Pteryx UAV is a Polish

Miniature UAV A miniature UAV, small UAV (SUAV), or drone is an unmanned aerial vehicle small enough to be man-portable. Smallest UAVs are called micro air vehicle. Miniature UAVs range from micro air vehicles (MAVs) that can be carried by an infantryman, t ...

designed for civilian use, manufactured and sold by TriggerComposites. The machine can be classified both as a flying RC model and pre-programmed vehicle. It has received a medal for innovative design in the category of micro-enterprises of the

Podkarpacie Subcarpathian Voivodeship or Subcarpathia Province (in pl, Województwo podkarpackie ) is a voivodeship, or province, in the southeastern corner of Poland. Its administrative capital and largest city is Rzeszów. Along with the Marshall, it is ...

region: ''Innowator Podkarpacia 2010''.

Origin

It uses a custom derivation of FLEXIPILOT, designed by Aerial Robotics engineering group for photomapping purposes and civilian use in general. The avionics and flying platform are designed with the idea of having full operational capability without using either an active transmitter or a ground station.

Capabilities

Bezmiechowa DSM 3D 2010-05-29 Pteryx UAV

* Delivering data for generating

digital elevation model A digital elevation model (DEM) or digital surface model (DSM) is a 3D computer graphics representation of elevation data to represent terrain or overlaying objects, commonly of a planet, moon, or asteroid. A "global DEM" refers to a discre ...

using external

photogrammetric Photogrammetry is the science and technology of obtaining reliable information about physical objects and the environment through the process of recording, measuring and interpreting photographic images and patterns of electromagnetic radiant ima ...

software and

orthorectification An orthophoto, orthophotograph, orthoimage or orthoimagery is an aerial photograph or satellite imagery geometrically corrected ("orthorectified") such that the scale is uniform: the photo or image follows a given map projection. Unlike a ...

procedure (Example: Bezmiechowa 3D model) * Delivering data for

precision agriculture Precision agriculture (PA) is a farming management strategy based on observing, measuring and responding to temporal and spatial variability to improve agricultural production sustainability. It is used in both crop and livestock production. ...

obtaining surface maps using mosaicking software * Construction site and long-range linear mapping (up to around 40 km both ways with 2h flight time, reserve included) (Example: Motorway construction site mapping missionMotorway mapping mission (YouTube video)
/ref>) often requiring

georeferencing Georeferencing means that the internal coordinate system of a map or aerial photo image can be related to a geographic coordinate system. The relevant coordinate transforms are typically stored within the image file (GeoPDF and GeoTIFF are examples ...

of the data obtained * Carrying custom research equipment The camera mount contains either pre-installed compact

digital camera A digital camera is a camera that captures photographs in digital memory. Most cameras produced today are digital, largely replacing those that capture images on photographic film. Digital cameras are now widely incorporated into mobile devic ...

, or is left for the user for integration. The camera can be mounted down-looking (

nadir The nadir (, ; ar, نظير, naẓīr, counterpart) is the direction pointing directly ''below'' a particular location; that is, it is one of two vertical directions at a specified location, orthogonal to a horizontal flat surface. The direc ...

photography) or side-looking (

oblique Oblique may refer to: * an alternative name for the character usually called a slash (punctuation) ( / ) *Oblique angle, in geometry * Oblique triangle, in geometry * Oblique lattice, in geometry * Oblique leaf base, a characteristic shape of the ...

photography). The whole head can be also tilted in flight using RC transmitter, while reducing stabilization travel to one of the sides.

Features

Its features among miniature (sub-5 kg TOW) civilian

UAVs An unmanned aerial vehicle (UAV), commonly known as a drone, is an aircraft without any human pilot, crew, or passengers on board. UAVs are a component of an unmanned aircraft system (UAS), which includes adding a ground-based controller ...

include roll-stabilized camera head, fully integrated parachute and Rotary Mission Selector. Key design requirements included: * flying multiple missions per day without reprogramming the

autopilot An autopilot is a system used to control the path of an aircraft, marine craft or spacecraft without requiring constant manual control by a human operator. Autopilots do not replace human operators. Instead, the autopilot assists the operator' ...

(the

waypoint A waypoint is an intermediate point or place on a route or line of travel, a stopping point or point at which course is changed, the first use of the term tracing to 1880. In modern terms, it most often refers to coordinates which specify one's posi ...

s being selected by mission selector and evaluated relative to takeoff) * ability to rearrange camera head interior with minimal effort * single button operation * no need for

ground station A ground station, Earth station, or Earth terminal is a terrestrial radio station designed for extraplanetary telecommunication with spacecraft (constituting part of the ground segment of the spacecraft system), or reception of radio waves f ...

* enclosing the camera for better protection against dirt * ability to accommodate most powerful compact digital camera models, weight range 200...1000g * Takeoff: using bungee, or bungee with rails. Fully automatic takeoff triggered by holding Start button and automatic preflight testing. * Landing: using parachute deployed automatically (possible forced opening using RC transmitter), aircraft style belly landing in automatic mode (only when reusing a single airfield, about 250x100m area required without obstacles on approach) or in manual mode (same as flying RC models).

Precision

(manufacturer's data) The aircraft provides positions of the photos taken; more than 8000 events can be recorded. Ground-projected positions include the following errors: * GPS position error up to 5m, usually around 2.5m, this is typical for GPS mounted on flying vehicles. * Altitude drift (up to 5m per 1 hour of flight) * Camera head stabilization precision (transients up to 5 deg, typically 2 deg) *

Fuselage The fuselage (; from the French ''fuselé'' "spindle-shaped") is an aircraft's main body section. It holds crew, passengers, or cargo. In single-engine aircraft, it will usually contain an engine as well, although in some amphibious aircraft t ...

pitch due to

turbulence In fluid dynamics, turbulence or turbulent flow is fluid motion characterized by chaotic changes in pressure and flow velocity. It is in contrast to a laminar flow, which occurs when a fluid flows in parallel layers, with no disruption between ...

(up to 8 deg during hot weather, typically 2 deg in winter) * Camera mounting error (typically 1-4deg if not calibrated) * Heading/yaw error (the aircraft performs

crabbing Crab fisheries are fisheries which capture or farm crabs. True crabs make up 20% of all crustaceans caught and farmed worldwide, with about 1.4 million tonnes being consumed annually. The horse crab, '' Portunus trituberculatus'', accounts for ...

in presence of

wind Wind is the natural movement of air or other gases relative to a planet's surface. Winds occur on a range of scales, from thunderstorm flows lasting tens of minutes, to local breezes generated by heating of land surfaces and lasting a few ...

) Those errors nullify themselves during stitching and orthorectification of the images. The use of a roll-stabilized head increases useful area coverage (reducing distortion at map edges) and improving stitch quality inside during turbulent weather. In order to obtain

georeference Georeferencing means that the internal coordinate system of a map or aerial photo image can be related to a geographic coordinate system. The relevant coordinate transforms are typically stored within the image file (GeoPDF and GeoTIFF are examples) ...

d maps, it is necessary to provide positions of the object on-site or simply viewing the stitched image in Google earth (accepting occasional 50m position error vs true coordinates, but usually correct dimensions). Typical orthophoto map precision (mean reprojection errors): * 10 cm horizontal * 30 cm vertical * around 2.5m global shift to be removed with a few locally measured points The precision of an orthophoto map created with professional processing chain depends on Ground Sampling Distance or Ground Pixel Size (variable 5 cm/pixel to 20 cm/pixel depending on flight altitude). With Ground Control Points provided, horizontal accuracy of the map as a whole improves from a few meters to GSD (5 cm to 20 cm). Vertical accuracy of produced DSM (always internally generated for orthorectification) is in the order of 3 GSD, i.e., 15 cm to 60 cm. Regardless of the use of Ground Control Points, the map is self-consistent geometrically within 1 GSD.

Data processing strategies

Several data processing approaches are possible depending on application: * Direct photo examination * Non-georeferenced

image stitching Image stitching or photo stitching is the process of combining multiple photographic images with overlapping fields of view to produce a segmented panorama or high-resolution image. Commonly performed through the use of computer software, most app ...

using free software * Using free 3D modelling services, as mentioned in examples section * Importing each photo as ground overlay in Google Earth (semi-automatic with supplied software) * Using pre-paid service based on

cloud computing Cloud computing is the on-demand availability of computer system resources, especially data storage ( cloud storage) and computing power, without direct active management by the user. Large clouds often have functions distributed over m ...

, yielding a result in hours (delivers Orto photomap and optionally DSM) * Local processing using specialized GIS software created specifically for large scale image mosaicking (delivers Orto photomap and optionally DSM)

System components

* Fuselage * 3-section wings with mounting screws * Horizontal stabilizer section * Parachute

User's equipment

* LiPo batteries (user's equipment) * Laptop or

netbook Netbook was a commonly used term that identified a product class of small and inexpensive laptops which were sold from 2007 to around 2013. These machines were designed primarily as cost-effective tools for consumers to access the Inte ...

for occasional diagnostics or data log download (not required for takeoff nor pre-flight) * Compact

* RC controller compliant with local laws (see Radio-controlled aircraft Transmitting and Receiving Frequencies)

General characteristics

Masses: *

Maximum takeoff weight The maximum takeoff weight (MTOW) or maximum gross takeoff weight (MGTOW) or maximum takeoff mass (MTOM) of an aircraft is the maximum weight at which the pilot is allowed to attempt to take off, due to structural or other limits. The analogou ...

5.0 kg (fits RC model plane regulations in most countries) Dimensions:{{cite web , url=http://www.aerialrobotics.pl/pteryx/pteryx-camhead-dimensions.pdf , title=Archived copy , accessdate=2011-03-07 , url-status=dead , archiveurl=https://web.archive.org/web/20110903091613/http://www.aerialrobotics.pl/pteryx/pteryx-camhead-dimensions.pdf , archivedate=2011-09-03 * Wingspan: 2.8 m * Length: 1.4 m * Height: 0.33 m * Propulsion:

brushless DC electric motor A brushless DC electric motor (BLDC motor or BL motor), also known as an electronically commutated motor (ECM or EC motor) or synchronous DC motor, is a synchronous motor using a direct current (DC) electric power supply. It uses an electron ...

and rechargeable

lithium polymer battery A lithium polymer battery, or more correctly lithium-ion polymer battery (abbreviated as LiPo, LIP, Li-poly, lithium-poly and others), is a rechargeable battery of lithium-ion technology using a polymer electrolyte instead of a liquid electrol ...

* Endurance: 55min with 1 kg payload, 120min with 450g payload

V speeds In aviation, V-speeds are standard terms used to define airspeeds important or useful to the operation of all aircraft. These speeds are derived from data obtained by aircraft designers and manufacturers during flight testing for aircraft type ...

: * V_C: around 50 km/h * V_S: 34–38 km/h depending on TOW * V_A: 120 km/h * V_NE: 160 km/h Flight altitude: *

Service Ceiling With respect to aircraft performance, a ceiling is the maximum density altitude an aircraft can reach under a set of conditions, as determined by its flight envelope. Service ceiling Service ceiling is where the rate of climb drops below a pres ...

3000m Pteryx Lite *

1200m Pteryx Pro * Cruise altitude 100-520m AGL, 250m typical - dictated by photo resolution Handling: * Assembly time: Around 5min (only 2 screws and no electrical connections). * Materials: Custom

fiberglass Fiberglass (American English) or fibreglass (Commonwealth English) is a common type of fiber-reinforced plastic using glass fiber. The fibers may be randomly arranged, flattened into a sheet called a chopped strand mat, or woven into glass cl ...

composite material A composite material (also called a composition material or shortened to composite, which is the common name) is a material which is produced from two or more constituent materials. These constituent materials have notably dissimilar chemical or ...

covered with durable red

gelcoat Gelcoat, also called Gel Coat, is a material used to provide a high-quality finish on the visible surface of a fibre-reinforced composite. The most common gelcoats are thermosetting polymers based on epoxy or unsaturated polyester resin chemistry. ...

carbon fiber Carbon fiber-reinforced polymers (American English), carbon-fibre-reinforced polymers (Commonwealth English), carbon-fiber-reinforced plastics, carbon-fiber reinforced-thermoplastic (CFRP, CRP, CFRTP), also known as carbon fiber, carbon compo ...

and

Kevlar Kevlar (para-aramid) is a strong, heat-resistant synthetic fiber, related to other aramids such as Nomex and Technora. Developed by Stephanie Kwolek at DuPont in 1965, the high-strength material was first used commercially in the early 1970s ...

reinforcements, wood and other plastics. A choice of wooden or all-composite wings with styrofoam core, painted and waterproof.

References

External links

* https://web.archive.org/web/20120112174709/http://pteryx.eu/Project webpages Unmanned aerial vehicles of Poland