Designing a sensor management system for UAVs

无人驾驶机器人系统的领域正在迅速发展，许多应用正在被启用和/或正在受益于这种系统。例如，无人飞行器(UAV)、无人地面车辆(UGV)以及海洋和混合动力自主机器人正被用于民用、监视、后勤、环境监测、巡逻和救援任务。许多这样的任务需要很长的运行时间，因此，机器人、无人机和UGV在任务期间有足够的电力可靠地运行是至关重要的。许多这样的机器人系统包括各种传感器来感知它们周围的环境。因此，机器人和控制中心之间的可靠数据通信至关重要，特别是在环境监测、监视和救援任务中。在这种背景下，RIC电子有限公司(RIC)有兴趣开发一种携带多个传感器的移动机器人，将用于在管道、高压工厂和有毒环境等危险环境中收集传感数据。该设备需要在长达100米的距离内可靠地、同时地将能量和感官数据传输到机器人和控制中心。鉴于运行时间相对较长，使用电池不是一个可行的选择，因为所需的电池对机器人来说过于庞大和沉重，特别是在机器人是无人机的情况下。此外，考虑到在这样的环境中存在金属外壳和障碍物，与机器人进行无线数据通信并不是一个可靠的选择。因此，该项目的目标是使用同轴电缆以负责任的方式同时向机器人传输电力和数据。在该项目中，我们计划设计一个健壮的车载传感器管理系统，以读取传感器并通过长达100米的同轴电缆传输测量数据。在同轴电缆中，数据传输线耦合到电力线。这可能会潜在地影响传输数据的可靠性。

The field of unmanned robotic systems is rapidly growing and a multitude of applications are being enabledand/or are benefiting from such systems. For example, unmanned aerial vehicles (UAVs), unmanned groundvehicles (UGVs), and marine and hybrid autonomous robots are being used in civilian, surveillance, logistics,environmental monitoring, patrolling, and rescue missions. Many of such missions require a long operationtime and therefore it is mission critical that the robot, UAV, and UGV has enough power to reliably operateduring the mission. Many such robotic systems include various sensors to sense their surrounding. Therefore,reliable data communication between the robot and the control centre, particularly in environmentalmonitoring, surveillance and rescue missions is of paramount importance. In this context, RIC Electronics, Ltd.(RIC), is interested in developing a mobile robot which carries multiple sensors and will be used to gathersensory data in hazardous environments such as pipelines, high-voltage plants, and toxic environments. Thisdevice requires power as well as sensory data to be transferred reliably and simultaneously to and from therobot to the control centre over a distance of up to 100 meters. Given the relatively long duration of operation,using batteries is not a viable option as the required battery would be excessively large and heavy for the robotto carry, in particular, when the robot is a UAV. Also, given the metallic enclosures and obstacles in suchenvironment wireless data communication to and from the robot is not a reliable option. Therefore, the goal ofthis project is to use a coaxial cable to simultaneously transfer power and data to and from the robot in areliable manner.In this project, we plan to design a robust on-board sensor management system to read sensors and transfer themeasurements over a long coaxial cable (up to 100 meters and beyond). In the coaxial cable, the datatransmission line is coupled to the power line. This can potentially affect the reliability of the transmitted data.