Introduction

Flying Micro Autonomous Vehicles (MAVs) are particularly interesting and useful Intelligence, Surveillance and Reconnaissance (ISR) platforms that can support and enhance the effectiveness of warfighters in urban environments.  In conjunction with Rockwell Collins ATC, the goal of this project is to investigating concepts for a Multifunction Optical Sensor that has the potential to replace multiple subsystems including inertial measurement units (IMUs), GPS, and air data sensors with a single optical sensor that determines platform attitude and location while simultaneously providing tactical imaging information.  

Figure 1 - Vesperange

Platform Attitude Determination

Platform attitude can be a useful way to determine the orientation of an aircraft during flight.  We have developed an algorithm that uses the horizon in outdoor environments to provide a consistent platform.  Figure 2 and Figure 3 show the algorithm detecting the horizon and providing a banking angle measurement in real and simulated environments.

Figure 2 - Platform attitude detection in real environment

Figure 3 - Platform attitude detection in simulated environment

Intelligence, Surveillance and Reconnaissance (ISR)

One application of MAVs is in image processing for surveillance and reconnaissance.  In contrast to other surveillance imaging sources, such as satellite imagery, MAVs can perform image processing from a variety of perspectives allowing for a wider range of possibilities for feature extraction. As a demonstration of how a MAV can be used for reconnaissance, we have implemented a image recognition algorithm that finds barn objects in a simulated rural environment.

Figure 4 - Demonstration of object recognition in simulated environment