Article

Article title UNMANNED AERIAL VEHICLES AS A MEANS TO INCREASING THE EFFICIENCY OF TACTICAL ACTIVITY OF FIRE AND RESCUE UNITS
Authors S.G. Tsarichenko, N.S. Rodichenko
Section SECTION I. UNMANNED AIRCRAFT SYSTEM
Month, Year 01, 2015 @en
Index UDC 623.746.-519
DOI
Abstract Exploitation of modern reconnaissance means like unmanned aerial vehicles (UAVs) by first-echelon squads is becoming a more relevant topic nowadays. Despite the drastic development of the UAV area their mass deployment is hindered due to many factors, including (but not limited to) a prolonged training process of UAV operators, and the high price of such systems. In this work we consider the main aspects of building a mini-UAV system for deployment during fire and rescue missions in high-risk environments. We show the possibility of creating an extensible and reliable system for use in modern and prospective complexes with mini-UAVs of multicopter type. We consider the aspects of designing automatic control and inertial navigation sub-systems, remote control of UAVs, and modes of autonomous behavior. Due to potential utilization of systems in emergency situations we separately discuss failsafe systems – both during pre-flight setup, and in-flight. We also touch on topics of creating an information system for processing on-line flight data and decision-making support. As a bottom-line to the paper we describe methods used to prepare the UAV system for mass production and deployment by increasing its modularity (on both hardware and software levels) and simplifying the assembly process.

Download PDF

Keywords Unmanned aerial vehicles; automatic control system; inertial navigation system; mass production; redundancy.
References 1. Mejias L., Saripalli S. Visual servoing of an autonomous helicopter in urban areas using feature tracking, J. F. Robot, 2006, Vol. 23, No. 3-4, pp. 185-199.
2. Kelly J., Saripalli S., Sukhatme G. Combined visual and inertial navigation for an unmanned aerial vehicle, Springer Tracts Adv. Robot, 2008, Vol. 42, pp. 255-264.
3. Chao H., Cao Y., Chen Y. Autopilots for small unmanned aerial vehicles: a survey, Int. J. Control. Autom. Syst., 2010, Vol. 8, No. 1, pp. 36-44.
4. Sebesta K., Boizot N. A real-time adaptive high-gain EKF, applied to a quadcopter inertial navigation system, IEEE Trans. Ind. Electron, 2014, Vol. 61, No. 1, pp. 495-503.
5. Available at: http://www.st.com/stm32f4.
6. Banavar G., Chandra T. An efficient multicast protocol for content-based publish-subscribe systems, Proceedings of 19th IEEE International Conference on Distributed Computing Systems, 1999, pp. 262-272.
7. Shilov K. The Next Generation Design of Autonomous MAV Flight Control System SmartAP, IMAV 2014: International Micro Air Vehicle Conference and Competition, 2014.
8. Kozlov I. Bortovoy vychislitel'nyy kompleks dlya negermetichnykh dolgoresursnykh KA [The onboard computer system for unpressurized dolgorsuren KA], Vestnik Sibirskogo
gosudarstvennogo aerokosmicheskogo universiteta imeni akademika M.F. Reshetneva [Vestnik Sibirskogo gosudarstvennogo
aerokosmicheskogo universiteta imeni akademika M. F. Reshetneva], 2013, Vol. 6, No. 52, pp. 89-94.
9. Zhang P., Gu J. Navigation with IMU/GPS/digital compass with unscented Kalman filter, Autom, 2005.
10. Madison R. и др. Vision-aided navigation for small UAVs in GPS-challenged environments, Proceedings of the AIAA Infotech@Aerospace Conference and Exhibit, 2007.
11. Tsarichenko S. Napravleniya razvitiya ekstremal'noy robototekhniki MChS Rossii s uchetom opyta prakticheskogo primeneniya [Directions of development of extreme robotics EMERCOM of Russia based on the experience of practical application], Trudy 7-go Mezhdunarodnogo simpoziuma “Ekstremal'naya robototekhnika – robototekhnika dlya raboty v usloviyakh opasnoy okruzhayushchey sredy” [Proceedings of the 7th International Symposium “Extreme robotics - robotics to work in a dangerous environment”], 2013, pp. 21-24.
12. Yongsheng L. Beyond Line of Sight Multi-path Relay with Unmanned Aerial Vehicle Platform, Telem. Telecontrol, 2003, Vol. 2, pp. 008.
13. Hague D., Kung H., Suter B. Field experimentation of cots-based UAV networking, Military Communications Conference (MILCOM), 2006, pp. 1-7.
14. Wenzel K., Masselli A., Zell A. Automatic take off, tracking and landing of a miniature UAV on a moving carrier vehicle, J. Intell. Robot. Syst., 2011, Vol. 61, No. 1-4, pp. 221-238.
15. Available at: http://uavcan.org/UAVCAN.
16. Stock M. CANaerospace-interface specification for airborne CAN applications V 1.7, Stock Flight Syst., 2006, Vol. 12.

Comments are closed.