{"id":426,"date":"2016-11-18T20:12:50","date_gmt":"2016-11-18T20:12:50","guid":{"rendered":"http:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/?page_id=426"},"modified":"2017-04-08T03:32:18","modified_gmt":"2017-04-08T03:32:18","slug":"autonomous-flight-subsystem","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/system-implementation-full-system-and-subsystems\/autonomous-flight-subsystem\/","title":{"rendered":"Autonomous Flight Subsystem"},"content":{"rendered":"<p style=\"text-align: left\"><span style=\"text-decoration: underline\"><em>April 15, 2017<\/em><\/span><\/p>\n<p>The modules for logging GPS coordinates from the drone onto a server were implemented. The signature detection relies on accurate GPS from the drone along with timestamps for those readings. These readings along with the timestamps are aligned with the timestamps of the image frames from the camera to precisely pinpoint the location and orientation of the camera when the image was taken, and then extrapolate the exact GPS location of the signature from this information.<\/p>\n<p>&nbsp;<\/p>\n<p style=\"text-align: left\"><span style=\"text-decoration: underline\"><em>March 15, 2017<\/em><\/span><\/p>\n<p>When NREC was chosen as the final the flight plan had to be changed due to lack of space. The current plan is to do a sweep of the area instead of picking regions of interest. The signatures would be place along the field and the sweep pattern would be decided such that it the drone would be able to achieve maximum coverage of the area. The sweep pattern is shown below.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"size-medium wp-image-934 aligncenter\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/Screen-Shot-2017-04-04-at-10.37.34-PM-300x263.png\" alt=\"\" width=\"300\" height=\"263\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/Screen-Shot-2017-04-04-at-10.37.34-PM-300x263.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/Screen-Shot-2017-04-04-at-10.37.34-PM-768x674.png 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/Screen-Shot-2017-04-04-at-10.37.34-PM-1024x899.png 1024w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/Screen-Shot-2017-04-04-at-10.37.34-PM-830x729.png 830w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/Screen-Shot-2017-04-04-at-10.37.34-PM-230x202.png 230w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/Screen-Shot-2017-04-04-at-10.37.34-PM-350x307.png 350w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/Screen-Shot-2017-04-04-at-10.37.34-PM-480x421.png 480w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/Screen-Shot-2017-04-04-at-10.37.34-PM.png 1098w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/p>\n<p style=\"text-align: center\"><strong>Sweep pattern at test site<\/strong><\/p>\n<p style=\"text-align: left\"><strong>Waypoint Navigation Test:<\/strong><\/p>\n<p><iframe loading=\"lazy\" width=\"1170\" height=\"658\" src=\"https:\/\/www.youtube.com\/embed\/vijJ8W-rxKw?feature=oembed\" frameborder=\"0\" allowfullscreen><\/iframe><\/p>\n<p style=\"text-align: left\"><span style=\"text-decoration: underline\"><em>Dec 8, 2016<\/em><\/span><\/p>\n<p style=\"text-align: left\"><strong>GPS Accuracy validation<\/strong><\/p>\n<p style=\"text-align: left\"><span style=\"font-weight: 400\">For validating the GPS accuracy of the flight system, GPS from the two different sources were compared against each other. The GPS locations from the Drone\u2019s inbuilt GPS was compared and tallied with the GPS coordinates as reported by the smartphone.<\/span><\/p>\n<p>To measure the randomness in the GPS data reported by the phone and the drone, the following experiment was done:<\/p>\n<ul>\n<li>Place the drone and phone at the same location<\/li>\n<li>Log 25 GPS readings from the drone and phone spread out over a few minutes<\/li>\n<li>Compute Standard deviation for the values<\/li>\n<\/ul>\n<p>In addition, to understand any random errors within individual GPS sources, experiments were done to record GPS coordinates reported by each device for a given location and the standard deviations of the readings were noted. \u00a0The table below shows Latitude values reported by the drone and the phone, and a comparison between them.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter wp-image-698\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/Picture1.jpg\" alt=\"picture1\" width=\"500\" height=\"120\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/Picture1.jpg 781w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/Picture1-300x72.jpg 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/Picture1-768x184.jpg 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/Picture1-700x168.jpg 700w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/Picture1-520x125.jpg 520w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/Picture1-360x86.jpg 360w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/Picture1-250x60.jpg 250w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/Picture1-100x24.jpg 100w\" sizes=\"auto, (max-width: 500px) 100vw, 500px\" \/><\/p>\n<p>The two sources were found to be fairly accurate in terms of exhibiting any random errors. The one thing that was not tested extensively was the possibility of any static bias in the two sources. Though this is addressed to some extent by comparing and tallying the sources with each other, a more comprehensive test will help understand and address any static bias the systems might have.<\/p>\n<p>&nbsp;<\/p>\n<p style=\"text-align: left\"><span style=\"text-decoration: underline\"><em>Nov 22, 2016<\/em><\/span><\/p>\n<p style=\"text-align: left\"><strong>Waypoint Navigation<\/strong><\/p>\n<ul>\n<li style=\"text-align: left\">Used third party platform code to develop an app to input GPS waypoints<\/li>\n<li style=\"text-align: left\">Utilized DJI Mobile SDK to enable interaction between the app on phone and the flight controller on the drone<\/li>\n<\/ul>\n<p><strong>Successfully tested waypoint navigation in the field.<\/strong> You find a<strong>\u00a0video<\/strong> of the test flight <a href=\"https:\/\/drive.google.com\/file\/d\/0B3EkEy76sbi6R0V0UTl5SzU1UWM\/view?usp=sharing\">here<\/a>.<\/p>\n<p>Following is a screenshot of the app:<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter wp-image-689\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/app-shot.png\" alt=\"app-shot\" width=\"400\" height=\"221\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/app-shot.png 712w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/app-shot-300x166.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/app-shot-700x386.png 700w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/app-shot-520x287.png 520w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/app-shot-360x199.png 360w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/app-shot-250x138.png 250w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/app-shot-100x55.png 100w\" sizes=\"auto, (max-width: 400px) 100vw, 400px\" \/><\/p>\n<p>&nbsp;<\/p>\n<p style=\"text-align: left\"><span style=\"text-decoration: underline\"><em>Nov 10, 2016<\/em><\/span><\/p>\n<p style=\"text-align: left\"><strong><span class=\"c30\">Matrice 100 Setup<\/span><\/strong><\/p>\n<p>Assembly:<\/p>\n<ul>\n<li style=\"text-align: left\">Structural frame<\/li>\n<li style=\"text-align: left\">GPS module<\/li>\n<li style=\"text-align: left\">Battery compartment<\/li>\n<li style=\"text-align: left\">Propeller &amp; Propeller guard<\/li>\n<\/ul>\n<p style=\"text-align: center\"><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-471 aligncenter\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/Parts-of-Matrcie-100-300x169.jpg\" alt=\"parts-of-matrcie-100\" width=\"350\" height=\"197\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/Parts-of-Matrcie-100-300x169.jpg 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/Parts-of-Matrcie-100-768x432.jpg 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/Parts-of-Matrcie-100-700x394.jpg 700w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/Parts-of-Matrcie-100-520x293.jpg 520w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/Parts-of-Matrcie-100-360x203.jpg 360w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/Parts-of-Matrcie-100-250x141.jpg 250w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/Parts-of-Matrcie-100-100x56.jpg 100w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/Parts-of-Matrcie-100.jpg 871w\" sizes=\"auto, (max-width: 350px) 100vw, 350px\" \/>Parts of Matrice 100<\/p>\n<p style=\"text-align: left\">Firmware Upgrade:<\/p>\n<ul>\n<li style=\"text-align: left\">Upgraded remote controller(through DJI Go)<\/li>\n<li style=\"text-align: left\">Upgraded Matrice 100(through DJI\u00a0Assistant2)<\/li>\n<\/ul>\n<p>Calibration:<\/p>\n<ul>\n<li>Tested rotation of motors(through DJI Assistant2)<\/li>\n<li>Calibrated the compass(through DJI Go)<\/li>\n<li>Calibrated the remote controller(through DJI Go)<\/li>\n<\/ul>\n<p style=\"text-align: left\"><strong>Waypoint Generation<\/strong><\/p>\n<p style=\"text-align: left\"><span style=\"font-weight: 400\">Implemented waypoint generation version 2.0 with spiral local search pattern.<\/span><\/p>\n<p style=\"text-align: center\"><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter wp-image-681\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/wp-2_2-1024x368.png\" alt=\"wp-2_2\" width=\"800\" height=\"287\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/wp-2_2-1024x368.png 1024w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/wp-2_2-300x108.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/wp-2_2-768x276.png 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/wp-2_2-700x251.png 700w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/wp-2_2-520x187.png 520w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/wp-2_2-360x129.png 360w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/wp-2_2-250x90.png 250w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/wp-2_2-100x36.png 100w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/wp-2_2.png 1421w\" sizes=\"auto, (max-width: 800px) 100vw, 800px\" \/><\/p>\n<p style=\"text-align: left\"><strong>Waypoint\u00a0Navigation on Simulator<\/strong><\/p>\n<p style=\"text-align: left\">Tested DJI Mobile SDK to enable waypoint navigation on DJI simulator.<\/p>\n<p style=\"text-align: left\"><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter wp-image-683\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/simulator-1024x580.png\" alt=\"simulator\" width=\"500\" height=\"283\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/simulator-1024x580.png 1024w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/simulator-300x170.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/simulator-768x435.png 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/simulator-700x397.png 700w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/simulator-520x295.png 520w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/simulator-360x204.png 360w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/simulator-250x142.png 250w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/simulator-100x57.png 100w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/simulator.png 1038w\" sizes=\"auto, (max-width: 500px) 100vw, 500px\" \/><\/p>\n<p style=\"text-align: left\"><span style=\"text-decoration: underline\"><em>Oct 27, 2016<\/em><\/span><\/p>\n<p style=\"text-align: left\"><strong>Waypoint Generation<\/strong><\/p>\n<p style=\"text-align: left\">Implemented basic waypoint generation with basic circular local search pattern.<\/p>\n<p style=\"text-align: left\"><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter wp-image-664\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/waypoint-gen-1-1024x585.png\" alt=\"waypoint-gen-1\" width=\"500\" height=\"286\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/waypoint-gen-1-1024x585.png 1024w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/waypoint-gen-1-300x171.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/waypoint-gen-1-768x439.png 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/waypoint-gen-1-700x400.png 700w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/waypoint-gen-1-520x297.png 520w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/waypoint-gen-1-360x206.png 360w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/waypoint-gen-1-250x143.png 250w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/waypoint-gen-1-100x57.png 100w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/waypoint-gen-1.png 1026w\" sizes=\"auto, (max-width: 500px) 100vw, 500px\" \/><\/p>\n<p style=\"text-align: left\"><strong>Basic UI for specifying locations of interest\/waypoints:<\/strong><\/p>\n<p style=\"text-align: left\"><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter wp-image-667\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/simple-UI.png\" alt=\"simple-ui\" width=\"500\" height=\"456\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/simple-UI.png 809w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/simple-UI-300x274.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/simple-UI-768x701.png 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/simple-UI-700x639.png 700w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/simple-UI-520x474.png 520w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/simple-UI-360x328.png 360w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/simple-UI-250x228.png 250w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/simple-UI-100x91.png 100w\" sizes=\"auto, (max-width: 500px) 100vw, 500px\" \/><\/p>\n<p>How do I input my locations of interest\/waypoints?<\/p>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Drag the markers on the map<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Click Go!<\/span><\/li>\n<\/ul>\n<p>How it works?<\/p>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Prototype on JSFiddle<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Used Google Maps API to create draggable markers<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Click event on the markers reports lat\/long values in the text boxes<\/span><\/li>\n<\/ul>\n<p style=\"text-align: left\"><span style=\"text-decoration: underline\"><em>Oct 20, 2016<\/em><\/span><\/p>\n<p style=\"text-align: left\"><strong>Intermediate Waypoint Generation<\/strong><\/p>\n<p style=\"text-align: left\">Defined an initial strategy for navigating an area of 200m x 200m and conducting local search at the four given waypoints. Following figure depicts the navigation area and search pattern we assumed.<\/p>\n<p style=\"text-align: left\"><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-674 size-medium alignleft\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/navigation-area-2-300x224.png\" alt=\"navigation-area-2\" width=\"300\" height=\"224\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/navigation-area-2-300x224.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/navigation-area-2-520x389.png 520w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/navigation-area-2-360x269.png 360w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/navigation-area-2-250x187.png 250w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/navigation-area-2-100x75.png 100w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-content\/uploads\/sites\/17\/2016\/11\/navigation-area-2.png 694w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/p>\n<p>&nbsp;<\/p>\n<p><b>Initial Strategy:<\/b><\/p>\n<ul>\n<li>Reach location of interest at an altitude of 15 m, speed ~5 m\/s<\/li>\n<li>Spiral up to an altitude of 30 m, complete one circle of radius 6 m, speed ~2m\/s<\/li>\n<li>Move to the next location of interest while reducing the altitude to 15 m<\/li>\n<\/ul>\n<p><b><br \/>\nHow does our initial strategy do?<\/b><\/p>\n<ul>\n<li>44m diameter circular area covered around each location of interest<\/li>\n<li>&gt;98% overlap between two frames for both thermal and RGB cameras\n<ul>\n<li>good stitching<\/li>\n<\/ul>\n<\/li>\n<li>Well detailed imagery\n<ul>\n<li>Ground sampling distance: 0.5 cm\/pixel for RGB, 2.7 cm\/pixel for thermal<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p style=\"text-align: left\">\n","protected":false},"excerpt":{"rendered":"<p>April 15, 2017 The modules for logging GPS coordinates from the drone onto a server were implemented. The signature detection relies on [&hellip;]<\/p>\n","protected":false},"author":82,"featured_media":0,"parent":130,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"page-templates\/page_fullwidth.php","meta":{"footnotes":""},"class_list":["post-426","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-json\/wp\/v2\/pages\/426","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-json\/wp\/v2\/users\/82"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-json\/wp\/v2\/comments?post=426"}],"version-history":[{"count":51,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-json\/wp\/v2\/pages\/426\/revisions"}],"predecessor-version":[{"id":981,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-json\/wp\/v2\/pages\/426\/revisions\/981"}],"up":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-json\/wp\/v2\/pages\/130"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamf\/wp-json\/wp\/v2\/media?parent=426"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}