Flight Performance Analysis of an Image Processing Algorithm for Integrated Sense-and-Avoid Systems

This paper is focused on the development and the flight performance analysis of an image-processing technique aimed at detecting flying obstacles in airborne panchromatic images. It was developed within the framework of a research project which aims at realizing a prototypical obstacle detection and identification System, characterized by a hierarchical multisensor configuration. This configuration comprises a radar, that is, the main sensor, and four electro-optical cameras. Cameras are used as auxiliary sensors to the radar, in order to increase intruder aircraft position measurement, in terms of accuracy and data rate. The paper thoroughly describes the selection and customization of the developed image-processing techniques in order to guarantee the best results in terms of detection range, missed detection rate, and false-alarm rate. Performance is evaluated on the basis of a large amount of images gathered during flight tests with an intruder aircraft. The improvement in terms of accuracy and data rate, compared with radar-only tracking, is quantitatively demonstrated

Effects of Orbit and Pointing Geometry of a Spaceborne Formation for Monostatic-Bistatic Radargrammetry on Terrain Elevation Measurement Accuracy

During the last decade a methodology for the reconstruction of surface relief by Synthetic Aperture Radar (SAR) measurements – SAR interferometry – has become a standard. Different techniques developed before, such as stereo-radargrammetry, have been experienced from space only in very limiting geometries and time series, and, hence, branded as less accurate. However, novel formation flying configurations achievable by modern spacecraft allow fulfillment of SAR missions able to produce pairs of monostatic-bistatic images gathered simultaneously, with programmed looking angles. Hence it is possible to achieve large antenna separations, adequate for exploiting to the utmost the stereoscopic effect, and to make negligible time decorrelation, a strong liming factor for repeat-pass stereo-radargrammetric techniques. This paper reports on design of a monostatic-bistatic mission, in terms of orbit and pointing geometry, and taking into account present generation SAR and technology for accurate relative navigation. Performances of different methods for monostatic-bistatic stereo-radargrammetry are then evaluated, showing the possibility to determine the local surface relief with a metric accuracy over a wide range of Earth latitudes

PCA-based line detection from range data for mapping and localization-aiding of UAVs

This paper presents an original technique for robust detection of line features from range data, which is also the core element of an algorithm conceived for mapping 2D environments. A new approach is also discussed to improve the accuracy of position and attitude estimates of the localization by feeding back angular information extracted from the detected edges in the updating map. The innovative aspects of the line detection algorithm regard the proposed hierarchical clusterization method for segmentation. Instead, line fitting is carried out by exploiting the Principal Component Analysis, unlike traditional techniques relying on Least Squares linear regression. Numerical simulations are purposely conceived to compare these approaches for line fitting. Results demonstrate the applicability of the proposed technique as it provides comparable performance in terms of computational load and accuracy compared to the least squares method. Also, performance of the overall line detection architecture, as well as of the solutions proposed for line-based mapping and localization-aiding is evaluated exploiting real range data acquired in indoor environments using an UTM-30LX-EW 2D LIDAR. This paper lies in the framework of autonomous navigation of unmanned vehicles moving in complex 2D areas, e.g. unexplored, full of obstacles, GPS-challenging or denied

Implementation of the EU ecological flow policy in Italy with a focus on Sardinia

River ecosystems are characterised by a naturally high level of hydrodynamic perturbations which create aquatic-terrestrial habitats indispensable for many species, as well as for the human beings’ welfare. Environmental degradation and habitat loss caused by increasing anthropogenic pressures and global change affect freshwater aquatic ecosystems worldwide and have caused changes in water flow regimes and channels morphologies. These, in turn, decreased the natural flow capacity and reduced habitat availability, thus causing severe degradation of rivers’ ecological integrity. The ecological flow (e-flow) is commonly intended as the quantity, timing, duration, frequency and quality of water flows required to sustain freshwater, estuarine and near shore ecosystems and the human livelihoods and well being. Maintaining the e-flow represents a potential tool for restoring and managing river ecosystems, to preserve the autochthonous living communities, along with environmental services and cultural/societal values. In the last decade, methods for the determination of the e-flow in European rivers moved from a simply hydrological approach towards establishing a linkage between the hydrological regime and the good ecological status (GES) of the water bodies, as identified by the European Water Framework Directive (WFD; 2000/60/EC). Each Member State is required to implement and integrate into the River Basin Management Plans (RBMP) a methodology for the determination of the e-flow, ensuring that rivers can achieve and maintain the GES. The competent river basin authorities have thus to ascertain whether national methodologies can be applied to different river typologies and basin environment characteristics. In this context, we narratively review the e-flow assessments in the heterogeneous Italian territory, in particular on a water scant region such as Sardinia, by analysing laws, guidelines and focusing on study cases conducted with micro and meso-scale hydraulic-habitat approaches. In the sight of a more ecological-based application of national e-flow policy, we suggest that meso-habitat methods provide a valuable tool to overcome several limitations of current e-flow implementation in the Italian territory. However, to face future challenges, such as climate change adaptation, we stress the need for further experimental studies to update water management plans with greater attention for nature conservation

Dark current spectroscopy of transition metals in CMOS image sensors

We have investigated the effects of deliberate heavymetals contamination on dark current and image defects in CMOS Image Sensors (CIS). Analysis of dark current in these imager dice has revealed different behaviors among most important 3d metals present in the process line. We have implanted directly in 3 Mega array pixels the following metals: Cr, V, Cu, Ni, Fe, Ti, Mo, W, Al and Zn. Analyzing the dark current "spectrum" as obtained for fixed integration periods of time by means of standard image-Testing equipment, these impurities can be identified and detected with a sensitivity of ∼ 109 traps/cm3 or higher

Remote sensing satellite formation for bistatic synthetic aperture radar observation

ABSTRACT In recent years the Italian Space Agency has been proceeding to the definition and launch of small missions. In this ambit, the BISSAT mission was proposed and selected along with five other missions for a competitive Phase A study. BISSAT mission concept consists in flying a passive SAR on board a small satellite, which observes the area illuminated by an active SAR, operating on an already existing large platform. Several scientific applications of bistatic measurements can be envisaged: improvement of image classification and pattem recognition, derivation of medium-resolution digital elevation models, velocity measurements, measurements of sea-wave spectra. BISSAT payload is developed on the basis of the X-band SAR of the COSMO/SkyMed mission, while BISSAT bus is based on an upgrade of MITA. Orbit design has been performed, leading to the same orbit parameters apart from the ascending node right ascension (5.24°s hift) and the time of the passage on the ascending node (1.17s shift). A minimum distance at the passage of the orbit crossing point of about 42km (5.7s) is computed. To maintain adequate swath overlap along the orbit, attitude maneuver or antenna electronic steering must be envisaged and traded-off taking into account radar performance and cost of hardware upgrade

Radar/electro-optical data fusion for non-cooperative UAS sense and avoid

Abstract This paper focuses on hardware/software implementation and flight results relevant to a multi-sensor obstacle detection and tracking system based on radar/electro-optical (EO) data fusion. The sensing system was installed onboard an optionally piloted very light aircraft (VLA). Test flights with a single intruder plane of the same class were carried out to evaluate the level of achievable situational awareness and the capability to support autonomous collision avoidance. System architecture is presented and special emphasis is given to adopted solutions regarding real time integration of sensors and navigation measurements and high accuracy estimation of sensors alignment. On the basis of Global Positioning System (GPS) navigation data gathered simultaneously with multi-sensor tracking flight experiments, potential of radar/EO fusion is compared with standalone radar tracking. Flight results demonstrate a significant improvement of collision detection performance, mostly due to the change in angular rate estimation accuracy, and confirm data fusion effectiveness for facing EO detection issues. Relative sensors alignment, performance of the navigation unit, and cross-sensor cueing are found to be key factors to fully exploit the potential of multi-sensor architectures

Real-Time Hardware-in-the-Loop Laboratory Testing for Multisensor Sense and Avoid Systems

This paper focuses on a hardware-in-the-loop facility aimed at real-time testing of architectures and algorithms of multisensor sense and avoid systems. It was developed within a research project aimed at flight demonstration of autonomous non-cooperative collision avoidance for Unmanned Aircraft Systems. In this framework, an optionally piloted Very Light Aircraft was used as experimental platform. The flight system is based on multiple-sensor data integration and it includes a Ka-band radar, four electro-optical sensors, and two dedicated processing units. The laboratory test system was developed with the primary aim of prototype validation before multi-sensor tracking and collision avoidance flight tests. System concept, hardware/software components, and operating modes are described in the paper. The facility has been built with a modular approach including both flight hardware and simulated systems and can work on the basis of experimentally tested or synthetically generated scenarios. Indeed, hybrid operating modes are also foreseen which enable performance assessment also in the case of alternative sensing architectures and flight scenarios that are hardly reproducible during flight tests. Real-time multisensor tracking results based on flight data are reported, which demonstrate reliability of the laboratory simulation while also showing the effectiveness of radar/electro-optical fusion in a non-cooperative collision avoidance architecture

Formation Flying SAR: Analysis of Imaging Performance by Array Theory

This article analyzes the process of image synthesis for a formation flying synthetic aperture radar (FF-SAR), which is a multistatic synthetic aperture radar (SAR) based on a cluster of receiving-only satellites flying in a close formation, in the framework of the array theory. Indeed, the imaging properties of different close receivers, when analyzed as isolated items, are very similar and form the so-called common array. Moreover, the relative positions among the receivers implicitly define a physical array, referred to as spatial diversity array. FF-SAR imaging can be verified as a result of the spatial diversity array weighting the common array. Hence, different approaches to beamforming can be applied to the spatial diversity array to provide the FF-SAR with distinctive capabilities, such as coherent resolution enhancement and high-resolution wide-swath imaging. Simulation examples are discussed which confirm that array theory is a powerful tool to quickly and easily characterize FF-SAR imaging performance

Organic matter contents and degradation in a highly trawled area during fresh particle inputs (Gulf of Castellammare, southwestern Mediterranean)

Bottom trawling in the deep sea is one of the main drivers of sediment resuspension, eroding the seafloor and altering the content and composition of sedimentary organic matter (OM). The physical and biogeochemical impacts of bottom trawling were studied on the continental slope of the Gulf of Castellammare, Sicily (southwestern Mediterranean), through the analysis of two triplicate sediment cores collected at trawled and untrawled sites (∼550 m water depth) during the summer of 2016. Geochemical and sedimentological parameters (excess 210Pb, excess 234Th, 137Cs, dry bulk density, and grain size), elemental (organic carbon and nitrogen) and biochemical composition of sedimentary OM (proteins, carbohydrates, lipids), as well as its freshness (phytopigments) and degradation rates were determined in both coring locations. The untrawled site had a sedimentation rate of 0.15 cm yr−1 and presented a 6 cm thick surface mixed layer that contained siltier sediment with low excess 210Pb concentrations, possibly resulting from the resuspension, posterior advection, and eventual deposition of coarser and older sediment from adjacent trawling grounds. In contrast, the trawled site was eroded and presented compacted century-old sediment highly depleted in OM components, which were between 20 % and 60 % lower than those in the untrawled site. However, the upper 2 cm of the trawled site consisted of recently accumulated sediments enriched in excess 234Th, excess 210Pb, and phytopigments, while OM contents were similar to those from the untrawled core. This fresh sediment supported protein turnover rates of 0.025 d−1, which doubled those quantified in surface sediments of the untrawled site. The enhancement of remineralization rates in surface sediment of the trawled site was associated with the arrival of fresh particles on a chronically trawled deep-sea region that is generally deprived of OM. We conclude that the detrimental effects of bottom trawling can be temporarily and partially abated by the arrival of fresh and nutritionally rich OM, which stimulate the response of benthic communities. However, these ephemeral deposits are likely to be swiftly eroded due to the high trawling frequency over fishing grounds, highlighting the importance of establishing science-based management strategies to mitigate the impacts of bottom trawling