Pteryx UAV
Encyclopedia
Pteryx UAV is a Polish
unmanned aerial vehicle
designed for civilian use, manufactured and sold by TriggerComposites. The machine can be classified both as flying RC model and pre-programmed vehicle. It has received a medal for innovative design in the category of micro-enterprises of the Podkarpacie region: Innowator Podkarpacia 2010.
Avionics and flying platform are designed from ground-up with the idea of having full operational capability without using any active transmitter nor a groundstation. If there was transmission system operating possibly at powers around 500 mW ÷ 5 W (depending on system and frequency band), the UAV would require special permissions from the users, varying greatly from country to country.
(example: Bezmiechowa 3D model)
(example: Motorway construction site mapping mission) often requiring georeferencing of the data obtained
The camera mount contains either pre-installed compact digital camera, or is left for the user for integration.
The camera can be mounted down-looking (nadir
photography) or side-looking (oblique
photography).
The whole head can be also tilted in flight using RC transmitter, while reducing stabilization travel to one of the sides.
include roll-stabilised camera head, fully integrated parachute and Rotary Mission Selector.
Key design requirements included:
The aircraft provides positions of the photos taken, more than 8000 events can be recorded.
Ground-projected positions include the following errors:
Those errors nullify themselves during stitching and ortorectification of the images.
The use or roll-stabilised head increases useful area coverage (reducing distortion at map edges) and improving stitch quality inside during turbulent weather. In order to obtain georeferenced maps, it is necessary to provide positions of the object on-site or simply viewing the stitched image in Google Maps (accepting occasional 50m position error vs true coordinates, but usually correct dimensions).
Dimensions:
V speeds
:
Poland
Poland , officially the Republic of Poland , is a country in Central Europe bordered by Germany to the west; the Czech Republic and Slovakia to the south; Ukraine, Belarus and Lithuania to the east; and the Baltic Sea and Kaliningrad Oblast, a Russian exclave, to the north...
unmanned aerial vehicle
Unmanned aerial vehicle
An unmanned aerial vehicle , also known as a unmanned aircraft system , remotely piloted aircraft or unmanned aircraft, is a machine which functions either by the remote control of a navigator or pilot or autonomously, that is, as a self-directing entity...
designed for civilian use, manufactured and sold by TriggerComposites. The machine can be classified both as flying RC model and pre-programmed vehicle. It has received a medal for innovative design in the category of micro-enterprises of the Podkarpacie region: Innowator Podkarpacia 2010.
Origin
It uses a custom derivation of FLEXIPILOT, designed by AerialRobotics engineering group for photomapping purposes and civilian use in general.Avionics and flying platform are designed from ground-up with the idea of having full operational capability without using any active transmitter nor a groundstation. If there was transmission system operating possibly at powers around 500 mW ÷ 5 W (depending on system and frequency band), the UAV would require special permissions from the users, varying greatly from country to country.
Capabilities
- Delivering data for generating digital elevation modelDigital elevation modelA digital elevation model is a digital model or 3-D representation of a terrain's surface — commonly for a planet , moon, or asteroid — created from terrain elevation data....
using external photogrammetric software and orthorectification procedure
(example: Bezmiechowa 3D model)
- Delivering data for precision agriculturePrecision agriculturePrecision farming or precision agriculture is a farming management concept based on observing and responding to intra-field variations.It relies on new technologies like satellite imagery, information technology, and geospatial tools...
obtaining surface maps using mosaicking software - Construction site and long range linear mapping (up to around 40 km both ways with 2h flight time, reserve included)
(example: Motorway construction site mapping mission) often requiring georeferencing of the data obtained
- Carrying custom research equipment
The camera mount contains either pre-installed compact digital camera, or is left for the user for integration.
The camera can be mounted down-looking (nadir
Nadir
The nadir is the direction pointing directly below a particular location; that is, it is one of two vertical directions at a specified location, orthogonal to a horizontal flat surface there. Since the concept of being below is itself somewhat vague, scientists define the nadir in more rigorous...
photography) or side-looking (oblique
Oblique
Oblique may refer to:*Oblique angle, in geometry, an angle that is not a multiple of 90 degrees*Oblique angle, synonym for Dutch angle, a cinematographic technique*Oblique , by jazz vibraphonist Bobby Hutcherson...
photography).
The whole head can be also tilted in flight using RC transmitter, while reducing stabilization travel to one of the sides.
Features
Its unique features among miniature (sub-5 kg TOW) civilian UAVsinclude roll-stabilised camera head, fully integrated parachute and Rotary Mission Selector.
Key design requirements included:
- flying multiple missions per day without reprogramming the autopilot (the waypoints being selected by mission selector and evaluated relative to takeoff)
- ability to rearrange camera head interior with minimal effort
- single button operation
- no need for groundstation
- enclosing the camera for better protection against dirt
- ability to accommodate most powerful compact digital camera models, weight range 200...1000g
- Takeoff: using bungee, or bungee with rails. Fully automatic takeoff triggered by holding Start button and automatic preflight testing.
- Landing: using parachute deployed automatically (possible forced opening using RC transmitter), aircraft style belly landing in automatic mode (only when reusing a single airfiled, about 250x100m area required without obstacles on approach) or in manual mode (same as flying RC models).
Precision
(manufacturer's data)The aircraft provides positions of the photos taken, more than 8000 events can be recorded.
Ground-projected positions include the following errors:
- GPS position error up to 20m, typically around 5m, this is typical for GPS mounted on flying vehices.
- Altitude drift (up to 5m per 1 hour of flight)
- Camera head stabilisation precision (transients up to 5 deg, typically 2 deg)
- Fuselage pitch due to turbulenceTurbulenceIn fluid dynamics, turbulence or turbulent flow is a flow regime characterized by chaotic and stochastic property changes. This includes low momentum diffusion, high momentum convection, and rapid variation of pressure and velocity in space and time...
(up to 8 deg during hot weather, typically 2 deg in winter) - Camera mounting error (typically 1-4deg if not calibrated)
- Heading error (the aircraft performs crabbing in presence of wind)
Those errors nullify themselves during stitching and ortorectification of the images.
The use or roll-stabilised head increases useful area coverage (reducing distortion at map edges) and improving stitch quality inside during turbulent weather. In order to obtain georeferenced maps, it is necessary to provide positions of the object on-site or simply viewing the stitched image in Google Maps (accepting occasional 50m position error vs true coordinates, but usually correct dimensions).
Data processing strategies
Several data processing approaches are possible depending on application:- Direct photo examination
- Non-georeferenced image stitchingImage stitchingImage stitching or photo stitching is the process of combining multiple photographic images with overlapping fields of view to produce a segmented panorama or high-resolution image. Commonly performed through the use of computer software, most approaches to image stitching require nearly exact...
using free software - Using free 3D modelling services, as mentioned in examples section
- Importing each photo as ground overlay in Google EarthGoogle EarthGoogle Earth is a virtual globe, map and geographical information program that was originally called EarthViewer 3D, and was created by Keyhole, Inc, a Central Intelligence Agency funded company acquired by Google in 2004 . It maps the Earth by the superimposition of images obtained from satellite...
(semi-automatic with supplied software) - Using pre-paid service based on cloud computingCloud computingCloud computing is the delivery of computing as a service rather than a product, whereby shared resources, software, and information are provided to computers and other devices as a utility over a network ....
, yielding a result in hours (delivers ortophotomap and optionally DSM) - Local processing using specialised GIS software created specifically for large scale image mosaicking (delivers ortophotomap and optionally DSM)
System components
- Fuselage
- 3-section wings with mounting screws
- Horizontal stabilizer section
- Parachute
User's equipment
- LiPo batteries (user's equipment)
- LaptopLaptopA laptop, also called a notebook, is a personal computer for mobile use. A laptop integrates most of the typical components of a desktop computer, including a display, a keyboard, a pointing device and speakers into a single unit...
or netbookNetbookNetbooks are a category of small, lightweight, legacy-free, and inexpensive laptop computers.At their inception in late 2007 as smaller notebooks optimized for low weight and low cost — netbooks omitted certain features , featured smaller screens and keyboards, and offered reduced computing...
for occasional diagnostics or data log download (not required for takeoff nor pre-flight) - Compact digital cameraDigital cameraA digital camera is a camera that takes video or still photographs, or both, digitally by recording images via an electronic image sensor. It is the main device used in the field of digital photography...
- RC controller compliant with local laws (see Radio-controlled aircraft#Frequencies and sub-channels)
General characteristics
- Maximum takeoff weight 5.0 kg (fits RC model plane regulations in most countries)
Dimensions:
- Wingspan: 2.8 m
- Length: 1.4 m
- Height: 0.33 m
- Propulsion: brushless DC electric motorBrushless DC electric motorBrushless DC motors also known as electronically commutated motors are electric motors powered by direct-current electricity and having electronic commutation systems, rather than mechanical commutators and brushes...
and rechargeable lithium-ion polymer battery - Endurance: >1h with 1 kg payload, up to 2h with 250g payload
V speeds
V speeds
In aviation, V-speeds are standard terms used to define airspeeds important or useful to the operation of all aircraft including fixed-wing aircraft, gliders, autogiros, helicopters, and dirigibles...
:
- VC: around 50 km/h
- VS: 34–38 km/h depending on TOW
- VA: 120 km/h
- Assembly time: Around 5min (only 2 screws and no electrical connections).
- Materials: Custom fiberglassFiberglassGlass fiber is a material consisting of numerous extremely fine fibers of glass.Glassmakers throughout history have experimented with glass fibers, but mass manufacture of glass fiber was only made possible with the invention of finer machine tooling...
composite materialComposite materialComposite materials, often shortened to composites or called composition materials, are engineered or naturally occurring materials made from two or more constituent materials with significantly different physical or chemical properties which remain separate and distinct at the macroscopic or...
covered with durable red gelcoatGelcoatGelcoat is a material used to provide a high-quality finish on the visible surface of a fibre-reinforced composite material. The most common gelcoats are based on epoxy or unsaturated polyester resin chemistry. Gelcoats are modified resins which are applied to moulds in the liquid state...
, carbon fiberCarbon fiberCarbon fiber, alternatively graphite fiber, carbon graphite or CF, is a material consisting of fibers about 5–10 μm in diameter and composed mostly of carbon atoms. The carbon atoms are bonded together in crystals that are more or less aligned parallel to the long axis of the fiber...
and kevlarKevlarKevlar is the registered trademark for a para-aramid synthetic fiber, related to other aramids such as Nomex and Technora. Developed at DuPont in 1965, this high strength material was first commercially used in the early 1970s as a replacement for steel in racing tires...
reinforcements, wood and other plastics. Wooden wings with styrofoam core, painted and waterproof.
External links
- http://www.pteryx.eu Project webpage
- http://www.aerialrobotics.pl/pteryx/pteryx-interactive-3d.pdf Interactive 3D model
- ftp://www.aerialrobotics.eu Examples via FTP
- http://www.flickr.com/photos/31754813@N05 Single photo shots
- http://www.panoramio.com/user/2953040 Photo shots
- http://www.vimeo.com/album/1462432 Vimeo movies
- http://www.youtube.com/watch?v=Q2sUuFABblw YouTube movie
- http://www.youtube.com/watch?v=mpT8oOqAMqE YouTube movie
- http://www.youtube.com/watch?v=MF3stNhSaF0 YouTube movie
- http://www.youtube.com/watch?v=G5oIzBsUUoU YouTube movie