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2019 - GALS, Group Autonomous Location System
GALS was developed to measure the relative position among a group of UAVs . A 2D LiDAR sensor (Light Detection And Ranging) was added to the structure of the UAVs. The relative position is calculated from the analysis of range images obtained with the LiDAR sensor. The analysis of the images allows to calculate the distance and the direction at which the nearby UAVs are located. The obstacle’s data in the operating range of the sensor are also obtained. The points that do not belong to UAVs are considered as possible obstacles. The data generated by GALS is reported to the flight control software of the UAV.The user has the possibility to visualize the information generated by GALS.
The visualization is done through the base station’s graphics interface. From the interface, the user has the possibility to configure the different system parameters such as: LiDAR sensor’s configuration; Modification of visualization limits; Calibration of the laser sensor; Start and stop the operation of GALS. The LiDAR sensor is small and light, important features to use it in an UAV. Its maximum range is 40 meters, which allows a wide visualization of the environment. The accuracy of the range data allows GALS to detect and locate UAVs in a range between 1 and 4 meters. Actually, ArV2Counter is a registered software legally recognized by the Interior Ministry of Colombia. This document can be downloaded here.
The GALS GUI can be seen in Figure at left. The elements part of the GALS GUI are described below: a) Set Configuration Button: The configuration set the operating parameters of the LiDAR. The parameters are the Speed and Sample Rate fields.
b) Set Range Button: It sets the maximum operating distance of GALS. This button also changes the plotting limits. It takes the value of the Max Range field as input.
c) Calibrate Button: Pressing this button sends a request to GALS to configure the LiDAR calibration parameters. It takes the Slope and Offset fields as input.
d) Get State Button: The request asks for the status of the LiDAR operation. The received response is displayed in the Logs window.
e) Start Operation Button: It requests the start of the operation. The start generates the reception of Range data. Once the operation is started it is not possible to make configurations in the LiDAR.
f) Stop Operation Button: It requests the stop of the operation. The stop generates the end of the Range data transmission. Once the operation is finished it is again possible to make configurations in the LiDAR.
g) Clear button: Pressing this button the Logs window is cleared.h) Help button: Pressing this button generates a popup window. The window shows basic information about the use of the GUI.
i) Logs window: This field shows GALS messages. The information displayed is range data, identified UAVs, configurations, confirmations received and faults / errors identified.
j) Plotting area: In this field the information received from GALS is plotted. The range information is displayed as well as the location of the identified UAVs.
Once the GALS configuration phase is done, and the drone is flying, the GALS data acquisition phase can be initiated. The figure at right shows how it looks, here the plotting area displays the following data in real time:
1. The drones detected by GALS within a range of 4m.
2. The laser data showing the environmental structure if any.
GALS uses a Sweep V1 360 Laser Range Finder sensor to detect drones in the neighborhood. The drones take a cylinder like structure as depicted in the figure at left. Then, GALS can sense other drones filtering the laser range finder data and searching by circular shapes. It is assumed the drones fly in the same plane, and the relative high at which the laser sensor is placed is different.
The figure at left also shows the base station PC through which the drone is commanded.
This software was developed for industrial service and academic use. If you like to perform a field test, please contact me:
Prof. Bladimir Bacca Cortes Ph.D.
email: bladimir.bacca@correounivalle.edu.co
Address: Cra. 100, Street 13, Universidad del Valle, Melendez, Building 354, Office 2006.
Tel: +5723212100 Ext. 7656
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