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Unmanned aerial system for use in environmental monitoring of water body wave motion

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conference contribution
posted on 12.03.2020, 11:10 authored by Steve Lloyd, Paul LepperPaul Lepper, Simon Pomeroy
This paper details the research conducted on an open source flight controller for the use of monitoring surface and wave motion of water bodies. Testing was preformed on an industrial FANUC robotic arm, where a Pixhawk 2 was tested using pre-preprogrammed circles of varying sizes to mimic the amplitude of sinusoidal waveforms. Results show good to excellent comparability between the circle radii programmed, and the calculated displacement from the Pixhawk's reported acceleration. This was achieved through the use of Fourier Transforms, filtering and integration of the acceleration logged by the Pixhawk during tests. Such a system is envisaged to be used in the reduction of flow noise a hydrophone experiences from surface deployments, where real time monitoring of the surface would raise and lower a deployed hydrophone in the water column to reduce or eliminate flow noise. Further to this, this system could be used for an early warning tsunami detection system, which could compliment systems already deployed, as well as being a cost effective solution for areas where no systems are currently in place.


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  • Mechanical, Electrical and Manufacturing Engineering

Published in

OCEANS 2019 - Marseille


OCEANS 2019 - Marseille




AM (Accepted Manuscript)

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Publisher statement

© 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

Publication date


Copyright date







Marseille, France

Event dates

17th June 2019 - 20th June 2019


Dr Paul Lepper. Deposit date: 11 March 2020