BYU ECEn

1
BYU ECEn
Cooperative Fire Surveillance Direction Finding
David Casbeer
Brigham Young University Dept. of Electrical
Computer Engineering Provo, UT 84602 email
casbeer_at_byu.edu
Department of Electrical Computer Engineering
Brigham Young University Provo,
UT 84602
2
BYU ECEn
Presentation Preview

• Purpose Describe fire monitoring research and
  How to implement acoustic direction finding

• Overview
• Fire Model
• Fire Perimeter Tracking
• Cooperative scheme
• Acoustic Direction finder overview

Department of Electrical Computer Engineering
Brigham Young University Provo,
UT 84602
3
BYU ECEn
Problem Statement

• Satellites and HALE UAVs dont provide enough

imaging time and take too long to acquire the data

• Presently satellites for fire imaging pass twice
  a day

and maps are flown in by helicopter when available

• Cheaper LASE UAV could be used cooperatively

to monitor a fire and pass data quicker to
fighters
Department of Electrical Computer Engineering
Brigham Young University Provo,
UT 84602
4
BYU ECEn
EMBYR Fire Model

• EMBRY An Ecological Model of Burning the
  Yellowstone Region

• Divide the region up into 50x50m cells

• Each cell has a fuel type (forest, grass, etc)
  and elevation

• Fire propagates according to fuel, slope, and wind

• Also, the probable effects of firebrands are
  involved.
• this helps get speed of the fire over time

Department of Electrical Computer Engineering
Brigham Young University Provo,
UT 84602
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BYU ECEn
Example Fire Simulation

• Ran 100 times, each time step is averaged to
  produce realistic results.
• There is no wind and elevation map is shown.

Department of Electrical Computer Engineering
Brigham Young University Provo,
UT 84602
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BYU ECEn
Data reduction

• Threshold the image to get only Fire edge points

Department of Electrical Computer Engineering
Brigham Young University Provo,
UT 84602
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BYU ECEn
Tracking Fire Perimeter

• Camera FOV 30 deg
• Forward looking by ?c deg
• Held in place by pan tilt gimbal
  control
• ? heading of the UAV
• h altitude in meters
• - ? h are held constant by autopilot

• View ground Df meters forward and D_r meters in
  reverse

Department of Electrical Computer Engineering
Brigham Young University Provo,
UT 84602
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BYU ECEn
Tracking Fire Perimeter

• Get linear approximation of fire edge (angle of
  slope ?)
• 2 cases

? gt 45 deg
? 45 deg
Department of Electrical Computer Engineering
Brigham Young University Provo,
UT 84602
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BYU ECEn
Tracking Fire Perimeter

• Rotate into inertial frame by

• Simulation

Department of Electrical Computer Engineering
Brigham Young University Provo,
UT 84602
10
BYU ECEn
Cooperative scheme

• Each plane will monitor a certain length of the
  perimeter

Department of Electrical Computer Engineering
Brigham Young University Provo,
UT 84602
11
BYU ECEn
Cooperative scheme

• This can be accomplished by seeking consensus
  on the length of the perimeter that a plane will
  monitor

This is done by averaging
Department of Electrical Computer Engineering
Brigham Young University Provo,
UT 84602
12
BYU ECEn
Cooperative scheme
Current Work

• Leader Distance of leader is from base to
  rendezvous, this is half the distance traveled by
  another plane. This also constrains the leader
  to stay by the base station

• Show that over time (with a growing fire) the
  frequency of updates as well as the delay of
  information to the base station improves.

Department of Electrical Computer Engineering
Brigham Young University Provo,
UT 84602