Construction sonar sensor model of low altitude field mapping sensors for application on a UAV

Creating a two dimensional (2D) map required a suitable position and orientation of ultrasonic sensors which must be primarily determined. The series of ultrasonic sensors are used for low-altitude mapping on pre-determined plane. A pre-determined angle must be known and calculated before it is used in the mapping. Experiment was conducted on a model with a height of 160 cm from the ground surface. Reflective sound waves that were produced from the sensors had been experimented and analyzed to cover a constructed plane. Data from the sensors was analyzed and processed to create a virtual map that nearly similar as the real pre-determined plane. The experimental results were also tested in the real environment.