Aerial Surveillance System using UAV

Zainab Zaheer1, Atiya Usmani1, Ekram Khan2, Mohammed. A. Qadeer1

1
Department of Computer Engineering,
2
Department of Electronics Engineering,
Zakir Husain College of Engineering and Technology
Aligarh Muslim University, India
{atiya.usmani, zainabz1995, ekhan67, maqadeer}@gmail.com

Abstract: — In today’s world, there is a growing need for

surveillance in order to maintain the decorum at a place and
ensure the safety and security of its people. An aerial surveillance
system will be worthwhile in this regard. This paper describes
how an aerial surveillance system can be built using an
unmanned aerial vehicle or a drone. We start by delineating the
features of our aerial surveillance system and then discuss some
of the technologies that we have used in building it. After that we
mention how we have incorporated those technologies into a
drone and have made them work together harmoniously in order
to achieve our desired aerial surveillance system. This system will
be a convenient and efficient alternative to current surveillance
systems. It can be used in peace keeping activities and also real
time monitoring of a place at any time of the day. The aim is to
provide fast and efficient surveillance at an affordable rate so
that it can be used widely at private, institutional and
governmental level.
Keywords—surveillance; drone; quadcopter; UAV; Waypoints;
live streaming;
I. INTRODUCTION
Drones can be used for surveillance for both civil and
military purposes. Police officers often have to patrol within a
city to ensure that law and order is maintained and hence
assuring the safety of the citizens. Natural disasters are
increasing at an alarming rate in the world. Every now and
then we hear in the news about an area affected by earthquake,
flood or a hurricane etc. There is a need to examine such a
disaster stricken area before undertaking necessary rescue and
help measures. Military officers often have to patrol dangerous
areas in order to search for any potential threat, illegal activity
or intrusion within the borders of a country that can put the
lives of citizens in jeopardy. Such areas involve very high risk
to human life. He has to overcome fatal natural obstacles like
steep mountain slopes, forceful water currents, hostile and
barren desert areas and other such areas.
The Aerial Surveillance System can be used easily to get
this job done without any loss of human life. Also, the speed
of operation will be faster with the drones as it can continue to
fly for days and days on end, unhindered. Thus drones are an
excellent method for doing aerial policing
An Aerial Surveillance System is basically a flying
machine that can be controlled remotely with capabilities to
transmit real time data to a control room.
A. Plan
We have outlined a plan for manufacturing our own Aerial
Surveillance System from a drone. The proposed plan states
that the project will be built in different phases. Each phase is
described below:
A.1 Phase1: Testing
In this phase, we acquire a simple drone and test its
capabilities like:
• Automatic take-off and landing, custom mission
planning with GPS waypoint navigation. This is a
necessity for sending the drone on automatic missions
and also tracking its location through GPS.
• We also want it to have the capability of returning to its
launch point or a predefined location so that in case of
loss of GPS signal or low battery, the drone would
return to a predefined location and land there
automatically.
• The machine should also be able to hover in air at one
place so that on identifying any illegal activity we can
stop the drone in its tracks and make it loiter at its
current location. Thus we will be able to focus on the
region of interest.
In this phase we will be testing this drone thoroughly to
ensure that it has desired capabilities and is fit for surveillance.
The drone will be tested in both manual and automatic mode in
order to ensure that it will serve as a good, solid foundation for
our project and we can further add new features and functions
for building our desired flying machine.
A.2 Phase2: Integration
In this phase we will add new features to the drone.
This phase is further subdivided into three sub-phases:
1. Eyes in the Sky: The main aim in this phase is to
mount a camera on our machine to get real time data on
the ground. This data can be audio, video or a location.
2. We have some performance constraints like the camera
must render good quality images. It should provide
additional options like zoom in and zoom out. It has to
be night vision compatible as most of the illegal work
is done in the darkness of the night. Also, the camera
should be cheap in order to make our whole machine
more economical and affordable.

978-1-4673-8975-4/16/$31.00 ©2016 IEEE

 3. Wings of Falcon: In this phase we plan to extend the For building our Aerial Surveillance System we are using a
outreach of our drone by coupling the drone’s camera Do-It-Yourself drone kit, namely IRIS+. The reason being,
to an LCD TV at the control room. The data acquired that it is an extremely difficult cumbersome task to build our
through the camera is analysed by an individual to spot own flying machine while a significant number of our
any illegal activity. requirements can be easily met using ready to fly drones. We
can also incorporate and attach new devices in these DIY
4. Aerial Policing: Here we will mount an alarm system drone kits in order to satisfy our remaining functional
and enable it to play pre-recorded warning messages. requirements.
These messages will be stored in a memory module and
will be played if any illegal activity is spotted It is important to note here that the IRIS+ is a very simple
anywhere. drone which does not come with a pre-installed camera; hence
it cannot be used for surveillance directly. New features that
II. BACKGROUND are required for surveillance are added to it by using other
devices and technologies.
An unmanned aerial vehicle (UAV) is an airborne vehicle
which is controlled either manually or automatically from a B. Technologies Used
ground control unit [1]. Or it can be defined as, “a device that
is used for flight in the air without an onboard pilot.” B.1 Quadcopter
This system has autopilot Pixhawk v2.4.5, Firmware
A. Past and Present of UAVs
ArduCopter 3.2 and GPS of 3DRuBlox GPS with Compass
In 1916 Americans Lawrence and Elmer Sperry created the (LEA-6H module, 5Hz update) in itself. It has V frame type
first UAV. It was the first aircraft with automatic steering. with motors of 920kV and a set of 9.5x4.5 T-Motor multirotor
Then a UAV named “Aerial Torpodo” was designed for self-tightening propellers (2 of clockwise direction and 2 of
military purposes. Its job was to carry explosive payload. After counterclockwise direction) [9].
that UAVs were used in the Vietnam War and Cold War. The
U.S. had put them to practical use in the Persian Gulf War in Its payload capacity is of 400g (i.e. about 0.8lbs). Its flight
1991. After that a lot of progress was made in development of time ranges from 16-22 minutes depending on payload. It has
military UAVs [2]. 4 arms: two blue arms in the front and two black arms in the
rear. [9]
Then under the 9 year- ERAST project (Environmental
Research Aircraft and Sensor Technology) UAVs were used
for environment observation and measurement like surveys of
ozone layer, air pollution, coastlines, wildfires, vegetation
growth etc. Helios, Proteus, Altus, Pathfinder are some of the
aircrafts that came out from this project [2].
In recent years, many new UAVs were developed as
mentioned in the “2005 Aerospace Source Book”. Some of
them are:
i) Aerosonade: It conducts weather surveys and
Fig.1. Front View of IRIS+ [9]
environmental monitoring. ii) Altus: It carries atmospheric
sampling instruments for scientific research [2]. B.2 Pixhawk
The potential of UAVs is infinite. A lot of research is being We are using Pixhawk Autopilot. It consists of various
done in order to extract maximum benefits from them. UAVs sensors and modules like the Air Pressure Module, GPS
today are mainly being used for agricultural chemical spraying Module and memory Module. The sensors include gyro,
in Japan and China, environmental monitoring, surveillance, accelerometer/ magnetometer and barometer. It consists of
and military purposes. three microprocessors and can also be connected to other
At present, there are many companies who manufacture microprocessors like Arduino or Raspberry Pi [10]. A detailed
drones, which are purchased by hobbyists. They provide diagram of Pixhawk is shown below:
various models of drones suitable for respective purposes .For
example Titan Aerospace provides Solara50 (a high-altitude
Wi-Fi Drone), AeroVironment’s model is called Hummingbird
Nano (a hummingbird shaped drone for urban surveillance),
Prox Dynamic provides Black Hornet Nano (a palm-sized
silent drone), SenseFly’s eBee, Game of Drones manufactured
by Ballistic UAV (it is the world’s toughest drone) and 3DR
drones like Solo, Iris+, X8+, Aero [8]. These are DIY or Do-It-
Yourself kits and are easily available.

Fig.2. Pixhawk [10]

B.3 Lipo Battery
The IRIS plus uses lithium polymer batteries for better
flying. The specification of a compatible battery with IRIS is
3S 5.1Ah 8C lithium polymer [9] because a 4S battery can
cause permanent damage to the gimbal electronics. Therefore,
its battery cell limit is 3S. The battery has to be monitored
while charging and is always charged inside a guard bag to
protect it from extreme heat, cold, puncturing and flammable
surfaces.
B.4 Radio Controller
The radio controller is used to maneuver IRIS in flight. It
has an antenna to establish communication link between itself
and the quadcopter and has switches to control flight modes
and directions. It also shows flight data on its LCD screen.
This controller operates on a voltage range of 10.5V to 12.6V
[9].
Fig.3. Radio Controller [9]
B.5 915 MHz Telemetery Radio Transmitter
A Telemetry radio (3DR Radio Telemetry v2) of
frequency 915 MHz [9] is used for establishing
communication between quadcopter and ground station while
planning an automatic mission. The range of this radio is up to
1km (0.6 miles) [9].
B.6 Raspberry Pi B+ Microcontroller with wireless adapter
Raspberry Pi is a cheap, single board, credit card- sized
computer. SD cards are used to store its operating system like
Debian and Arch Linux ARM [11]. It has a Broadcom system
on chip which consists of ARM compatible CPU, an on chip
GPU, 1 to 4 USB slots, HDMI and composite video output
and a 3.5 mm phono jack for audio. The speed of its CPU
ranges from 700MHz to 1.2GHz [12]. It also has an on board
memory ranging from 256MB to 1GB RAM [13]. GPIO pins
are also available to provide lower level output which support
common protocols like I2C [13]. It promotes python as the
main programming language.
B.7 Ground Station
A ground station is a software application that is needed to
plan an automatic mission. It is a platform to build and
monitor a flight. It runs on a device that is at the ground and
enables wireless communication of the UAV with this the
device. We can also see the vehicle’s performance parameters
and its current position. It can be used to set parameters like
enabling and disabling the safety button etc. A GCS can also
control a UAV in flight [14]. Overall, it acts as a virtual
cockpit.
There is a wide variety of open source ground stations
available for different platforms like UNIX, Windows,
Android and iOS. Many of them are open source. Some
ground stations are listed below [14]:
• Mission Planner (Windows, Mac OS X, Linux)
• APM Planner 2 (Linux)
• Droid Planner 3 (Android)
• MAVProxy (Linux)
• Fighting Walrus iDrone Ctrl(iOS)
III. DESIGN AND INTEGRATION OF AERIAL SURVEILLANCE
SYSTEM
A. System Overview
Our Aerial Surveillance System consists of a flying
machine or a drone as the primary component. This flying
machine is capable of autonomous flight and supports
custom mission planning through GPS waypoint
navigation. The mission is built on our laptop using
previously available ground stations like Mission Planner
and APM Planner. After building the mission it is
uploaded on the drone. To do this a 915MHz transmitter is
used for establishing connection between the flying
machine and our laptop. Once, our flying machine is in
flight we can see all the flight data like altitude and the
drone’s current location on our laptop. The laptop is acting
as a ground control station to monitor the mission.
A USB camera interfaced with Raspberry Pi is also
attached to the flying machine. A wireless adapter is also
attached to it. The Raspberry Pi is connected to a Wi-Fi
Hotspot which is on the same network as our laptop. We
are connecting to the Raspberry Pi by establishing an SSH
connection so that we can give commands to it and also
access its GUI from our laptop. The camera on the flying
machine which is also attached to the Raspberry Pi is live
streaming the video data to our laptop through this path.
This video data is further processed.
We can also make the Raspberry Pi play stored
warning messages and alarms using our laptop. Thus we
have a complete Aerial Surveillance System. (Fig.8.)
Fig. 4 System Overview
 B. Testing the Flying Machine STANDA 1st FAIL Obstac Geo fence: 100m Honed our
RD le altitude and operating
We assembled the drone-kit and began by testing the MODE inside 300m radius skills
drone. The drone was tested both in manual and auto mode. geo- from launch
The results are given in the subsequent sections. fence point
edge
B.1 Manual Mode 2nd Succes __ Successfully __
s Fig2 controlled the
The results of testing the drone in manual mode are given drone
in the table 1.1. There are two manual modes: loiter and
standard. As beginners we first started testing in loiter mode
and then moved on to the standard mode of flying. After three
failed attempts for various reasons we had the first successful
flight. The table 1 lists the outcome of these attempts i.e.,
whether success or failure, reason of failure, inference from
the outcome and the amendments that we had to make for a
successful flight.
We also tested the drone’s ability to return to its launch
point and land. This feature was necessary to test so that in
case of a failure such as low battery or GPS signal we can
make the drone land at its launch point or a predefined
location, if desired.
Fig.5. First flight in Loiter Mode (in front of AMURoboClub, Mechanical
The second mode in which we flew was the standard Engg. Dept., Aligarh Muslim University)
mode. In this mode we controlled the drone with the Radio
Controller. Maneuvering the drone was very easy, we
accomplished many successful flights. In table 1 we list our
attempts only till the first successful flight and the pictures of
our ‘drone in flight’ in both of these modes are also shown
TABLE I.
EXPERIMENT RESU REAS INFERENCE AMENDME
LT ON NT

LOITER 1st FAIL Low Inbuilt Battery Fig.6. First flight in Standard Mode (in front of AMURoboClub,
MODE battery mechanism to charged to Mechanical Engg. Dept., Aligarh Muslim University)
signal troubleshoot 100%
Battery charge=
25%, IRIS B.2 Auto Mode
returns to its In this mode, the quadcopter was made to fly through a
launch point and series of customized waypoints. These waypoints were
lands.
designed at a ground station and then sent to the drone via a
2nd FAIL Low GPS lock Tried in open connection between the two. We experimented with various
GPS required ground with ground stations as discussed below.
signal clear sky
3rd FAIL Calibra Need Calibration Hold down
We started with Droid Planner 3, an android based ground
tion F/S button station that allows us to plan and build missions. We a built a
error simple mission successfully. Then the next step was to
connect the application with the quadcopter to upload this
RC Motors __ Calibration __
Calibra armed completed
mission on it. There were five kinds of connection possible:
tion
• USB connection through telemetry radio
4th Succes __ Flight Successful __
s Fig1 • Direct USB connection
RTL & Succes __ Successful __ • TCP connection
Landin s landing at launch
g point • UDP connection
• Bluetooth connection
We tried all of them. After a few failed attempts due to
incompatible devices that did not support features like Mobile
High Definition Link (MHL) and USB on-The- Go, and
various other reasons we finally connected to the drone using
a 915MHz transmitter. The mission was then successfully
uploaded on the drone and we had our first autonomous flight.
Then many other missions were built and executed. Some of
them are shown (Fig. 11 and 12). We also executed some
problems like abrupt behavior of the quadcopter or landing a
little ahead than the actual land waypoint. But, overall it
worked well.
Fig.7.Autonomous Missions.
In order to build missions on our laptops wse then moved
on to Windows based ground Station called the Mission
Planner [15] and also experimented with APM Planner [16]
which works on Linux, Windows and MAC OS. They work
for different kinds of UAVs like plane [17], copter [18] and
rover [19] and also support simulation software like SITL
[16]. Fig.4 shows a mission built on Mission Planner.
Fig.8. Mission planned in Mission Planner
After thoroughly testing the drone we concluded that it
would serve as a good foundation for our aerial surveillance
system. It had the desired capabilities of handling real life
situations such as insufficient battery, low GPS signal, loss of
communication with the ground control station etc. The
automatic mission planning using waypoints was also quite
convenient and precise. It supported features like return to
launch or landing at a predefined location. So, we could now
confidently state that we had found a solid base for our project
on which new features will be added to make our desired
flying machine.
On completion of the testing phase, we began the
integration phase which is discussed in the subsequent
sections.
C. Interfacing Camera with Raspberry Pi and Live
Streaming Video Data to an LCD Monitor
We began by setting up the Raspberry Pi. We loaded
Raspbian, its operating system on it using 8GB class 4 SD
card. Then we attached a USB webcam and a wireless adapter
to it and powered it on. The Raspberry Pi was powered
through the drone’s battery. After that we established an SSH
connection between the Raspberry Pi and our laptop using
Putty so that we could access its GUI and command line from
our computer [17].
Next we built a Raspberry Pi webcam server. We first
downloaded and installed Motion. Motion is a software
package that examines video signal from the camera and
detects if any change has occurred in the picture or a motion
has taken place [18]. Then we edited its configuration file
[19]. We made the following modifications:
• We switched on Daemon, a computer program that
runs in the background rather than being controlled by
the user directly. This program performs stated
operations at particular intervals or in reaction to
certain events. This is done so that Raspberry Pi
camera continues capturing video data in the
background and streaming it to an LCD monitor.
• We switched off webcam localhost (Raspberry Pi) to
access the Raspberry Pi webcam from another
computer.
• Next we had set the value of webcam_maxrate to 100.
This enables real time streaming but requires more
bandwidth.
• After that we had set the framerate to 100 so that the
webcam captures 100 frames per second for an
unruffled video stream.
• At last we had set the desired width and height of the
display.
We then switched on the daemon in the motion file for the
same reasons as stated above. Finally, we gave the command
to start the motion service and checked the video stream on
our remote desktop by accessing port 8081 at the IP address of
Raspberry Pi. This completed our second and third sub-phases
as given in the ‘Plan’ at the beginning of this paper. A live
streaming example is shown below. We can see the video at
the IP address of the Raspberry Pi.
Fig.9. A live- streaming example
D. Enabling Alarm System
The next sub-phase was to enable the Aerial Surveillance
System to play pre-recorded warning messages on detection of
any illegal activity. The Raspberry Pi consists of phono jack
for audio. We can easily play audio messages using it. For features but our Aerial Surveillance System is relatively
this, we first checked whether our Raspberry Pi has cheap. There is also a provision to incorporate these features
snd_bcm2835 module (hardware abstraction layer) installed in the IRIS+ using gimbal & FPV kit but they are still costlier
for the audio I/O [20]. By default, the O/P is set to HDMI than our Aerial Surveillance System design. In table 2, we
audio interface if available, otherwise analog. We forced by present a cost analysis and comparison of our Aerial
the value of “n” in “amixer cset numid=3 n” command to 1. Surveillance System with already available surveillance
Here, n can be 0 (auto), 1 (analog), 2 (HDMI). Then, we drones and those which were installed using gimbal, FPV &
installed mpg321 (or omxplayer) package to play mp3 file and IRIS+ altogether.
executed it through command line [20]. The audio messaged TABLE II.
already stored in the Raspberry Pi & are then played when
desired. This completes final sub-phase of our project. DRONE PRICE
E. Assembling the Aerial Surveillance System
SOLO w/ Pre-Installed
$1149.95
Finally, we attached together all the components of our Gimbal in 3DR Backpack
Aerial Surveillance System, namely the drone, Raspberry Pi [21] IRIS+ $599.99
and camera. The Raspberry Pi was firmly fixed on the
[22] Tarot
backside of the drone and the camera was tightly fastened so IRIS+ T-2D $210.00
that it remains stationary. The Raspberry Pi was powered assembled Gimbal
$1174.98
through the drone’s battery. For this, we created our own
UBEC (universal battery elimination circuit) using LM-7085 [23]GoPro
$364.99
Hero 3
(Fig.13).This circuit converted the 12.6V that we were getting
from the drones battery to Raspberry Pi’s operating voltage [21] IRIS+ $599.99
i.e., 5.0 V The final view of our aerial surveillance system is Our
[24]
shown in Fig 15. proposed
Raspberry $35.00 $657.00
Aerial
Pi 2 (approx.)
Surveillan
ce System [25] USB
$21.80
webcam

Fig. 10. UBEC circuit created using LM-7085
Fig. 11. Final View of our Aerial Surveillance System
IV. COMPARISON WITH EXISTING WORK
For creating our Aerial Surveillance System, we have used
IRIS+ drone kit. IRIS+ is a very simple drone that does not
come with a camera. We have incorporated a camera and also
enabled live streaming of video data to a control room. We
have also enabled our Aerial Surveillance System to play pre-
recorded messages. All these things have been assembled by
us. There are already available drones that have all these
V. CONCLUSION
Our project can be used for surveillance in civil and
military areas. It can be used for monitoring of a campus,
office and industrial areas by various institutions, for
monitoring the borders and in peace keeping activities by the
government and can also be used to monitor private properties
by individuals. Using them for surveillance will ensure the
safety and security of not only the citizens but the soldiers as
well. The aerial surveillance system has many advantages over
the existing methods of surveillance in our country. Some of
them are listed below:
• First of all they will be faster as the drones can
continue to fly at a high speed unhindered while a
human being, even in a high speed aero plane needs
rest.
• Secondly it will be cheaper as there is no need to
deploy and pay for human resource for this task.
Further our Aerial Surveillance System is cheaper than
the existing drones too.
• Thirdly this method will be much more efficient and
less erroneous because human beings are more prone to
committing errors than machines and in this system
most of the human errors will be avoided
• It is much more convenient because many of the
natural obstacles that are faced while sending soldiers
to hostile terrains in order to check for potential threats
 will be easily overcome. Thus the life of both, the [3] Henri Eisenbeiss, “A Mini Unmanned Aerial Vehicle (Uav): System
soldier and the citizen is protected. Overview And Image Acquisition”, International Workshop on
"Processing And Visualization Using High-Resolution Imagery",18-20
Another use of an aerial surveillance system is to monitor November 2004, Pitsanulok, Thailand
disaster-stricken areas before taking necessary rescue and help [4] Peter M. Asaro, “The labor of surveillance and bureaucratized:killing:
measures. new subjectivities of military drone operators”, Social Semiotics, 2013
Vol. 23, No. 2, 196
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http://dx.doi.org/10.1080/10350330.2013.777591
VI. FUTURE WORK [5] Anuj Puri, “A Survey of Unmanned Aerial Vehicles (UAV) for Traffic
Surveillance”
Our project can be further expanded. We can incorporate
[6] Rachel L. Finn, David Wright, “Unmanned aircraft systems:
collision avoidance in our Aerial Surveillance System. This Surveillance, ethics and privacy in civil applications” , comp u t e r law
can be done by using Infrared sensors to detect obstacles. & s e c u rity rev iew 2 8 ( 2 0 1 2 ) 1 8 4 e1 9 4
Thus our Aerial Surveillance System will be able to make its [7] Richard M. Thompson II,” Drones in Domestic Surveillance Operations:
path through the hindrances and reach the destination quickly. Fourth Amendment Implications and Legislative Responses,”
Congressional Research Service 7-5700 www.crs.gov R42701, April 3,
This project can also be used for other services rather than 2013
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[15] http://ardupilot.org/ardupilot/index.htm#l
ACKNOWLEDGMENT [16] http://python.dronekit.io/develop/sitl_setup.html
[17] http://www.circuitbasics.com/access-raspberry-pi-desktop-remote-
We are indebted to Mr. Sarfaraz Alam Khan for gifting the connection/
3DR IRIS+ drone-kit to AMU Roboclub, which we have used [18] http://www.lavrsen.dk/foswiki/bin/view/Motion/WebHome
in our project. We thank him profusely and appreciate his [19] http://pimylifeup.com/raspberry-pi-webcam-server/
generosity and his passion for promoting the innovative spirit [20] http://www.raspberrypi-spy.co.uk/2013/06/raspberry-pi-command-line-
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[21] https://store.3dr.com/products/iris
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