%0 Conference Proceedings
%4 sid.inpe.br/marte2/2017/10.27.13.42.19
%2 sid.inpe.br/marte2/2017/10.27.13.42.20
%@isbn 978-85-17-00088-1
%F 59295
%T Projeto de quadrotor autônomo de alta precisão para sensoriamento remoto com uso de câmera multiespectral georreferenciada
%D 2017
%A Moraes, Lucas,
%A Campos, Rafael Falci,
%A Jr. , Luiz Carlos Carmo,
%A Moreira, Lucas Stoppa,
%A Jucá, Marco Aurélio,
%A Menezes, Alexandre,
%A Carvalho, João Pedro,
%A Silveira, Daniel Discini,
%A Coelho, Thiago Vieira Nogueira,
%A Santos, Alexandre Bessa dos,
%A Marcato, Andre Luis Marques,
%A Fáb,
%@electronicmailaddress thiago.coelho@ufjf.edu.br
%E Gherardi, Douglas Francisco Marcolino,
%E Aragão, Luiz Eduardo Oliveira e Cruz de,
%B Simpósio Brasileiro de Sensoriamento Remoto, 18 (SBSR)
%C Santos
%8 28-31 maio 2017
%I Instituto Nacional de Pesquisas Espaciais (INPE)
%J São José dos Campos
%P 4142-4149
%S Anais
%1 Instituto Nacional de Pesquisas Espaciais (INPE)
%X This paper shows the autonomous UAVs (Unmanned Aerial Vehicle) project and development to be applied in remote sensing using a specialized lightweight multispectral camera. The vehicle performs the flight, takeoff and landing procedures in total autonomous mode without need a human pilots remote assistance during the entire mission time. The algorithms for autonomous missions were developed in ROS (Robotic Operation System) framework, which is a well-established workstation environment for development in robotics platforms. A friendly graphical pre-mission interface was developed for an easy interaction with the operator depicting the geographical map of the desired area. The bioinspired optical flow technique was applied for merging the GPS data and the optical vector data for an enhancement of the aircraft position estimation, overcoming the position error of a single GPS module operation. The performance improvement in position estimation was 58% better than the single GPS module and improves the autonomous navigation procedures. Moreover, a novel optical fiber sensor, immune to electromagnetic interference, was developed to measure the electrical current that feeds the electrical engines. After that, the multispectral camera was embedded into the aircraft to perform the NDVI (Normalized Difference Vegetation Index) calculation in previous target areas, which can be correlated with healthy vegetation areas.
%9 VANTs, videografia e alta resolução
%@language pt
%3 59295.pdf