Build your own UAV

A. Drouin, M. Müller

Ecole Nationale de l’Aviation Civile

December 2007

A. Drouin, M. Müller ( Ecole Nationale de l’Aviation CivileBuild

) your own UAV December 2007 1 / 34
 1 Overview

2 Flight Presentation

3 In Depth Description
Hardware
Software
Applications

4 Conclusions

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 Overview

UAVs

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 Overview

UAVs

A. Drouin, M. Müller ( Ecole Nationale de l’Aviation CivileBuild

) your own UAV December 2007 3 / 34
 Overview

UAVs

A. Drouin, M. Müller ( Ecole Nationale de l’Aviation CivileBuild

) your own UAV December 2007 3 / 34
 Overview

UAVs

A. Drouin, M. Müller ( Ecole Nationale de l’Aviation CivileBuild

) your own UAV December 2007 3 / 34
 Overview

UAVs

A. Drouin, M. Müller ( Ecole Nationale de l’Aviation CivileBuild

) your own UAV December 2007 3 / 34
 Overview

What it takes

A. Drouin, M. Müller ( Ecole Nationale de l’Aviation CivileBuild

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 Overview

Unmanned Aircraft System

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 Overview

Networked System to be demonstrated

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) your own UAV December 2007 6 / 34
 Overview

Flight Plan

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) your own UAV December 2007 7 / 34
 Overview

Flight Plan

A. Drouin, M. Müller ( Ecole Nationale de l’Aviation CivileBuild

) your own UAV December 2007 7 / 34
 Overview

Flight Plan

A. Drouin, M. Müller ( Ecole Nationale de l’Aviation CivileBuild

) your own UAV December 2007 7 / 34
 Overview

Flight Plan

A. Drouin, M. Müller ( Ecole Nationale de l’Aviation CivileBuild

) your own UAV December 2007 7 / 34
 Overview

Flight Plan

A. Drouin, M. Müller ( Ecole Nationale de l’Aviation CivileBuild

) your own UAV December 2007 7 / 34
 Overview

Ground control station

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 Overview

Video

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 Overview

Let’s Fly

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 In Depth Description

History

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) your own UAV December 2007 11 / 34
 In Depth Description

History

A. Drouin, M. Müller ( Ecole Nationale de l’Aviation CivileBuild

) your own UAV December 2007 11 / 34
 In Depth Description

History

A. Drouin, M. Müller ( Ecole Nationale de l’Aviation CivileBuild

) your own UAV December 2007 11 / 34
 In Depth Description

History

A. Drouin, M. Müller ( Ecole Nationale de l’Aviation CivileBuild

) your own UAV December 2007 11 / 34
 In Depth Description

History

A. Drouin, M. Müller ( Ecole Nationale de l’Aviation CivileBuild

) your own UAV December 2007 11 / 34
 In Depth Description

Goals

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 In Depth Description Hardware

COTS

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 In Depth Description Hardware

RC Toy vs UAV

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) your own UAV December 2007 14 / 34
 In Depth Description Hardware

RC Toy vs UAV

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) your own UAV December 2007 14 / 34
 In Depth Description Hardware

RC Toy vs UAV

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) your own UAV December 2007 14 / 34
 In Depth Description Hardware

Controller board

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 In Depth Description Hardware

Infrared Attitude Measurement

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 In Depth Description Hardware

Infrared Attitude Measurement

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) your own UAV December 2007 16 / 34
 In Depth Description Hardware

Infrared Attitude Measurement

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 In Depth Description Hardware

Infrared Thermopile
MLX90247 Thermopile
Output voltage proportional to radiating temperature of seen body
Sensitivity 40uV/C
90°cone of vision
¿10 in small quantities

Used for example in car air conditioning system, non contact thermometers

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 In Depth Description Hardware

GPS

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) your own UAV December 2007 18 / 34
 In Depth Description Hardware

Datalink

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 In Depth Description Software

Networked Architecture

A. Drouin, M. Müller ( Ecole Nationale de l’Aviation CivileBuild

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 In Depth Description Software

Onboard Software

Processor Architecture Independant

avr, arm7 and i386
Board Configuration Independant
single and twin processors boards
Vehicle Configuration Independant
fixed wings and rotorcrafts
Safe
formal methods, real time analysis, extensive testing
Efficient
Code generation, compile time approach

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 In Depth Description Software

Flight Plan Language

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 In Depth Description Software

Ergonomy

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 In Depth Description Software

Ergonomy

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 In Depth Description Software

Ergonomy

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) your own UAV December 2007 23 / 34
 In Depth Description Software

Ergonomy

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) your own UAV December 2007 23 / 34
 In Depth Description Software

Ergonomy

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) your own UAV December 2007 23 / 34
 In Depth Description Software

Ergonomy

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) your own UAV December 2007 23 / 34
 In Depth Description Software

Ergonomy

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) your own UAV December 2007 23 / 34
 In Depth Description Software

Ergonomy

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) your own UAV December 2007 23 / 34
 In Depth Description Software

Flight Data Analysis

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 In Depth Description Software

Flight Data Analysis

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 In Depth Description Applications

MAV Competitions

JMD03, Toulouse, France : 1st place with the Twinstar

EMAV04, Braunschweig, Germany : 1st place with the Microjet
JMD04, Toulouse, France : 1st place with the Microjet
MAV05, Garmisch, Germany : 4 Paparazzi teams at the first 4 places
EMAV06, Braunschweig, Germany : all the teams were equiped with
Paparazzi
MAV06, Sandestin, Florida : 2nd and 3rd places
MAV07, Toulouse, France : 1st place (tie), 3rd, 4th and 5th places

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 In Depth Description Applications

Teaching

U. of Arizona
HS Bremen
Istanbul TU
U. of Sheffield
U. de Sherbrooke
Supaero

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 In Depth Description Applications

Aeronautics/UAV research

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 In Depth Description Applications

Other research

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 In Depth Description Applications

Other research

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) your own UAV December 2007 28 / 34
 In Depth Description Applications

Operational applications

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 Conclusions

Conclusions

Technology is ready
Wide fields of applications
Reglementation is lagged ( RC / segregated airspace )
Integration to civil traffic

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 Conclusions

Acknowledgements

Pascal Brisset

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) your own UAV December 2007 31 / 34
 Conclusions

Acknowledgements

Pascal Brisset
Murat Bronz

A. Drouin, M. Müller ( Ecole Nationale de l’Aviation CivileBuild

) your own UAV December 2007 31 / 34
 Conclusions

Acknowledgements

Pascal Brisset
Murat Bronz
Michel Gorraz

A. Drouin, M. Müller ( Ecole Nationale de l’Aviation CivileBuild

) your own UAV December 2007 31 / 34
 Conclusions

Acknowledgements

Pascal Brisset
Murat Bronz
Michel Gorraz
Anton Kochevar

A. Drouin, M. Müller ( Ecole Nationale de l’Aviation CivileBuild

) your own UAV December 2007 31 / 34
 Conclusions

Acknowledgements

Pascal Brisset
Murat Bronz
Michel Gorraz
Anton Kochevar
Christian Lindenberg

A. Drouin, M. Müller ( Ecole Nationale de l’Aviation CivileBuild

) your own UAV December 2007 31 / 34
 Conclusions

Acknowledgements

Pascal Brisset
Murat Bronz
Michel Gorraz
Anton Kochevar
Christian Lindenberg
Arnold Schröter

A. Drouin, M. Müller ( Ecole Nationale de l’Aviation CivileBuild

) your own UAV December 2007 31 / 34
 Conclusions

Acknowledgements

Pascal Brisset
Murat Bronz
Michel Gorraz
Anton Kochevar
Christian Lindenberg
Arnold Schröter
Jeremy Tyler

A. Drouin, M. Müller ( Ecole Nationale de l’Aviation CivileBuild

) your own UAV December 2007 31 / 34
 Conclusions

Acknowledgements

Pascal Brisset
Murat Bronz
Michel Gorraz
Anton Kochevar
Christian Lindenberg
Arnold Schröter
Jeremy Tyler
and all others...

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 Conclusions

Further Informations

http://paparazzi.nongnu.org
http://paparazzi.enac.fr
irc://irc.freenode.net/#paparazzi

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 Conclusions

Questions

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 Conclusions

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