I would like to show what we have done here in Namibia in developing Inexpensive UAV systems which we are beginning to actively use in conjunction with Namibian Ministry of Environment and Tourism, tasked with wildlife conservation in Namibia, and also for photography missions for the local quarry mines and Salt mines.

 

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Shown , in order, are three aircraft, GUPPY,  fully designed from the ground up and built by me, HORNBILL, built from a semi built kit, the Lanyu-100, and the third, KIWIT, an electric flyer of unconventional wing design.

 

HORNBILL is fitted with an RF tag tracking system and antenna and flew many autonomous, beyond visual range flights tracking tagged animals, especially Rhino as an aid to the National Parks anti-poaching campaign. The next trial will be with an Infra-Red camera fitted to aid the detection of poachers at night.

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Hornbill basic Specifications.

  • Wing Span - 2.4meter
  • Engine 55cc Twin Boxer.
  • Weight 15kg with 3liter gas
  • Max TOW - 17Kg
  • Endurance 1H 40minute with 0.5 liter spare @ 24m/s
  • Min safe speed 14m/s @ 16deg AoA.
  • Stall speed 10m/s @ 25deg AoA.
  • Max flight speed - 34m/s

it was a lot of fun! See the report: waterberg_report.pdf

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 GUPPY was designed from the ground up, a full 3D model developed on CAD, and designed to be made from good aircraft grade ply. However, it was built with plain Marine ply in the end, as and exercise in cost reduction. It was designed to carry  a hi resolution camera , which was subsequently flown to create geo-referenced imagery for the Quarry miners, as well as for the Salt Works.  GUPPY has tremendous STOL performance and can land/takeoff anywhere.

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GUPPY Basic Specifications:

  • Wing Span - 2.8meter Clark Y 14%
  • Wing Chord 600mm +80mm for Junker Flaperon
  • 2 Flaperon per wing, each with own servo
  • Horizontal stabiliser - 450mm each half span Clark Y 12%
  • Horizontal Stab Chord - 220mm
  • Each stab half fitted with own servo
  • Engine 100cc Twin Boxer. (3W)
  • Weight 26kg empty
  • Max TOW - 42Kg
  • Max Fuel - 8.5liter
  • Endurance 5hours with 0.5 liter spare @ 35kg @ 24m/s
  • Min safe speed 12m/s @ 20deg AoA.
  • Stall speed 10m/s @ 25deg AoA.
  • Max flight speed 42 m/s

 

 

The electric flyer was actually two Aircraft, PiPiStrello, and KIWIT. Both share wing profile type, Jedelski,  and both are V tail. Both are made fully from composite materials.

 PiPiStrello has straight wings with dihedral, and was fitted with ailerons, not normal on Jedelski wings – resulting in  excessive adverse yaw so was canned…

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KIWIT and its prototype flew many flights tool to verify the existence of a Vulture Chick in a nest in a tree out in the desert. We annually undertake a conservation mission where we currently fly in a Cessna 180, spotting Vulture nests in the Sparse Namibian desert regions. When we spot a nest, we fly closer to see if there is a chick, and if so we GPS mark the spot. Often the tree is among a dozen others, so the exact spot is 'close by'..but not easily found when we return in ground vehicles to capture, ring and tag the chick. So we used KIWIT to overfly the nearby area and find the chick again.

 

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See the article in Raptor News - (page 2) Raptor_News.pdf

 

 

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We have also perfected fully autonomous land and takeoff with KIWIT.

Have a look at these videos for the Auto Launch and land:

 https://www.youtube.com/watch?v=dOEVQG9ORuE

https://www.youtube.com/watch?v=exaabnihKhM

Kiwit Basic Specifications:

  • Wing Span : 2.4meters
  • Weight excluding payload - 3.5Kg
  • Max payload capacity - 1Kg
  • Endurance - 1hour
  • Cruise speed - 14m/s
  • Max speed - 20m/s
  • Stall speed - 6 m/s
  • Takeof in 3meters in still air.
  • All composite construction, cabon fibre and glass

And these videos for the flights of GUPPY and HORNBILL:

https://www.youtube.com/watch?v=8iC0jDPDxjc

https://www.youtube.com/watch?v=_3wELMrG3Go

https://www.youtube.com/watch?v=KwQ5QyFnFQI

https://www.youtube.com/watch?v=rdUwaeE-T5c

Have a look at the postings under Aircraft Platforms and Autopilot Hardware for more info. 

The autopilot fitted  to all these aircraft is called the 'NamPilot' and is based on multiple modules, namely:

AUTUPILOT: an AVR processor based module, 8 PWM inputs from RCS, 7 PWM outputs to servos. This module does the full flight stabilization and navigation/guidance for auto flight, and stabilization for manual flight with autostabilization - mostly used when tuning the control loops.

IMU -  Also AVR based, with 3 axis Gyro's, accelerometers and a Bosch I2C pressure sensor.

AIRDATA UNIT: Also AVR based, a smaller processor, with another Bosch I2C pressure sensor, and an analogue static pressure sensor ( Freescale) and a Dynamic pressure sensor for airspeed. (Freescale)

MAGNETOMETER: Also a smaller AVR processor, with a Honewell 3 axis magnetomet, configured in a balancing bridge circuit, ie, the null strap in the device is used to balance out the ambient magnetic field in a control loop. This gives VERY accurate performance, with almost no temperature drift at all, the bain of magnetometer performance!

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 The Ground Control Station - This is a PC based system and can be anything from a simple, reduced functionality Laptop based system, to the one depicted in the PDF files listed below. This system interfaces to a datalink antenna, with optional autotracker for the antenna, tracking theUAV in flight. It also interfaces to a dual video receiver, built into the video RX antenna. The video from the UAV camera is available in real time on the GCS, and can be recorded. A dedicated configurable Payload control panel is on the GPS operator position, allowing control of the UAV stablised camera, steering, setup, etc. All flight plans are prepared on the GCS, with a map of the flight regime, and all flight paths are shown, as well as the track flown. Numerous flight patterns can be selected, figure 8, square, straight line,  circle, loiter, point to point flight plan, etc. Aircraft control loop tuning is also done in real time, during flight, from the GCS. 

 Take a look at these PDF’s for more info:

imu_flyer_full.pdf     autop_flyer_full.pdf     gcs_flyer_full.pdf

 

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THATS IT:

This is far too much fun for just two people!!

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Comments

  • Brian,

    The ailerons are not the problem. The problem is fitting ailerons to a Jedelski wing profile. The Jedelski profile is a very special profile; the wing is 'almost' only the top curved section of the wing ( not exactly, but you should get the picture..), ie, the under side is open. The aerodymanics are very specific, and very easily upset by any tabs, flaps, etc. They simply reduce the lift and add drag, and so the adverse yaw. It is not feasable. However, the plane flies very well with only the V tail; as soon as the A/C Yaws, it rolls and so turns, very gentle and no surprises.

    Joe

  • Hi TOMTOM,

    thw datlink modem we used on Hornbill was 900MHz 500mw modem, the 9-Extend. Works well, and we get 12km line of site with a 9 element yagi aimed at the A/C.

    Lots of issues with datalinks, I am afraid, Either you must go licensed, then you can up the power of data rate, but the license free stuff is no good for what we do. The regs require that the Tx power over time be adhere to and the limitations are silly; ok I suppose in a highly popoulated area, but in the bush...

    Joe

  • Yes. I think the current UAV designs are legacy shapes from the manned era. When you redesign from scratch, there are some basic assumption that change how optimum UAVs will look and perform. For example, position of the CG relative to the Centre of Lift. Basic helicopters are inherently stable, but since the man is removed, designs can moe the CG up and reduce the frontal area. Also, tilt rotors were dangerous. I wouldn't want to be a tired pilot trying to land a 2 prop tilt rotor after 5 hours in the air. But software doesn't get tired, so the main reason tilt rotors haven't been widely adopted goes away. Lots more things as well. But you're right, it's looking like a mix of glider, pylon racer prop setup, rutan airframe config, and carbon fibre. It looks nice in my head, so looking forward to making it for real. I'm hoping to setup some production if the design is good, so will be able to sell it.
  • Actually, was me commenting on Wessie's computer.

    One problem I picked up on my GSR is excessive vibration.

    When using IC motors, the best would be rotary, (some crowd in the UK I believe), or opposed multi cylinder.

    I've just fitted a MVVS 120 twin to a Drastik, going to be my next testbed.

    Electric still is the easiest, most practical.

    But you need to go to glider tech, high aspect ratio wings, low drag, to carry payload, and get endurance.

     

  • @ Stuart,

    Tilt rotor tech is problematic.

    Rather go the conventional heli route, something like a GSR 260 gasser can easily lift 1Kg, fly at 70 Km/H, and stay in the air for long periods, if you are willing to trade payload for fuel.

    But as Joe said, conventional airframe probably is the quickest route to a functioning project.

     

  • Wonderful,  What data radio do you use ?

  • 100KM

    Fantastic job guys, stop the poaching madness!!

  • Moderator

    Great Stuff.  I've been trying to figure out what I can offer to the local AG community (of course for free and the pleasure of flying over their land).  I like the "WORK" you guys are doing and wish we in the US were able to do as you without the restrictions we currently have.

     

    I have a platform similar to the PiPiStrello.  Mine is not a V-tail.  I was wondering if you changed the type of the Ailerons you use, do you think the adverse yaw would be minimized or go away?

  • Hey guys, great work!  Very professional.

    I noticed that all your aircraft were mostly made of wood.  From my experience with wood aeroplanes, building and repairing them take lots of work and time.  What are your opinions regarding the use of foam based models for this application?  Seems to me the weight might be reduced, and the amount of work needed to build and repair them would lowered.

  • Hi Joe, thanks so much for the comprehensive answer. My plan is for a tilt rotor quad which would transition to horizontal flight really quickly, even in the initial ascent. I'm quite inspired by the setup of the pylon racers. If I can combine VTOL with 80mph cruise speed, then I should have a nice product. I'm imagining landing/recharging pads can be on hospital roofs, and the whole system could be computer controlled, with preset GPS destinations, and a go to home button on the aircraft. That's the plan, but I have plenty of work to do! I will keep you informed, and thanks again for your feedback. Really helpful. Stuart
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