Cooperative Guidance and Navigation of UAS for Common Midpoint Radar Remote Sensing

This paper presents a software architecture for performing snow water equivalent (SWE) measurements remotely using Common Midpoint Radar (CMR) and two Unmanned Aerial Vehicles (UAV). CMR enables remote sensing of snow dielectric constant, and when combined with snow depth measurements, allows for estimation of SWE in snow covered areas. This paper discusses the development of a custom graphical user interface (GUI) ground control station (GCS) that was used for performing cooperative flight operation with two UAVs for CMR measurements. It presents the software architecture of the GCS which enables command and control, realtime telemetry, planning, and tracking of multiple vehicles in a network. It also introduces aspects of flight planning and antenna gimbal system used in CMR operation. Preliminary results from Ardupilot software-in-the-loop (SITL) simulations and initial flight tests are also presented.