Hybrid Direction of Arrival Precoding for Multiple Unmanned Aerial Vehicles Aided Non-Orthogonal Multiple Access in 6G Networks

Unmanned aerial vehicles (UAV) have attracted increasing attention in acting as a relay for effectively improving the coverage and data rate of wireless systems, and according to this vision, they will be integrated in the future sixth generation (6G) cellular network. Non-orthogonal multiple access (NOMA) and mmWave band are planned to support ubiquitous connectivity towards a massive number of users in the 6G and Internet of Things (IOT) contexts. Unfortunately, the wireless terrestrial link between the end-users and the base station (BS) can suffer severe blockage conditions. Instead, UAV relaying can establish a line-of-sight (LoS) connection with high probability due to its flying height. The present paper focuses on a multi-UAV network which supports an uplink (UL) NOMA cellular system. In particular, by operating in the mmWave band, hybrid beamforming architecture is adopted. The MUltiple SIgnal Classification (MUSIC) spectral estimation method is considered at the hybrid beamforming to detect the different direction of arrival (DoA) of each UAV. We newly design the sum-rate maximization problem of the UAV-aided NOMA 6G network specifically for the uplink mmWave transmission. Numerical results point out the better behavior obtained by the use of UAV relays and the MUSIC DoA estimation in the Hybrid mmWave beamforming in terms of achievable sum-rate in comparison to UL NOMA connections without the help of a UAV network.

Automatic Extraction of Damaged Houses by Earthquake Based on Improved YOLOv5: A Case Study in Yangbi

Efficiently and automatically acquiring information on earthquake damage through remote sensing has posed great challenges because the classical methods of detecting houses damaged by destructive earthquakes are often both time consuming and low in accuracy. A series of deep-learning-based techniques have been developed and recent studies have demonstrated their high intelligence for automatic target extraction for natural and remote sensing images. For the detection of small artificial targets, current studies show that You Only Look Once (YOLO) has a good performance in aerial and Unmanned Aerial Vehicle (UAV) images. However, less work has been conducted on the extraction of damaged houses. In this study, we propose a YOLOv5s-ViT-BiFPN-based neural network for the detection of rural houses. Specifically, to enhance the feature information of damaged houses from the global information of the feature map, we introduce the Vision Transformer into the feature extraction network. Furthermore, regarding the scale differences for damaged houses in UAV images due to the changes in flying height, we apply the Bi-Directional Feature Pyramid Network (BiFPN) for multi-scale feature fusion to aggregate features with different resolutions and test the model. We took the 2021 Yangbi earthquake with a surface wave magnitude (Ms) of 6.4 in Yunan, China, as an example; the results show that the proposed model presents a better performance, with the average precision (AP) being increased by 9.31% and 1.23% compared to YOLOv3 and YOLOv5s, respectively, and a detection speed of 80 FPS, which is 2.96 times faster than YOLOv3. In addition, the transferability test for five other areas showed that the average accuracy was 91.23% and the total processing time was 4 min, while 100 min were needed for professional visual interpreters. The experimental results demonstrate that the YOLOv5s-ViT-BiFPN model can automatically detect damaged rural houses due to destructive earthquakes in UAV images with a good performance in terms of accuracy and timeliness, as well as being robust and transferable.

Research on a Measurement Method for Middle-Infrared Radiation Characteristics of Aircraft

Aiming at the problem wherein temperature inversion accuracy is unstable due to the major differences in atmospheric transmittance under various observation paths, a method for measuring radiation characteristics of an aircraft engine’s hot parts and skin using a cooled middle-wave infrared camera is proposed. Based on the analysis of the aircraft’s infrared radiation characteristics, the atmospheric transmission model of any observation path was revised, the absolute radiation correction model was established, and the temperature inversion equation was calculated. Then, we used the quasi-Newton method to calculate the skin temperature and discussed uncertainty sources. After the theoretical study, an outfield test was carried out. A middle-wave infrared camera with a wavelength of 3.7–4.8 μm was applied to the actual experimental observation of the turbofan civil aviation aircraft. The ground observation distance was 15 km, and the flying height was 3 km. When implementing temperature inversion with the method presented in this paper, the surface temperature of the aircraft engine hot parts was 381 K, the correction uncertainty was ±10 K, the surface temperature of the skin was 296 K, and the correction uncertainty was ±6 K. As the experiment showed, the method in this paper can effectively implement infrared target temperature inversion and provide a reference for the quantification of infrared data.

Ground Risk Assessment of UAV Operations Based on Horizontal Distance Estimation under Uncertain Conditions

In this paper a ground safety assessment model is introduced based on the probability estimation of possible impact positions when unmanned aerial vehicle (UAV) crashes on the ground. By incorporating the random uncertainties during the descending process, risks associated with UAV’s ground crash are estimated accurately. The number of victims on the ground per flight hour is selected as the indicative index to evaluate the risk levels of the corresponding ground area. We mainly focus on the analysis of uncertainties that usually appear in drag coefficient which would generate a great amount of effects on the travelled horizontal distance from the failure point to the impact point on the ground, which further influences the possible impact positions. The drag force in the air, failure velocity of a UAV, and wind effects in the local area are all considered in the proposed model, as well as ground features, including sheltering effects on the ground, UAV parameter settings, and distribution of local population. Uncertainties in drag force when a UAV descends, UAV’s initial horizontal and vertical speeds at failure point, and local wind patterns are all considered as the indispensable factors in the proposed model. Especially the probability of fatality once hit by the UAV’s debris is explored to make the safety assessment more reliable and valuable. In the end, the actual UAV parameters and official historical weather data are used to estimate the risks in a real operation environment when a failure event happens at a legal flying height. Experimental results are given based on different types of UAVs and random effects in the descent. The results show that all the operations of all kinds of UAVs selected in the validation are so dangerous that the safety of people on the ground cannot be guaranteed, whose value is much bigger than the manned aircraft safety criterion 10−7.

Identification Method of SUAV in Diving Phase Based on Flight Tests

A mathematical model of the dive phase is an important research content for improving the accuracy of terminal control in the small unmanned aerial vehicle. The acquisition of the diving model poses new challenges, such as the small installation space, ultra-low flying height of small suicide drones, short flight time, strong coupling, less observable measurement, and elastic deformation of the wings during the drone dive phase. Based on the autoregressive moving average method, a multi-input multioutput noise term topology mathematical model is proposed in this paper. Through an improved least squares identification method, the diving model in the flight test is analyzed and verified. The identification results of the diving model obtained by the proposed method are compared with the least squares method dive model. The results indicate that the mathematical model and identification method proposed in this paper can effectively obtain the parameters of the drone dive model.

Application of Photogrammetry Technique for quarry stockpile estimation

The quarrying activities is one of the largest industries in the world which supplied aggregate primarily for construction of any buildings and structures. Continuous supply of aggregates is very important to ensure the construction activities can be carried out without delays. Hence, the quarry operators consistently monitor their stockpile volume to meet the client’s demands. In most cases, the determination of available stockpile at the quarry are done by utilizing conventional method (manual measurement of the stockpile’s dimension). This approach is time consuming and sometimes required professional surveyor to carry out the task. Hence in this work, a comparative study between conventional and photogrammetry method was done to estimate the stockpile in a quarry. Drone was flying to capture the aerial images of a stockpile in the quarry. The effect of the flying height and the percentage of overlapping on the accuracy of stockpile volume was studied. Result shows at lower percent of side overlap (50%), the accuracy of estimation is better. The difference between the photogrammetry technique and conventional method only 2.5%. It can be concluded that photogrammetry technique is very reliable to be applied by the quarry operators to estimate their stockpile volume.

Drone RGB Images as a Reliable Information Source to Determine Legumes Establishment Success

The use of drones in agriculture is becoming a valuable tool for crop monitoring. There are some critical moments for crop success; the establishment is one of those. In this paper, we present an initial approximation of a methodology that uses RGB images gathered from drones to evaluate the establishment success in legumes based on matrixes operations. Our aim is to provide a method that can be implemented in low-cost nodes with relatively low computational capacity. An index (B1/B2) is used for estimating the percentage of green biomass to evaluate the establishment success. In the study, we include three zones with different establishment success (high, regular, and low) and two species (chickpea and lentils). We evaluate data usability after applying aggregation techniques, which reduces the picture’s size to improve long-term storage. We test cell sizes from 1 to 10 pixels. This technique is tested with images gathered in production fields with intercropping at 4, 8, and 12 m relative height to find the optimal aggregation for each flying height. Our results indicate that images captured at 4 m with a cell size of 5, at 8 m with a cell size of 3, and 12 m without aggregation can be used to determine the establishment success. Comparing the storage requirements, the combination that minimises the data size while maintaining its usability is the image at 8 m with a cell size of 3. Finally, we show the use of generated information with an artificial neural network to classify the data. The dataset was split into a training dataset and a verification dataset. The classification of the verification dataset offered 83% of the cases as well classified. The proposed tool can be used in the future to compare the establishment success of different legume varieties or species.

USING THERMAL AND RGB UAV IMAGERY TO MEASURE SURFACE FLOW VELOCITIES OF RIVERS

This study assesses the suitability to use RGB and thermal infrared imagery acquired from an UAV to measure surface flow velocities of rivers. The reach of a medium-scale river in Hungary is investigated. Image sequences with a frame rate of 2 Hz were captured with two sensors, a RGB and an uncooled thermal camera, at a flying height that ensures the visibility of both shores. The interior geometry of both cameras were calibrated with an in-house designed target field. The image sequences were automatically co-registered to account for UAV movements during the image acquisition. The TIR data was processed to keep loss-free image information solely in the water area and to enhance the signal to noise ratio. Image velocimetry with PIV applied to the TIR data and PTV applied to the RGB data was utilised to retrieve surface flow velocities. Comparison between RGB and TIR data reveal an average deviation of about 0.01 m/s. Future studies are needed to evaluate the transferability to other non-regulated river reaches.

HEIGHT, DIAMETER AND TREE CANOPY COVER ESTIMATION BASED ON UNMANNED AERIAL VEHICLE (UAV) IMAGERY WITH VARIOUS ACQUISITION HEIGHT

The forest inventory technique by applying remote sensing technology has become a new breakthrough in technological developments in forest inventory activities. Unmanned Aerial Vehicle (UAV) imagery with camera sensor is one of the inventory tools that produce data with high spatial resolution. The level of spatial resolution of the image is strongly influenced by the flying height of the UAV for a certain camera’s focus. In addition, flight height also affects the acquisition time and accuracy of inventory results, although there is still little research on this matter. The study aims to (a)evaluate the effect of various flying heights on the accuracy of tree height measurements through UAV imagery for every stand age class, (b).estimate the trees diameter and canopy cover for every stand age class. Stand height was estimated using Digital Surface Models (DSM), Digital Terrain Models (DTM) and Orthophoto. DSM and DTM were built by converting orthophoto to pointclouds using the PIX4Dmapper based on Structure From Motion (SFM) on the photogrammetric method to reconstruct topography automatically. Meanwhile, the tree cover canopy was estimated using the All Return Canopy Index (ARCI) formula. The results show that the flight height of 100 meters produces a stronger correlation than the flying height of 80 meters and 120 meters in estimating tree height, based on the high coefficient of determination (R2) and the low root mean square error (RMSE) value. In addition, tree canopy estimation analysis using ARCI has a maximum difference of 9.8% with orthophoto visual delineation. Key words: canopy height model (CHM), digital surface models (DSM), digital terrain models (DTM), forest inventory, UAV image

Mapping and 3D modelling using quadrotor drone and GIS software

Background The main obstacle for local and daily or weekly time-series mapping using very high-resolution satellite imagery is the high price and availability of data. These constraints are currently obtaining solutions in line with the development of improved UAV drone technology with a wider range and imaging sensors that can be used. Findings Research conducted using Inspire 2 quadcopter drones with RGB cameras, developing 3D models using photogrammetric and situation mapping uses geographic information systems. The drone used has advantages in a wider range of areas with adequate power support. The drone is also supported by a high-quality camera with dreadlocks for image stability, so it is suitable for use in mapping activities. Conclusions Using Google earth data at two separate locations as a benchmark for the accuracy of measurement of the area at three variations of flying height in taking pictures, the results obtained were 98.53% (98.68%), 95.2% (96.1%), and 94.4% (94.7%) for each altitude of 40, 80, and 100 m. The next research is to assess the results of the area for more objects from the land cover as well as for the more varied polygon area so that the reliability of the method can be used in general