Low-cost navigation and guidance systems for unmanned aerial vehicles - part 2: Attitude determination and control

This paper presents the second part of the research activity performed by Cranfield University to assess the potential of low-cost navigation sensors for Unmanned Aerial Vehicles (UAVs). This part focuses on carrier-phase Global Navigation Satellite Systems (GNSS) for attitude determination and control of small to medium size UAVs. Recursive optimal estimation algorithms were developed for combining multiple attitude measurements obtained from different observation points (i.e., antenna locations), and their efficiencies were tested in various dynamic conditions. The proposed algorithms converged rapidly and produced the required output even during high dynamics manoeuvres. Results of theoretical performance analysis and simulation activities are presented in this paper, with emphasis on the advantages of the GNSS interferometric approach in UAV applications (i.e., low cost, high data-rate, low volume/weight, low signal processing requirements, etc.). The simulation activities focussed on the AEROSONDE UAV platform and considered the possible augmentation provided by interferometric GNSS techniques to a low-cost and low-weight/volume integrated navigation system (presented in the first part of this series) which employed a Vision-Based Navigation (VBN) system, a Micro-Electro-Mechanical Sensor (MEMS) based Inertial Measurement Unit (IMU) and code-range GNSS (i.e., GPS and GALILEO) for position and velocity computations. The integrated VBN-IMU-GNSS (VIG) system was augmented using the inteferometric GNSS Attitude Determination (GAD) sensor data and a comparison of the performance achieved with the VIG and VIG/GAD integrated Navigation and Guidance Systems (NGS) is presented in this paper. Finally, the data provided by these NGS are used to optimise the design of a hybrid controller employing Fuzzy Logic and Proportional-Integral-Derivative (PID) techniques for the AEROSONDE UAV

Low-cost navigation and guidance systems for unmanned aerial vehicles - part 1: Vision-based and integrated sensors

In this paper we present a new low-cost navigation system designed for small size Unmanned Aerial Vehicles (UAVs) based on Vision-Based Navigation (VBN) and other avionics sensors. The main objective of our research was to design a compact, light and relatively inexpensive system capable of providing the Required Navigation Performance (RNP) in all phases of flight of a small UAV, with a special focus on precision approach and landing, where Vision Based Navigation (VBN) techniques can be fully exploited in a multisensor integrated architecture. Various existing techniques for VBN were compared and the Appearance-Based Approach (ABA) was selected for implementation. Feature extraction and optical flow techniques were employed to estimate flight parameters such as roll angle, pitch angle, deviation from the runway and body rates. Additionally, we addressed the possible synergies between VBN, Global Navigation Satellite System (GNSS) and MEMS-IMU (Micro-Electromechanical System Inertial Measurement Unit) sensors, as well as the aiding from Aircraft Dynamics Models (ADMs)

Experimental flight testing of night vision imaging systems in military fighter aircraft

This paper describes the research and experimental flight test activities conducted by the Italian Air Force Official Test Centre (RSV), in collaboration with Alenia Aermacchi and Cranfield University, in order to confer night vision imaging systems (NVIS) capability to the Italian TORNADO Interdiction and Strike and Electronic Combat and Reconnaissance aircraft. The activities included design, development, test, and evaluation activities, including night vision goggle (NVG) integration, cockpit instruments, and external lighting modifications, as well as various ground test sessions and a total of 18 flight test sorties. RSV and Litton Precision Products were responsible for coordinating and conducting the installation of the internal and external lights. Particularly, an iterative process was established allowing in-site rapid correction of the major deficiencies encountered during the ground and flight test sessions. Both single-ship (day/night) and formation (night) flights were performed, with testing activities shared among the test crews involved, allowing for a redundant examination of the various test items by all participants. An innovative test matrix was developed and implemented by RSV for assessing the operational suitability and effectiveness of the various modifications implemented. Also important was the definition of test criteria for Pilot and Weapon Systems Officer workload assessment during the accomplishment of various operational tasks during NVG missions. Furthermore, the specific technical and operational elements required for evaluating the modified helmets were identified, allowing an exhaustive comparative evaluation of the two proposed solutions (i.e., HGU-55P and HGU-55G modified helmets). The initial compatibility problems encountered were progressively mitigated by incorporating modifications in both front and rear cockpits at various stages of the test campaign. This process allowed considerable enhancement of the TORNADO NVIS configuration, giving good medium- to high-level NVG operational capability to the aircraft. Further developments also include the internal/external lighting for the Italian TORNADO “Mid-Life Update” and other programs such as AMX aircraft internal/external light modification/testing and the activities addressing low-altitude NVG operations with fast jets (e.g., TORNADO, AMX, MB-339CD), with a major issue being the safe ejection of aircrew with NVG and NVG modified helmets. Two options have been identified for solving this problem, namely, the modification of the current Gentex HGU-55 helmets and the design of a new helmet incorporating a reliable NVG connection/disconnection device (i.e., a mechanical system fully integrated in the helmet frame) with embedded automatic disconnection capability in case of ejection. Other relevant issues to be accounted for in these new developments are the helmet dimensions and weight, the NVG usable field of view as a function of eye-relief distance, and the helmet's center of gravity (moment arms) with and without NVG (effect on aircrew fatigue during training and real operational missions

Characterization of uncertainties in atmospheric trace gas inversions using hierarchical Bayesian methods

We present a hierarchical Bayesian method for atmospheric trace gas inversions. This method is used to estimate emissions of trace gases as well as "hyper-parameters" that characterize the probability density functions (PDFs) of the a priori emissions and model-measurement covariances. By exploring the space of "uncertainties in uncertainties", we show that the hierarchical method results in a more complete estimation of emissions and their uncertainties than traditional Bayesian inversions, which rely heavily on expert judgment. We present an analysis that shows the effect of including hyper-parameters, which are themselves informed by the data, and show that this method can serve to reduce the effect of errors in assumptions made about the a priori emissions and model-measurement uncertainties. We then apply this method to the estimation of sulfur hexafluoride (SF6) emissions over 2012 for the regions surrounding four Advanced Global Atmospheric Gases Experiment (AGAGE) stations. We find that improper accounting of model representation uncertainties, in particular, can lead to the derivation of emissions and associated uncertainties that are unrealistic and show that those derived using the hierarchical method are likely to be more representative of the true uncertainties in the system. We demonstrate through this SF6 case study that this method is less sensitive to outliers in the data and to subjective assumptions about a priori emissions and model-measurement uncertainties than traditional methods

Mass balance reassessment of glaciers draining into the Abbot and Getz Ice Shelves of West Antarctica

We present a reassessment of input-output method ice mass budget estimates for the Abbot and Getz regions of West Antarctica using CryoSat-2-derived ice thickness estimates. The mass budget is 8 ± 6 Gt yr−1 and 5 ± 17 Gt yr−1 for the Abbot and Getz sectors, respectively, for the period 2006–2008. Over the Abbot region, our results resolve a previous discrepancy with elevation rates from altimetry, due to a previous 30% overestimation of ice thickness. For the Getz sector, our results are at the more positive bound of estimates from other techniques. Grounding line velocity increases up to 20% between 2007 and 2014 alongside mean elevation rates of −0.67 ± 0.13 m yr−1 between 2010 and 2013 indicate the onset of a dynamic thinning signal. Mean snowfall trends of −0.33 m yr−1 water equivalent since 2006 indicate recent mass trends are driven by both ice dynamics and surface processes

Correlations and forecast of death tolls in the Syrian conflict

The Syrian armed conflict has been ongoing since 2011 and has already caused thousands of deaths. The analysis of death tolls helps to understand the dynamics of the conflict and to better allocate resources and aid to the affected areas. In this article, we use information on the daily number of deaths to study temporal and spatial correlations in the data, and exploit this information to forecast events of deaths. We found that the number of violent deaths per day in Syria varies more widely than that in England in which non-violent deaths dominate. We have identified strong positive auto-correlations in Syrian cities and non-trivial cross-correlations across some of them. The results indicate synchronization in the number of deaths at different times and locations, suggesting respectively that local attacks are followed by more attacks at subsequent days and that coordinated attacks may also take place across different locations. Thus the analysis of high temporal resolution data across multiple cities makes it possible to infer attack strategies, warn potential occurrence of future events, and hopefully avoid further deaths

From citizen science to jellyfish dispersion models and molecular studies : tracking the progress of jellyfish science in Malta (Central Mediterranean)

Following participation within the 1980”s FAO-mediated monitoring exercises of Pelagia noctiluca blooms within Maltese waters, little scientific effort was invested in studying the dynamics of jellyfish blooms within same waters and at developing management and public information strategies concerning the same blooms. A renewed scientific effort at studying such aspects within Maltese waters was registered from 2010 onwards, with the launch of the Spot the Jellyfish citizen science campaign (www.ioikids.net/jellyfish) which provided a user-friendly, multivalent and web-based through which maritime stakehold- ers and the public at large could submit their jellyfish records for Maltese waters. The web- based portal was also supported by other promotional initiatives in the field, such as the installation of seaside boards on beaches. Through this initiative, several previously-un- documented species of gelatinous plankton were recorded for the first time from the same waters, including Rhopilema nomadica, Aequorea forskalea, Porpita porpita, Discomedua lobata, Geryonia proboscidalis, Neotima lucullana, Physophora hydrostatica, Chrysaora hysoscella and Oceania armata. The maintenance of an updated jellyfish record database has been made possible through the conduction of such a citizen science initiative.peer-reviewe

The SIPHER consortium : introducing the new UK hub for systems science in public health and health economic research

The conditions in which we are born, grow, live, work and age are key drivers of health and inequalities in life chances. To maximise health and wellbeing across the whole population, we need well-coordinated action across government sectors, in areas including economic, education, welfare, labour market and housing policy. Current research struggles to offer effective decision support on the cross-sector strategic alignment of policies, and to generate evidence that gives budget holders the confidence to change the way major investment decisions are made. This open letter introduces a new research initiative in this space. The SIPHER (Systems Science in Public Health and Health Economics Research) Consortium brings together a multi-disciplinary group of scientists from across six universities, three government partners at local, regional and national level, and ten practice partner organisations. The Consortium’s vision is a shift from health policy to healthy public policy, where the wellbeing impacts of policies are a core consideration across government sectors. Researchers and policy makers will jointly tackle fundamental questions about: a) the complex causal relationships between upstream policies and wellbeing, economic and equality outcomes; b) the multi-sectoral appraisal of costs and benefits of alternative investment options; c) public values and preferences for different outcomes, and how necessary trade-offs can be negotiated; and d) creating the conditions for intelligence-led adaptive policy design that maximises progress against economic, social and health goals. Whilst our methods will be adaptable across policy topics and jurisdictions, we will initially focus on four policy areas: Inclusive Economic Growth, Adverse Childhood Experiences, Mental Wellbeing and Housing

National CO2 budgets (2015–2020) inferred from atmospheric CO2 observations in support of the Global Stocktake

Accurate accounting of emissions and removals of CO2 is critical for the planning and verification of emission reduction targets in support of the Paris Agreement. Here, we present a pilot dataset of country-specific net carbon exchange (NCE; fossil plus terrestrial ecosystem fluxes) and terrestrial carbon stock changes aimed at informing countries’ carbon budgets. These estimates are based on "top-down" NCE outputs from the v10 Orbiting Carbon Observatory (OCO-2) modeling intercomparison project (MIP), wherein an ensemble of inverse modeling groups conducted standardized experiments assimilating OCO-2 column-averaged dry-air mole fraction (XCO2) retrievals (ACOS v10), in situ CO2 measurements, or combinations of these data. The v10 OCO-2 MIP NCE estimates are combined with "bottom-up" estimates of fossil fuel emissions and lateral carbon fluxes to estimate changes in terrestrial carbon stocks, which are impacted by anthropogenic and natural drivers. These flux and stock change estimates are reported annually (2015–2020) as both a global 1° × 1° gridded dataset and as a country-level dataset. Across the v10 OCO-2 MIP experiments, we obtain increases in the ensemble median terrestrial carbon stocks of 3.29–4.58 PgCO2 yr-1 (0.90–1.25 PgC yr-1). This is a result of broad increases in terrestrial carbon stocks across the northern extratropics, while the tropics generally have stock losses but with considerable regional variability and differences between v10 OCO-2 MIP experiments. We discuss the state of the science for tracking emissions and removals using top-down methods, including current limitations and future developments towards top-down monitoring and verification systems