MISSION PROFILE
3.1 Naming our aircraft
Astra de Wings has decided to name our drone as Horizon Hawk. The name “Horizon Hawk '' comes from the words Horizon which mean the vast and boundless expanse of the sky, showing that our drone is capable of exploring through the limitless sky and providing breathtaking sightseeing experiences. On the other hand, the word Hawk symbolises the precision flying, agility and keen observation mirroring how the hawk soaring through the sky. Our drone is capable of navigating through the sky and capturing the details of scenery. The word “Hawk” is also inspired by the symbolic statue of the hawk statue in Langkawi Island.
By combining the two words, Horizon Hawk, it shows that our drone application is not only to provide beautiful sightseeing experiences while also being able to navigate through the sky and provide fine details of the scenery. The name combines the essence of exploring the sky, precision flying and also beauty of the sky making it a perfect fit to our drone.
3.2 Mission Profile
3.2.1 Mission Operation
To give a better overview on the mission operation of our company, Figure 3.1 which the graph of operation is shown. It is to have a brief look at the whole mission procedure of our drone.
Figure 3.1 Graph of Operation
For the operation our drone will take-off from the take-off point and climb to a 106 m altitude. Upon reaching this altitude, the drone continued cruising to the targeted point near the island before descending to an altitude of 50 m. The drone descends to this altitude to give a tour around the island to the customer. The route can be changed depending on the customer request as long as it is within the designated area. After one hour of flying around the island, the drone is set to climb back to 106 m altitude and cruising back to the take-off area for descent and landing.
3.2.2 Take-Off and Landing Platform
Baca et al. (2019) wrote that it is important to possess the ability in precise landing for a UAV. Hence, an autonomous docking of UAV platforms was introduced in their article. Then, Shah Alam & Oluoch, (2021) stated that a UAV autonomous landing involves zone recognition, path planning, and obstacle avoidance during the landing. They also stated in the article, for outdoor landing platforms, there are dynamic and static platforms for the outdoor landing platform, of which we would be using the static platform in this project. Thus, the said platform should be suitable for our drone to be taking off and landing on it. Few aspects needed to be considered thoroughly for us to build an effective platform.
For this particular project, the whole team had come to an agreement in providing a sturdy and stable platform to avoid unnecessary collisions. The size of the platform should provide enough space for a stable take-off and landing process. Hence, we expected it to be around 3-4 ft in diameter depending on the drone’s wingspan. The larger the wingspan, the larger the diameter of the platform should be. Other than making it big for visibility, the colour of the platform also should be able to be identified easily using the LiDAR sensor from the drone. The platform will be highly-contrast with colour for visibility during night time or cloudy day. Then, a durable material will be used in order to withstand the weather conditions and there is soft board as the top surface of the platform. This approach is to help in protecting the drone’s equipped sensors. Last but not least, it should be portable for us to move the platform when not in use. One of the main reasons is that, when working around the seaside, there are times when high tide happens. Hence, the moving of the platform should be efficient.
Table 3.1 Design Summary
Figure 3.2 Existing platform (Schroth, 2017)
3.3 Risk Assessment and Rating
3.3.1 Aerodrome
The aerodrome consists of a designated area where aircraft take-off, land, and undergo various ground operations. It serves as a crucial hub for air transportation, facilitating the arrival and departure of flights. Aerodromes are equipped with runways, taxiways, and aprons to accommodate different types and sizes of aircraft. These facilities also include terminal buildings for passenger services, air traffic control towers for safe navigation, and maintenance areas for aircraft upkeep. Additionally, aerodromes play a vital role in economic development by fostering connectivity, trade, and tourism. They adhere to strict regulations and standards to ensure the safety and efficiency of air travel. Modern aerodromes often integrate advanced technologies to enhance navigation, security, and environmental sustainability, contributing to the global network of transportation infrastructure.
The aerodrome for Horizon Hawks is at the long beach stretch at Tanjung Rhu Beach. This beach stretch is located 20 km away from the closest airport of Langkawi International Airport which prevents the drone from interfering with commercial aircraft operations on a daily basis. Furthermore the radio frequency of 2.4-5 GHz band that will be utilised by the drone will be past the commercial radio frequency of 1030-1610 MHz. The aerodrome in Malaysia stretches 9 km of a radius surrounding the airport for operational capacity. So in terms of risk assessment, the aerodrome is safe as it is at a safe distance from our target operational location.
3.3.2 Obstacle
Birds pose a significant obstacle for fixed-wing drones due to their unpredictable flight patterns and potential for collisions. In the airspace around Pulau Kelam Baya, White-Bellied sea eagles are prevalent, attracted by the practice of bird feeding carried out by nearby individuals. These eagles occasionally fly at lower altitudes to gather food, presenting a hazard to our fixed-wing UAV operations. The presence of birds, particularly the White-Bellied sea eagles in Pulau Kelam Baya, poses a substantial risk to our fixed-wing UAV. Their erratic flight behaviour and tendency to fly at lower altitudes during feeding activities increase the likelihood of collisions with our drone. These encounters could potentially damage the drone's structural integrity, compromise its flight stability, or even result in a complete loss of control, emphasising the importance of assessing and mitigating the risks associated with avian encounters during our UAV operations in this area.
The presence of trees near our designated flight zone around Pulau Kelam Baya is also a potential risk to the safe operation of our fixed-wing drone. The Dolichandrone Spathacea, commonly known as the Mangrove Trumpet Tree, stands out among the different tree species in this area due to its exceptional height potential, capable of reaching up to 25 m tall. The sheer size of these trees poses an immediate threat to the operational safety of our drone during flight manoeuvres. The towering height of the Mangrove Trumpet Tree significantly increases the likelihood of aerial collisions and obstructions for our fixed-wing UAV. With the drone's flight path potentially intersecting with these tall trees, there is an increased risk of mid-air collisions or entanglements with branches, leading to severe damage or loss of the aircraft. Navigating around or over these huge trees requires careful and skilled piloting to reduce the chance of collision, adding complexity and possible hazards to our flight operations. The risk of UAV damage from collisions with Mangrove Trumpet Trees highlights the critical importance of careful route planning, increased situational awareness, and robust risk mitigation strategies to ensure the safe and successful execution of our fixed-wing drone operations in the designated airspace near Pulau Kelam Baya.
3.3.3 No Fly Zone and Restricted Zone
A "No-Fly Zone" is a defined area of airspace where, for security and safety concerns, operating drones or any other type of aircraft is totally prohibited. This zone, as it relates to Langkawi International Airport, covers a radius of 5 km around the airport and extends three-dimensionally from ground level to 2,000 m above sea level. Drone operations are strictly prohibited in this very restricted location. Because our designated flight operating area is located outside of the 5 km radius around Langkawi International Airport, it complies with the laws that regulate this no-fly zone, allowing for safe drone operations. Another area of regulated airspace that surrounds Langkawi International Airport is called the "Restricted Flight Zone". This area surrounds the airport in a circle that is 2 km in diameter and stretches three dimensions from the surface to 5,000 m above sea level. The CAAM controls flight operations in this region, and only authorised drone operators are allowed to fly or pass through it. Crucially, the operating range of our drone is located much outside the designated radius, guaranteeing safety and compliance outside of it. Furthermore, the designation of a "Restricted Flight Zone" is dependent not only on its proximity to airports but also on regions where crowds of over 1,000 people gather. In our situation, there are no such gatherings in nearby areas of our flight operation region, confirming compliance and safety outside of these defined zones.
3.3.4 High Risk and Populous Zone
High risk and populous zones are areas where there is an elevated risk or threat of danger for the aircraft or the nearby environment including people. These areas are generally with a large concentration of people or structures. The area surrounding the Langkawi airport is an airspace with a high volume of air traffic, increasing the risk of mid-air collisions, near misses, or congestion-related incidents. Furthermore the area surrounding the airport also has many civilian travellers and hotels with a higher population density than normal. However, Horizon Hawk’s base is 20 km further from this area to minimise these risks as much as possible.
Areas that are constantly in battle with natural disasters are also considered as high-risk zones. Langkawi in its breathtaking views generally only faces floods at elevated intervals. This type of disaster may hinder the ability of the aircraft to take-off during heavy rains and thunderstorms as well as create the inability to land if the runway stretch is flooded or contaminated. In this case it would be crucial for the UAV to be diverted to a safe landing zone that is not in a densely populated area and further from the restricted airspace of the nearby Langkawi International Airport. Horizon Hawks are focused on basing operations surrounding the Tanjung Rhu Beach. However during such an incident of adverse flooding, it is possible to divert to the closest safe zone.
The concern of private drones that are flown by tourists can be a hazard and a high risk during peak hours when there is unregulated air traffic. This is very dependent on the density of tourist population surrounding the attractions and may pose a threat of imminent disaster due to inexperienced amateur drone users. In order to overcome this obstacle, Horizon Hawks have planned to fly our UAV at a higher altitude than the standard cruise altitude of popular drones as well as to evaluate the density of the tourist population pre-flight to assess the risks related to take-off, landing and cruising. In high-risk situations there is a need to take measures such as flying at higher than usual altitudes and having an additional pilot and spotters clear the landing and take-off zones for safe manoeuvring.
Finally, the closest town from the drone operations is at Chenarong Dalam. This is a densely populated area with cafes and restaurants as well as high density buildings. This neighbourhood is approximately 6.8 km away from the Tanjung Rhu Beach and can be avoided by taking off and cruising towards the ocean side and during the return journey to circle north of Ayer Hangat in order to avoid flying within 2 km from the furthest point of the closest suburb.
Table 3.2 Risk assessment for standard operation (Scale 0 - 10, Lowest to highest)
3.4 Mission Flowchart
3.4.1 Pre-Flight Checklist
Figure 3.3 Pre-Flight Mission Checklist Flowchart
A drone pre-flight checklist is a critical exercise that helps to ensure safe and legal operation of drones. From physical checks to validation of required documents, this checklist can be used by drone pilots to prepare everything before a drone takes flight. Drone pre-flight helps reduce the risk of physical damage to injuries, flyaways, and costly lawsuits. There are several parts and components that need to be checked before the drone takes flight, this includes battery, transmitter, propeller, and landing gear. The motor and electronic speed control must be tested prior to the operation to ensure that it is working properly. The pre-flight mission checklist flowchart shown in Figure 3.3.
FLIGHT TEST REPORT
ENVIRONMENTAL CONDITIONS
AIRCRAFT CONDITIONS (PRE-FLIGHT)
DRONE MANOEUVRE CHECK (PRE-FLIGHT)
DASHBOARD FEATURES (PRE-FLIGHT)
COMMUNICATION COMPONENTS CHECK (PRE-FLIGHT)
PARAMETERS OF OBSTACLE (PRE-FLIGHT)
3.4.2 Flight Mission Checklist
Figure 3.4 Flight Mission Checklist Flowchart
During flight, the drone needs to be in excellent condition for it to be working properly. With that, several processes of flight are to be taken to ensure the mission successes and safety. The drone goes through several steps, with the first step is preparing the drone for take-off. In this step, the ground crew makes sure that the aircraft are prepared and the take-off point is clear. The aircraft then took off from the base with the desired coordinate from the proposed flight plan. During this mission, take-off and landing time are recorded based on the mission type. There are 3 types of flight missions. Waypoint flight, Waypoint and Panic Flight, and Panic Flight. After recording the time during the flight, the drone then continues to return to the base for landing when it is completed.
Flight Path/ Profile/ Distance
Planned Missions
3.4.3 After-Flight Checklist
Figure 3.5 Post-Flight Mission Flowchart
After flight operation is done, it is crucial to examine the condition of the components and the other parts of the drone to ensure optimum condition for the next flight in the future. The drone must be checked for any potential damage or crash. The battery’s condition is also monitored and if there are signs of overheating or swelling, it needs to be removed. The electronic parts must be secured properly and checked for any damage. Lastly, examine landing gear to make sure it is in good condition and safe for the next flight. The flowchart of the post-flight mission is given in Figure 3.5.
Camera Features (Post-Flight)
Aircraft’s Components ( Post-Flight)
Reporting (Technical, flight log, defect, loss of control, crash, accident etc.)
3.5 Payload
Astra De Wings improves the tourism experience in Tanjung Rhu Beach, Langkawi by implementing advanced payloads such as the GoPro Hero 10 to guarantee the unforgettable exploration through advanced imaging and precision mapping. The GoPro Hero 10 is a compact and lightweight camera with the dimensions of 71.00mm x 55.00 mm x 33.6 mm and a weight of 153 g. It will serve as a core payload in Horizon Hawk’s drone operations above the Tanjung Rhu Beach, Langkawi. In addition, its integration with the drone system consists of a specifically customised payload mounting mechanism and including a secure gimbal attachment for stability and vibration dampening during the flight operation. Hence, this attachment mechanism will guarantee that the camera maintains an optimal position and allow it to record high quality 5.3K video footage and 23 MP static photographs.
The GoPro Hero 10 not only takes amazing visuals but also enriches the tourist experience through its built-in-wifi functionality. With this fully integrated Wi-Fi capabilities, tourists may enjoy a more interactive and user-friendly experience. In addition, the built-in Wi-Fi capability provides live streaming through the FPV technology, allowing the tourist to experience the beautiful scenery of Tanjung Rhu Beach in real-time. On the other hand, the live transmission creates an immediate and immersive link to stunning landscapes. Moreover, the GoPro Hero 10 Wi-Fi capabilities enhance the ability of capturing unexpected moments during the flight. Tourists may easily shoot high-resolution photos at any location and these images are rapidly sent to the cloud storage. Hence, this not only assures the protection of their captured but also enables for rapid access and sharing. As a result, the collected photographs are simply kept in a shared Google Drive folder and enable tourists to download their flight experiences effortlessly. Thus, this networking function provides the tourist experiences in Tanjung Rhu Beach more exciting and memorable.
3.6 Area of Interests and Waypoints
We have carefully completed all necessary steps to obtain ATF permission, including the creation of a thorough "Flight Planning of Operation." As part of this thorough planning process, a map application was used to create a visual representation that shows our whole activity area as well as the zones that are assigned for UAV flight phases as shown in Figure 3.6. The region of airspace specified for all intended UAV operations, including take-off, mid-flight manoeuvres, approach, and landing, is shown by the green area. Furthermore, the yellow line marking the caution zone serves as an important barrier, marking a standby zone to ensure that the UAV remains prepared in any case of unforeseen invasion beyond this limit. This preventative measures approach seeks to maintain control and preparation in the event of an unforeseen event.
Besides, the red line represents our declared emergency border. In the event of an emergency, this boundary helps in the safe landing of the UAV or minimises the risk of ground-related hazards to people, vehicles, or buildings within this zone. The blue line on the other hand represents the outermost separation, and serves as the boundary line. This line serves as a key safety requirement, encompassing the UAVs worst-case scenario fall zone in situations after crossing through the red zone. Notably, it is critical to point out that our UAV operations will always operate inside the constraints of the defined blue line. This line of separation provides a thorough safety net, guaranteeing that our UAV activities are carried out with great care and adherence to the set boundaries, reducing risks and assuring the safety of both the UAV and its surrounding area.
Figure 3.6 Geofence Area
Table 3.3 Geofence Area
We have established waypoints for our drone to follow during its cruising phase and also the take off and landing points. Each waypoint has been carefully plotted to ensure accurate navigation, we have also set a tolerance of 5 m for the drone's proximity to each waypoint. This means that the drone will aim to stay within a 5 m radius of the designated points, allowing for precise and controlled navigation throughout the cruising phase.
Figure 3.7 Waypoints
Table 3.4 Waypoints
3.7 Flight-mode and Failsafe
Flight mode for drones is used to help pilot during the flight by adjusting the drone’s behaviour and performance that suit flight scenarios. There are several flight modes that our drone provides based on the needs and preferences of the pilot. One such mode is the altitude hold mode, which allows the drone to maintain a specific altitude set by the pilot, ensuring stable flight at a constant height. On the other end of the spectrum, the manual mode grants the pilot complete and direct control over the drone, without any assistance from automatic sensor responses. For capturing breathtaking panoramic views, the circle mode comes into play. In this mode, the drone gracefully orbits a designated point of interest, following a circular path with a radius determined by the pilot's settings. This feature allows for stunning and immersive aerial photography and videography. In case the pilot needs the drone to return to a safe location promptly, the return home mode is readily available. By activating this mode, the drone autonomously navigates its way back to its initial take-off point, ensuring a secure and hassle free retrieval. Lastly, the waypoint mode adds an element of precision and automation to the drone's flight. The pilot can predefine a series of waypoints, and the drone will follow them sequentially, with the option to set specific time intervals between waypoints. Once the mission is completed or the allocated time elapses, the drone autonomously returns to its home waypoint, streamlining complex flight missions and ensuring a seamless and controlled aerial experience.
During flight, the drone could face any errors or unexpected things could happen. Hence, our drone has a fail-safe procedure that will automatically activate when errors occur. The drone is equipped with an array of sophisticated safety features to enhance its overall flight security and reliability. One key function is the auto pitch up mode, which engages when the drone descends too close to the ground. Utilising its sensors, the drone intelligently detects its surroundings and autonomously adjusts its pitch to regain a safe altitude. However, this mode can be easily deactivated by the pilot, should they wish to capture close angles for panoramic scenes, by switching to manual mode for full control. In the event of potential catastrophic failures during flight, such as bird strikes or structural issues, the drone boasts an auto parachute deploy system. If such circumstances arise, this system springs into action, automatically deploying a parachute to prevent further damage and minimise the risk of harm to individuals on the ground. Additionally, the pilot retains the option to activate this feature remotely using the control unit, affording them an extra layer of control and safety.
Moreover, the drone is equipped with an auto return home feature that triggers in response to various critical issues, including low battery levels, signal loss, motor or servo malfunctions, sensor problems, and even firmware updates. This automatic response ensures the drone swiftly navigates back to a predetermined safe point, addressing a wide range of potential challenges that might arise during flight, thereby enhancing overall flight security. To enhance safety from the risk of collisions during low-altitude flights, the drone is fitted with obstacle avoidance capabilities. As it flies at lower altitudes, the system scans for obstacles in its path, including trees or other drones, and takes proactive measures to avoid them within its operational range. This feature contributes significantly to preventing accidents and ensuring safe and obstacle-free flights.
Auto landing execution in drone and UAVs is important to ensure safety and efficiency of drone operations especially in situations where manual control may be facing difficulties or low battery conditions. Auto landing process initiated based on predefined conditions such as low battery, user command or other triggering situations. Furthermore the drone uses its onboard navigation system, which may include GPS, inertial sensors and other positioning systems to determine its current location. The drone may give the signal to land when the battery reaches the limit of a certain percentage and the ground control system will be informed of that situation and provide feedback to the operator.
However, additional sensors or components may be used such as a visual recognition system to make sure the drone can identify and target a specific landing spot. When the drone touches the ground, the motor of the drone will shut down to safely power down the propulsion system and the drone automatically charges. After that, the drone performs post-landing actions, such as sending a completion signal, storing data, or preparing for the next mission. However, to avoid damage during landing, the drone may reduce its descent rate as it approaches the ground.
FTS is a safety mechanism developed to remotely cease the flight of an airborne vehicle, such as UAV, in the occurrence of a critical failure or deviation from the intended flight path. The purpose of an FTS is a critical safety feature to help mitigate potential risks associated with rocket launches or other aerospace activities. The specifications of an FTS can vary according to the type of drone, its mission profile and the regulatory requirements of the launch jurisdiction.
The drone’s flight is continuously monitored by a tracking system, which may include radar, telemetry and other tracking devices. To ensure the drone is following its planned trajectory, an automated system must analyse the flight data in real-time. If the drone deviates from the planned flight path or there is detected an anomaly, the decision whether to terminate the flight is typically based on pre-defined criteria and safety protocol. Once the decision is made to terminate the flight, a command signal is sent from the ground control station to the FTS on the UAV.
Furthermore, this command signal contains instructions for the FTS to initiate the termination sequence.The FTS onboard the drone activates a series of explosive charges or other mechanisms designed to destroy the drone. However, the destruction is carefully controlled to minimise the risk of debris falling onto populated areas. Lastly, the GCS receives feedback or confirmation signals from the FTS to verify that the termination sequence has been successfully executed.
