11.1 Survey Plan for VTOL
Normally, VTOLs are used to survey larger areas in lesser time.
To use VTOL in AeroGCS KEA 2.3 follow the steps as mentioned below:
Create a project and create a plan.
Select the location of a vehicle.
Select a mission plan as a "Survey" plan.
Select a Vehicle Type from the drop-down list as shown in the following image. Select the vehicle type as "QuadPlane".
After selecting QuadPlane as a vehicle, the different parameters will be displayed on the screen as shown in the following image.
Set following parameters according to the requirements of an application.
TakeOff Altitude: Altitude value for the take-off of the device.
Land Altitude: Altitude value for landing the device safely.
Speed: Set the speed of the VTOL for flying. As VTOL is a hybrid vehicle, it can fly with greater speed than a drone.
Waypoint Radius: As the VTOL size is bigger and the speed of VTOL is also greater than a drone, it is required to mention the radius for waypoints to take a smooth turn. Defines the maximum distance from a waypoint that, when crossed, indicates that the waypoint is potentially complete. In order to prevent the aircraft from looping around the waypoint after it misses it by more than the value of WP_RADIUS, an additional check occurs to see if the aircraft crosses a "finish line" passing through the waypoint and perpendicular to the path of flight from the previous waypoint. The waypoint is considered complete once that finish line is crossed. The navigation controller can choose to turn eventually than WP_RADIUS before a waypoint depending upon how sharp the turn is and the aircraft's speed.
After setting the above parameters, proceed with the next procedure as shown.
Now set various parameters as follows:
11.1.1 Camera Details:
Camera Type:
Camera: Camera triggering behavior depends on the camera/camera settings. Users can select an existing camera or a custom camera.
Selection of Camera: The user can select the camera from the dropdown menu. Selection of camera will decide the image height and width automatically.
Sensor height and width: The size of the image sensor of the camera.
Image height and width: The selection of a camera decides the width and height of an image automatically. The user has to enter the desired values of image width and height for custom camera only.
Focal length: Focal length is determined by a combination of sensor size, effective distance from mirrors within the lens, and glass curvature. The focal length of a lens determines the angle of view—how much of the scene is captured—as well as the magnification—how large individual elements are. A narrower field of view and a higher magnification result from a longer focal length.
Front Overlap and Side Overlap: User can set the front overlapping, and side overlapping values to the images also in the respective text boxes. By default, the front overlap value is 0. Image overlapping overlap occurs between each image.
VTOLs are flying at larger speeds as compared to drones. The VTOL can fly at 18-20 m/s speed in the air. There should be some provision to take a turn in a horizontal and vertical direction on the plan in this case. The Overshoot and lead-in parameters help to take a smooth turn and come back to the original plan without any destruction. While taking a turn, VTOL will move on the overshoot distance and whenever it reaches the waypoint radius it will start taking turns to reach the lead-in value.
Overshoot Parameters:
Overshoot Top: Overshoot Top will add the distance on the top of the original plan.
Overshoot Bottom: Overshoot Bottom will add the distance on the bottom of the original plan.
Lead-in Parameters:
Lead-in Top: This parameter is used to add lead-in distance on top of the original plan.
Lead-in Bottom: This parameter is used to add lead-in distance on the bottom of the original plan.
After changing any of the parameters, click on the 'Apply' button to get it reflected.
These overshoot and Lead-in parameters are useful in capturing clear images from the desired area.
Starting Point: AeroGCS KEA 2.3 allow the user to adjust the position of starting point in the following ways:
Top Left: Set the starting point position at top left.
Bottom Left: Set the starting point position at bottom left.
Top Right: Set the starting point position at top right.
Bottom Right: Set the starting point position at bottom right.
This setting will be useful to set the position of starting position in case of adjusting the position of a drone landed previously to save the battery. The user can change this setting by changing a turn angle also. But it will be time-consuming and not accurate.
11.1.2 Turn angle:
The user may change the angle of the polylines of the plan. All the parameters displayed in survey statistics will vary as the turn angle changes. The value of the turn angle change will be displayed on the right-hand side of the turn angle bar. Accordingly, the user may see the changes in the survey plan as shown in the above image.
11.1.3 Cross Grid
This option available in AeroGCS is used for more coverage of the land. The time required to complete the plan will be obviously higher than the normal survey plan. But it covers almost all the land. This option helps the user to capture maximum images of the field. On enabling this option, the survey distance, survey time, and image count will be increased as indicated by the image below:
11.1.4 Add Rally Points
This is additional security provided for landing the drone safely and smoothly.
The violet-colored points in the above image show the rally points. These are useful in emergency situations to land safely at the closest rally point instead of moving home from a far end.
11.1.5 Survey Statistics
Survey Statistics will be displayed on the screen automatically which contains:
Survey Area: The estimated area for the survey will be displayed in this option. Area covered by the survey plan in Sq. meters. This area will change with changes in the boundary points. The user can stretch or shrink the points manually and adjust the area as per requirement.
Survey Distance: Total distance to be traveled by the drone on the survey plan is nothing but the Survey Distance. The distance traveled by a drone using this survey plan will be calculated and displayed here. This distance will increase upon enabling the cross-grid option. It also depends on the stretching or shrinking of the boundary points as shown in the above two images.
Survey Time: The estimated time required to complete the survey will be calculated and displayed here. The survey time will depend on enabling the cross-grid settings.
Image Count: The Number of images to be captured by the camera is considered as an "Image Count". The selection of a camera decides the image count. Also, the image count increases with an increase in the area of the survey plan.
Ground Resolution (GSD): The distance between two adjacent pixel centers as measured on the ground is known as resolution or average GSD (Ground Sampling Distance). The low GSD values provide better accuracy.
LandAlt-to-LandPoint: It will calculate and display the distance between Land altitude to Land Point. LandAlt point is also known as the Land Entry point from where the VTOL starts its landing by changing the speed. The speed of VTOL is not decreased to 0 directly but it will be increased to some extent firstly and then slowly it decreases to 0 m/s at the second Land point.
From the above images, it is clear that as there is a change in the position of landing points the distance between the LandAlt to LandPoint gets affected.
TakeOff-to-FirstPoint: It is the distance between the takeoff point to the first point of the original survey plan.
From the above images, it is clear that as there is a change in the position of theplan the distance between the TakeOff to FirstPoint gets affected.
LandAlt-to-LastPoint: It will calculate and display the distance between the Land Altitude point and last point of the survey plan.
From the above images, it is clear that as there is a change in the position of landing points the distance between the LandAlt to LastPoint gets affected.
The survey statistics will be affected by the selection of the camera as shown in the images. In the above image, the camera selected was Sony Rx100 II and the camera selected in the image below is Sony A6000.
11.1.6 Fence:
It is mandatory for all types of flight plans. Select the slide bar to add a fence. The survey plan will draw a fence automatically as shown in the image below.
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