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Mobile Aerial Surveillance

System (MASS)

Henry Chan, Eric Hernandez, Derrick Shrock, and Sanjay

Yerra

University of Central Florida Department of Electrical

Engineering and Computer Science, Orlando, FL

Abstract—Surveillance is the ﬁrst line of defense against

intruders and quick detection of unwanted activity in your

vicinity can make the difference of your personal safety. The

Mobile Aerial Surveillance System (MASS) was developed in

order to provide the user with high-altitude surveillance of

an area and provide basic detection of human objects within

the rotatable camera view. MASS’s structure is our own

homemade blimp design which is large enough to support the

microcontroller, camera, servos, and motors but also designed to

provide a smooth ﬂight for the user to view the real-time video

on our C# graphical user interface (GUI) design. The blimp

movement and camera system will only be controllable through

our GUI design which needs a laptop or desktop to be plugged

into our base stations which we refer to as the Groundstation

design.

Index Terms - Surveillance, Blimp, Microcontroller,

Programming, Wireless Communication, Computer Vision,

Servomotors, Patrol Flight.

I. INTRODUCTION

The Mobile Aerial Surveillance System (MASS) is a large

blimp which has a camera system attached to it to provide the

user with a overview of their surrounding area. The potential

for the system is to give the user the ability to ﬂy overhead

with the camera system and auto-detect any people in the

area. If they want to keep surveillance on one person in the

camera view, they will be able to start tracking that persons’

movement with a click of a button on the User Interface for

the blimp system on a computer. Although the blimp is a

odd way of creating a Unmanned Aerial Vehicle (UAV), we

chose it as a more stable way of aerial video capturing the

area. More conventional ways of designing surveillance UAVs

is helicopters, quad-copters, and airplanes, but most of these

design ﬂy at high-speeds or have a unsteady structure where

the camera feed can become too unstable for image processors

to detection objects within the frame.

This project has qualities that are not only good for interest

in security, but from engineering stand point, it is also very

green because this system requires no fuel or natural resources.

The only resource it needs is the electricity to charge the bat-

teries required to power the propellers and other fundamental

parts it requires. From a personal standpoint, we as engineering

students have been studying the fundamentals for a while now.

This project will require us to not only use the skills we have

been learning through our education, but will also require us to

ascertain skills that we have to research and further investigate

in order to complete the main task at hand and not to mention

will be a great stepping stone for the key into being successful

engineers.

This papers will ﬁrst cover the components in our design

and their general purpose in our design in Section II (System

Components). The parts described are the parts we are cur-

rently testing on the blimp and are subject to change if we

cannot it to perform its function. In Section III (Implementa-

tion and Design), we will cover the functionality of our blimp

and the cool features we are putting into the programming

of the microcontroller with relation to the system components

and the Graphical User Interface (GUI) in which the user can

choose options of what they see (video feed) and how the

blimp is controlled (directional buttons).

II. SYSTEM COMPONENTS

In order to communicate between all the components in the

system we had to connect them in a certain way, Figure 1

below shows our connections between subsystems and their

label in our project.

Fig. 1: Block Diagram of Components

The main camera has to be on its own transmission

line for video feed. The communication between the two

microcontrollers has to be wireless and have a decent

range (100-400 meters) to go up in the air high enough for

suballiance. The blimp microcontroller has to interface with

the GPS, the sensor data, and control all the servo motors on

the camera and the motors. All of these components working

together give us our surveillance system and is made for us to

implement the features we want on them, such as Detection,

Tracking, and Auto-Routing.

A. Wireless Communication

The most important part of the design would have to be

the communication to our high altitude ﬂying blimp, if we

lose the connection to the blimp, it may ﬂoat away and we

would never see it again. The main functionality we wanted

the components to focus on were the ease of integration into

our microcontrollers, low power, and long range. We chose

two different frequencies to work with, the main control link

works on the 2.4Ghz band and the camera link will work

on the 5.8Ghz band, this is in order for the frequencies not

to interfere with each other. We researched into trying to

put the video and string data into the same transmission

band, but we found that the bandwidth requirement and the

control protocol to distinguish to two signals weren’t easily

implementable and would take too long for our project time

1 2 3 4 5 6 7 8

Indice de contenidos

Pagina 1 - System (MASS)

Mobile Aerial SurveillanceSystem (MASS)Henry Chan, Eric Hernandez, Derrick Shrock, and SanjayYerraUniversity of Central Florida Department of Electric

Pagina 2

frame.1) Control Link: The transmission to control driving theblimp and the camera movements is done by a 2.4Ghz RFtransceiver, this module is the NRF

Pagina 3

show a video of the blimp while too much panning will leadto see a balsa wood gondola which does the ﬂyer no goodwhen trying to survey the ground.1) C

Pagina 4

programs (the GUI). We want to interact with a computerprogram, so we added a USB connection for the computerfrom the Groundstation microcontroller. T

Pagina 5

mount it toward the front.F. Blimp Movement (Motors)The ability to control our blimp and having smooth pitchand yaw movement is crucial so the user do

Pagina 6

the blimp controller.Fig. 4: Blimp Main Controller Eagle PCB DesignA reset button is also implemented as a recovery to theboard. There are header pins

Pagina 7

for powering the motors and the perf board. There are twoDC brushless motors with electronic speed controllers thatwill be directly hooked up to the b

Pagina 8

communicate with. The ﬁnal board design is the tested perfboard design and will be housed in a box. We tested thereceived right commands of the blimp

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