost estimated (for reference)
Components with cost estimated
Components Price (Tw NT)
Quantity Cost(NTD)
UHV platform 5,000 1 5,000
Arduino mega 2560
1,000 2 2,000
Xbee pro (10 km) 3,000 1 3,000
GPS module 2,000 1 2,000
MEMS IMU 2,000 1 2,000
Untrasonic sensor 5,000 1 5,000
Total 19,000