MOTIVATION FOR THE PROJECT

Land Survey Using Drones

The land area is calculated using a drone (more than one is used when area to be measured is
more or time of measurement is to be reduced or both). This project mainly uses following
instruments 1. Drone 2. Fixed Base Unit 3. Variable Base Unit 4.Controller (preferably a mobile
app). The coordinates of the approximated closed polygon (boundary) needed for area
measurement are found using the above instruments. After finding the coordinates, they are
inputted into a software for area measurement. The advantage of this method is that it reduces
human labour and the time of survey is also considerably reduced.

Firstly the fixed base unit is placed inside the boundary. The drone follows the variable base unit
(VBU). The user need to carry the VBU. First point in the boundary, where VBU need to be
placed is selected randomly inside the boundary line. Then drone will calculate its position with
respect to both fixed base unit and variable base unit and using this, the coordinate of VBU with
respect to fixed base unit is calculated . Now variable base unit is moved to the next point,
either in clockwise or anticlockwise sense, and as above the point coordinates are found out.
This process is done through all points in the boundary(closed polygon). Points are selected by
following conditions 1.edges and curves (when boundary is not a straight line) 2. when distance
between two points is more. The controller is used to give commands to the drone. When area
to be measured is large,more than one drone can be used having either independent fixed base
unit or single fixed base unit. When coordinates of points is calculated with respect to different
fixed bases, one of the drone calculate these coordinates of fixed bases with respect to one
fixed base. Thus all the coordinates of the points can be converted to this fixed base.

Need of the project

Present system of land survey uses Gps but the problem with this system is that the
accuracy is limited for civilian use(accuracy of 10meters).When a large area of land is measured
then this error is negligible, but when it comes to small area measurement above 100 cents this
does really matters.Thus the use of GPS for these measurement invites error and thus not
used. In these conditions, conventional methods of chain survey and theodilite survey is used.
But this process is time consuming and needs at least two people for measurement.Thus need
of our product arises.
Need of surveying (//use appropriate word instead of mapping)

From early age onwards humans are interested in calculating the surface area of earth in
which they are living (land area and area covered by oceans separate). Which was followed by
mapping the area which was ruled by a kingdom(determining the boundary of the
kingdom),drawing land roots and sea roots,and finally drawing the map of earth in 2D called
atlas.

In atlas we take a point on earth (normally we use poles as reference) as a

reference point, with respect to which other point are mapped. Likewise in any mapping we take
a reference point (which is the known point) about which the measurements to other points are
taken.

>>

Humans have always shown interest in calculating the surface area of the earth, be it for
demarcating the land they own or for satisfying their curiosity. Over the years, we have been
successful in mapping the earth into a collection of maps called Atlas. Mapping is usually done
by finding the coordinates of a point with respect to a reference point (Poles of the earth are
usually the reference point for an Atlas).

Principle used in measurement of distance between two points

We use the same principle used in GPS (Global Positioning System). GPS use
propagation delay of electromagnetic waves to calculate distance. In our product, the
propagation delay of sound signal is used for measuring the distance. Sound signal is chosen
as the propagation delay is more for the same distance travelled. We require this condition as
accuracy of measurement of time with our system is less whereas GPS uses atomic clock to
counter this constraint, which is impractical in our case.

Distance between points = propagation delay *speed of sound in the present environment
Principle of finding the coordinates of a point with respect to other point

We measure the distance of the point(whose coordinate has to be found out)from four
transmitters of base unit(whose location/coordinate is known).

As shown in figure we use these distances as the radius of the spheres, we draw spheres from
corresponding known location(on the surface of these spheres our point of interest lies). All
these spheres intersect at a point,which is the point of interest.

//diagram of two sphere intersection

The intersection of two sphere causes a boundary to be created on which our point lies.This
boundary takes the shape of a circle.

//diagram of circle intersection with sphere (with special condition and without special case )

This circle when intersecting with third sphere creates two points(in special case). To
differentiate between these two points we use the fourth base unit distance, which intersect at
only one point.Thus locating the coordinates of the point.
Need for calibration of speed of sound at site itself

Sound requires a medium to travel unlike an electromagnetic wave which can travel through
freespace (vacuum). The speed of sound is medium dependent i.e speed of sound varies with
the medium (solid,liquid or gas). Our medium of consideration is air and here, speed depends
on humidity as well as temperature, which varies with time,location and season . And thus the
speed of sound is measured on-site while measuring distance. For this we, need pressure
sensor,temperature sensor,humidity sensor, etc.

The speed of sound formula is given by, 

γRT
V sound = √ M
 

Where, R = the universal gas constant = 8.314 J/mol K, 

​T = the absolute temperature​,  

M = the molecular weight of the gas in kg/mol ,  

γ = the adiabatic constant, characteristic of the specific gas  

  For  air,  the  adiabatic  constant,  γ  =  1.4  and  the  average  molecular  mass  for  dry  air  is  28.95 
gm/mol. This leads to  

Doing this calculation for air at 0°C gives v​sound​ = 331.39 m/s and at 1°C gives ​vsound​
​ = 332.00 m/s​. 

https://opentextbc.ca/physicstestbook2/chapter/speed-of-sound-frequency-and-wavelength/

// here we need pressure sensor,temperature sensor,humidity sensor, so add it to component

list
Need of drone in our project

//picture of our drone

The main use of drone is as a signal repeater and when there is blockage of line of sight
(building,tree,hill)between fixed base station and variable base station, it acts an intermediate
point of reference.The drone also help in extending the distance between FBU and VBU.The
further use of drone can be in aerial photography of land(which is not implemented in basic
because of cost constraints,though it can be provided as add-ons to required customers).

>>

Drone serves two purposes in our product:

● As a signal repeater.
● As an intermediate point of reference between FBU and VBU when an object blocks the
line of sight.

Drone also helps in extending the distance between FBU and VBU. Another advantage is in
aerial photography but is not implemented in our product due to financial constraints. It can be
provided as add-ons to required customers in future.

//add components list of drone and their usage

FBU consists of
1. Microcontroller
2. A RF Tx ( for syncing clock and to send to drone)
3. Four sound signal Tx
4. A signal conditioning circuit (Will include modulation and demodulation ckt)
5. Battery and regulator ckt
6. Real time clock

VBU consists of
1. Microcontroller
2. A RF Tx
3. A sound signal Tx
4. A signal conditioning circuit
5. Battery and regulator ckt
6. Real time clock

Drone consists of
1. Microcontroller
2. Rx for sound signal from VBU and FBU
3. Rx for remote controller and for clock signal[ can encode ]
 4. Tx for flight controller
5. Real time clock
6. Battery and regulator ckt
Remote Controller
1. Launchpad (Microcontroller + Some chipset)
2. A RF Tx
3. Battery and regulation ckt
4. An SD card reader

Control of drone(control unit)

//picture of control unit

Drone is controlled by using the control unit. Control unit consists of transmitter unit and drone
consists of a receiver unit. Both unit uses radio frequency for transmission of message. The
drone can either be manually controlled or automatically asked to follow the variable base unit
(along with autonomous hovering during measurement process).The base units also consist of
transmitter.

In follower mode of drone the drone has the ability of anti hitting, whereby drone can save
itself from obstructions in flight path by changing its planned course of motion. During the
measurement process the drone is made to stay at one point in space, which is a complex task.
The obstruction in planned course is detected using onboard sensor of drone.

//parts of control unit and its uses and also add components required.

Procedure implemented for measuring the area 

1. The boundary of the land under consideration is divided into finite no of points, n.
2. The points are selected such that the closed curve (boundary of land) can be
approximated using a polygon.
3. Keep FBU as the reference point.
4. Hover the drone at a suitable height.
5. Send 4 modulated sound signals sequentially from FBU to locate drone using
trilateration.
6. Send a sound signal from VBU to drone and note the distance.
7. Change the position of drone
8. Repeat the steps 3-5 four times to locate the position of the VBU.
9. Reposition the VBU and go back to step 3.
10. Repeat until the boundary points of interest are completely determined.
11. Using straight line connecting each located point on the boundary with its immediate
neighbouring points to form earlier mentioned polygon.
12. Project this polygon into an X-Y plane to find the area.

FBU

The fixed base unit acts as a reference for our measurement process.It can be either
placed inside the boundary of land under consideration or outside(preferably the space
is where clear sky is available).

//space for fig(preferable orientation)

//control unit at square centre and other stands on 4 corners of square

The Fbu set consists of a control unit which is mounted on a stand,along with RF
transmitter ,battery,real time clock and microcontroller.The other part of FBU set is 4
identical ultrasonic transmitter mounted on 4 stands which are placed at minimum
distance(//should be calculated and updated) from control unit.The preferable orientation
is as shown in fig.

All the transmitters are connected with control unit using wires.The position of these 4
transmitters act as a reference for our whole measurement process,So finding the
location of these points wrt control unit is necessary.

// write the procedure for the location of these points wrt control unit
DESIGN OF ULTRASONIC RECEIVER(//use appropriate
wordings)
// fig of ULTRASONIC RECEIVER along with top view front view and side view

The shape of ultrasonic RECEIVER is a cone, with piezoelectric crystals at its centre.These
crystals acts as receiver.The modulated signal is unmodulated in this receiver.

//write the principle of piezoelectric crystal

//write the principle of demodulation used

DESIGN OF ULTRASONIC Transmitter(//use appropriate

wordings)
// fig of ULTRASONIC TRANSMITTER along with top view front view and side view

The shape of ultrasonic TRANSMITTER is a hemisphere, with curved surface above the
stand.the curved surface consist of a no of piezoelectric crystal that act as the source of
ultrasonic sound.The ultrasonic sound is modulated inorder to transmit information.

//write the principle of piezoelectric crystal

//procedure in finding the exact location
//write the principle of demodulation used

Computer program for finding area from known coordinate of

boundary
A computer program is developed which intakes these coordinates along with information
whether the base unit is placed inside the boundary or outside the boundary.The software
shows the boundary of land in 3D space along with total area of land measured.

Encoding and decoding structure used

//sreechitra pls paste(type) the earlier photographed principle here

//also include the block diagram
Drone
//fig of drone with all the views
Drone is heart of our project.Specifically the drone used is quadcopter. Drone consists of RF
transmitter receiver, ESC,microcontroller battery and ultrasonic receiver.

VBU
//fig of vbu with all views
The VBu consist of a microcontroller, realtime clock, RF receiver and ultrasonic transmitter.The
Vbu carried manually on boundary of land and kept stationary there till measurement process is
completed for that location.

THE END