Sensor integration for real-time data acquisition in aerial surveillance

ABSTRACT

The unmanned aerial vehicle (UAV) is one of the mobile robots which has grown rapidly in popularity in recent years. UAVs have been used in various activities to convey important information on the aerial transportation system. However, an application to get real-time information from UAVs remains a challenging task. Therefore, this paper presents an integration system to optimise the use of UAVs for aerial surveillance. The proposed system explains the design and implementation a UAV system which consists of on-board and ground stations. The on-board system has the function to send UAV flight data, send aerial images and carry items using a gripper which equipped with sensors to detect obstacles. The ground station has the function to control UAV flights, receive and display UAV flight data and aerial images, display the attitude of the UAV and send commands to move the camera and gripper. Flight controllers in this system use non-linear complementary filter on SO(3) to estimate the attitude of the UAV and proportional-integral (PI) controller to stabilise the UAV flight. By providing the real-time acquisition data of the UAV, we believe this system can be a useful tool for many implementations using UAV.

KEYWORDS:

• Robotics
• sensors
• surveillance
• UAV
• user interface

Disclosure statement

No potential conflict of interest was reported by the author(s).

Additional information

Notes on contributors

Wahyu Rahmaniar

Wahyu Rahmaniar currently is a Postdoctoral Researcher at the National Taipei University of Technology, Taiwan. She is received a B.S. degree in Electronics and Instrumentation from Universitas Gadjah Mada, Yogyakarta, Indonesia, in 2009 and a Ph.D. degree in Electrical Engineering from National Central University, Taiwan, in 2020. Her research interests are in the areas of robotics, computer vision, image processing, and artificial intelligence.

Ardhi Wicaksono Santoso

Ardhi Wicaksono Santoso is a member of the Biomedical System Modeling and Speech and Hearing Research Laboratory in the Department of Electrical Engineering from National Central University, Taiwan. He is currently pursuing a Doctoral in the same department since 2019. He received his M.Sc. in 2017 from the Faculty of Computer System and Software Engineering, Universiti Malaysia Pahang. His research interests are in the areas of embedded systems, image processing, and artificial intelligence.