Drones in Arctic Environments: Snow Change Tracking Aid using Sensor Fusion

Abstract: The Arctic is subject to rapid climate changes that canbe difficult to track. This thesis aims to provide a user case in which researchers in the Arctic benefit from the incorporation of drones in their snow ablation research. This thesis presents a way to measure ablation stakes with the help of a sensor fusion system mounted on a drone. Ablation stakes are stakes placed on a grid over glaciers in the Arctic, below the snow and ice surface, during the winter and then measured during the summer to keep track of the amount of snow that has melted throughout the mass balance year. Each measurement is given by physically going to these stakes. The proposed solution is based on estimating the heights of the ablation stakes using a forward-faced LiDAR on a servo motor and a downward-faced ultrasonic sensor. The stake height is interpreted as the highest ultrasonic distance while the forward-faced sensor system is detecting an object within 3 m distance. The results indicate that stake height estimation using the proposed concept is a potential solution for the researchers if the roll and pitch angles of the sensor system are compensated for.