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Fig. 2.8 General view of the manned
type mobile platform equipped with three portable
microwave radiometers, operating at the wavelengths 6, 18, and 21 cm. Also equipped with a
folding panel of 1.5 m
“
Rover
”
1.5 m for instrumentation installation along with GPS receiver, data
acquisition system and power supply battery (Shutko et al. 2010; Krapivin and Shutko 2012;
Verba et al. 2014)
×
It carries a payload of up to 6.8 kg. Basic avionics consist of a PC/104 computer,
altitude and heading reference system (AHRS), GPS receiver (WAAS-compatible),
downward pointing range
finder (ultrasonic sensor), barometric pressure sensor, and
heading-hold gyro. The standard transmitter is used as the
“
ground station.
”
The Ground Control Station (GCS) with a
fl
flight planning program
“
Way
was used with the AutoCopter
TM
. This is a self-contained Windows-based
application that unlocks the power of fully autonomous
Planner
”
flight. The program enables
mission planning in 2D using stored satellite images. Flight plans were uploaded to
the AutoCopter
TM
via data link enabling the aircraft to takeoff, climb,
fl
fl
fly its pro-
grammed route, and land fully autonomously. The programmed
flight consisted of
an autonomous launch with 16 waypoints, a climb to 30 m, followed by a transition
to forward
fl
fl
flight at a velocity of 2 m/s and auto-landing.
flight the aircraft has the ability to state data (aircraft altitude, speed, and
other parameters in real time on the GCS screen in 2D and 3D. While maintaining
airspeed, altitude and heading, 8
During
fl
fl
flight lines were
fl
flown at a distance of
500 m at
*
30 m intervals. The time it took the helicopter to
fl
fly from waypoint to waypoint
(north-south direction) was
4.5 min totaling
40 min of
fl
flight time. Because the
*
*
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