Carrier-phase GNSS attitude determination and control for small UAV applications

As part of our recent research to assess the potential of low-cost navigation sensors for Unmanned Aerial Vehicle (UAV) applications, we investigated the potential of carrier-phase Global Navigation Satellite System (GNSS) for attitude determination and control of small 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 MicroElectro-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

Design and integration of vision based sensors for unmanned aerial vehicles navigation and guidance

In this paper we present a novel Navigation and Guidance System (NGS) for Unmanned Aerial Vehicles (UAVs) based on Vision Based Navigation (VBN) and other avionics sensors. The main objective of our research is to design a lowcost and low-weight/volume NGS capable of providing the required level of performance in all flight phases of modern small- to medium-size UAVs, with a special focus on automated precision approach and landing, where VBN techniques can be fully exploited in a multisensory integrated architecture. Various existing techniques for VBN are compared and the Appearance-based Navigation (ABN) approach is selected for implementation

Incorporation of aerogel and phase change material in textiles for thermal protection

Protection against high heat conditions is of utmost importance in different specific fields, such as firefighting. The clothing of a firefighter is the last line of defence for survival. Though over time firefighters’ protective clothing (FPC) has improved significantly, still today firefighters receive severe burn injuries on duty. Hence, researchers all over the world continue to investigate innovative materials, methods and practices to improve the performance of FPC. Aerogel is an extremely heat-insulating material. It has very good potential to be used in FPC.The aim of this study is to explore the application potential of aerogel on textiles for thermal protection in high heat conditions, especially in firefighting. For the first time, the current study shows how the heat-insulating property of aerogel can be coupled with the heat-absorbing capability of phase change material (PCM) in FPC. PCMs are well known for their use in thermoregulating clothing because they are capable of absorbing and releasing heat as necessary. Aerogel was applied on the first layer of protection while PCM acted as a supportive layer from next to the skin surface. The combination has the capability of shielding the body from high heat and absorbing metabolic heat. An easy-to-apply coating additive was prepared by housing PCM in aerogels’ nanopores and a bench-scale instrument was developed to evaluate the radiation heat protection of various layers of FPC at the same time in a multilayer construction. The flammability risk of PCM-containing thermal liners has also been investigated. Finally, the study shows an innovative application of existing aerogel nonwoven in FPC and develops alternative methods to produce nonwoven fabric containing aerogel through needleless electrospinning

Carrier-phase GNSS attitude determination and control system for unmanned aerial vehicle applications

This paper presents the results of a research activity performed by Cranfield University to assess the potential of carrierphase Global Navigation Satellite Systems (GNSS) for attitude determination and control of small to medium size Unmanned Aerial Vehicles (UAV). Both deterministic and recursive (optimal estimation) algorithms are developed for combining multiple attitude measurements obtained from different observation points (i.e., antenna locations), and their efficiencies are tested in various dynamic conditions. The proposed algorithms converge rapidly and produce 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.). Modelling and 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 recently developed at Cranfield University, which employs 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 is augmented by using the inteferometric GNSS Attitude Determination (GAD) and a comparison of the performance achievable with the VIG and VIG/GAD integrated Navigation and Guidance Systems (NGS) is presented. Finally, the data provided by these NGS are used to optimise the design of an hybrid controller employing Fuzzy Logic and Proportional-Integral-Derivative (PID) techniques for the AEROSONDE UAV

Low-cost vision sensors and integrated systems for unmanned aerial vehicle navigation

A novel low cost navigation system based on Vision Based Navigation (VBN) and other avionics sensors is presented, which is designed for small size Unmanned Aerial Vehicle (UAV) applications. The main objective of our research is to design a compact, light and relatively inexpensive system capable of providing the required navigation performance 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 multisensory integrated architecture. Various existing techniques for VBN are compared and the Appearance-based Navigation (ABN) approach is selected for implementation. Feature extraction and optical flow techniques are employed to estimate flight parameters such as roll angle, pitch angle, deviation from the runway and body rates. Additionally, we address the possible synergies between VBN, Global Navigation Satellite System (GNSS) and MEMS-IMU (Micro-Electromechanical System Inertial Measurement Unit) sensors and also the use of Aircraft Dynamics Models (ADMs) to provide additional information suitable to compensate for the shortcomings of VBN and MEMS-IMU sensors in high-dynamics attitude determination tasks. An Extended Kalman Filter (EKF) is developed to fuse the information provided by the different sensors and to provide estimates of position, velocity and attitude of the UAV platform in real-time. Two different integrated navigation system architectures are implemented. The first uses VBN at 20 Hz and GPS at 1 Hz to augment the MEMS-IMU running at 100 Hz. The second mode also includes the ADM (computations performed at 100 Hz) to provide augmentation of the attitude channel. Simulation of these two modes is performed in a significant portion of the AEROSONDE UAV operational flight envelope and performing a variety of representative manoeuvres (i.e., straight climb, level turning, turning descent and climb, straight descent, etc.). Simulation of the first integrated navigation system architecture (VBN/IMU/GPS) shows that the integrated system can reach position, velocity and attitude accuracies compatible with CAT-II precision approach requirements. Simulation of the second system architecture (VBN/IMU/GPS/ADM) also shows promising results since the achieved attitude accuracy is higher using the ADM/VBS/IMU than using VBS/IMU only. However, due to rapid divergence of the ADM virtual sensor, there is a need for frequent re-initialisation of the ADM data module, which is strongly dependent on the UAV flight dynamics and the specific manoeuvring transitions performed

Contributions of various transmission paths to speech privacy of open ceiling meeting rooms in open-plan offices

© 2016 Elsevier Ltd. Installing open ceiling meeting rooms inside a large open-plan office provides a solution to increase speech privacy and to reduce speech disturbance in the office. The open ceiling meeting rooms have advantages of low cost construction and flexibility, but have lower speech privacy than that of enclosed rooms due to the open ceiling. Existing research shows that many factors should be taken into account to achieve good speech privacy in open-plan offices and improving only one of these factors may result in little improvement, so it is important to distinguish contributions of different acoustic transmission paths of open ceiling meeting rooms in open-plan offices. This paper proposes an impulse response separation method to quantify contributions of various acoustic paths of open ceiling rooms on speech privacy in open-plan offices. The method is verified with simulations based on the Odeon software and the experiments carried out in 3 different types of rooms. Finally, the proposed method is applied to the Fabpod, a semi enclosed meeting room located in a large indoor office at the Design Research Institute of the RMIT University, to obtain the contributions of different acoustic transmission paths to its speech privacy. The method proposed in this paper and the knowledge obtained are useful for architects to improve the acoustic performance of the next generation Fabpods which are now under design at RMIT University

Active sound radiation control with secondary sources at the edge of the opening

© 2016 Elsevier Ltd Planar virtual sound barriers with secondary sources over the entire opening have been demonstrated an effective way to achieve global control of sound transmission through the opening, but loudspeakers in the middle of the opening affect ventilation, lighting and normal access through it. To avoid the problem, this technical note proposes to implement secondary sources at the edge of a cavity opening and investigates the active sound reduction performance of the system numerically and experimentally. Unlike secondary sources over the entire opening which can achieve sound reduction at any frequency as long as there are sufficient of them, there exists an upper bound of effective frequency for global control when secondary sources are at the edge of the opening; however, local control is always achievable. Preliminary experiments were conducted on an open wooden box and a semi-closed meeting room to support the conclusions

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)

Thermophysiological comfort analysis of aerogel nanoparticle incorporated fabric for fire fighter's protective clothing

The paper discusses the thermophysiological comfort of a newly developed fabric potentially for firefighter's protective clothing. The fabrics were developed by incorporating super hydrophobic silica aerogel nanoparticles in 65/35 wool-Aramid blended fabric. Then the theromophysiological comfort was analyzed by determining air, moisture and heat transfer performance. It has been found that only 2% coating of aerogel nanoparticle increases thermal resistance by up to 68.64% and can reduce air permeability by up to 45.46% whereas 4% aerogel coating can reduce 61.76% air permeability. Moisture management properties of the aerogel coated fabric have also been investigated and discussed in details. In brief, it can be said that the thickener that was used for the coating, has a positive impact on moisture transportation and overall moisture management property of the fabric. Again aerogel coated next-to-skin layer and aerogel coated outer layer acted differently on the same fabric. It was observed that, the coated fabric acts as more likely as a moisture management fabric when the coating was applied on next-to-skin surface