Parrot ANAFI Ai Manual
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Parrot ANAFI Ai Manual

The 4g robotic uav
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Summary of Contents for Parrot ANAFI Ai

  • Page 1 The 4G robotic UAV...
  • Page 2 Cover illustration: a computational fluid dynamic (CFD) view of ANAFI Ai, showing the static pressure distribution on the drone (right of the image), and highlighting the air vortices around the drone, at full forward speed (left of the image). v1.8...

  • Page 3: Table Of Contents

    Settings ..................................... 41 6x zoom ....................................42 Photogrammetry ............................. 43 Key features ..................................43 Designed for inspection and mapping ........................44 Harness the power of AI and 4G ..........................46 Photogrammetry or LIDAR? ............................52 ANAFI Ai – © Parrot 2021...
  • Page 4 Partner Ecosystem..........................53 Software Development Kit ........................57 Key features ................................... 57 Skycontroller 4............................68 Key features ..................................68 Operations ..................................69 Design ....................................69 Connectors ..................................69 Connectivity ..................................69 HDMI ....................................69 Battery ....................................69 Durability .................................... 69 Performances ..................................

  • Page 5: A Naturalist Remark

    It is from this system of visual perception and cerebral support emerges the cognitive functions - in this case the perceptive and conceptual functions. With this is in mind, Parrot has designed the ANAFI Ai obstacle avoidance system. Henri Seydoux Founder and CEO, Parrot Drones ANAFI Ai –...

  • Page 6: Flight Performances

    It also features a HDMI output, which allows streaming videos from ANAFI Ai. ANAFI Ai is Parrot’s new cool drone: it looks nice, it is intriguing, foldable, operational in 1 minute and resistant to rain.

  • Page 7: Actuators And Aerodynamics

    Acoustic noise is also reduced, especially on the tonal noise coming from the leading edge. Therefore, ANAFI Ai is quieter [71.5 dBSPL (A) at 1 m] than the Skydio 2 [76.4 dBSP (A) at 1 m]. •...

  • Page 8: Sensors

    All the sub-assemblies making up the UAV are checked on the production bench. o Every drone undergoes a flight test before it is packed: take-off, hovering, landing. Sensors To ensure its safe flight, ANAFI Ai is equipped with: 2 IMU (an ICM-40609-D and an ICM42605) LIS2MDL magnetometer...
  • Page 9 ANAFI Ai is also equipped with a multidirectional depth sensing system (stereo vision) described in the “Autonomous Flight” section. Sensors’ characteristics Flight IMU: ICM-40609-D 3 axes gyroscope Range: ± 2000 °/s Resolution: 16.4 LSB/°/s Bias/accuracy: ± 0.05°/s (after thermal and dynamic calibration) 3 axes accelerometer Range: ±...

  • Page 10: Autopilot

    Autopilot Key features The ANAFI Ai flight controller offers an easy and intuitive piloting: no training is required to fly it. It allows the automation of many flight modes (Flight Plan, Cameraman, Hand take-off, Smart RTH). Sensor fusion algorithms combine the data from all sensors to estimate the attitude, altitude, position and velocity of ANAFI Ai.
  • Page 11 In parallel, control will adjust the drone speed to get out of the saturated motor condition while following at its best the guidance command. Indoor flight In the absence of GPS signal, ANAFI Ai relies mostly on the vertical camera measures for velocity and position estimation. Vertical camera measures are given by two main algorithms.

  • Page 12: Autonomous Flight

    Vertical camera algorithms are still able to run in low light conditions thanks to the fact ANAFI Ai is equipped with a pair of LED lights, located next to the vertical camera. These allow the drone to keep stability, especially when flying indoors or in a GPS-denied environment, below 5 m over the ground.
  • Page 13 ANAFI Ai relies on a unique technical solution based on two mechanical gimbals to decouple the orientation of the main camera and the perception system: • the main camera is mounted on a pitch-roll-yaw 3-axis gimbal making its 3D orientation independent from that of the drone •...
  • Page 14 Sensors The perception system relies on a pair of identical cameras, sharing the same pitch axis. Single axis pitch gimbal of ANAFI Ai's perception system The specifications of the sensors are the following: • Model: Onsemi AR0144CSSM28SUD20 • Color: monochrome •...
  • Page 15 300 ms The perception system benefits 311° of travel (296° unmasked by the drone body), which allows backward perception. Instantaneous vertical field of view and end stops of ANAFI Ai's perception system The system has been designed so that: •...
  • Page 16 Horizontal field of view of ANAFI Ai's perception system When tilted backward, the perception system rotates high up, offering a clear view. ANAFI Ai's perception in fully tilted position for backward flight v1.8...
  • Page 17 ANAFI Ai performing crab flight, orienting its perception system in a useful direction while pointing its main camera in the specified recording direction A simpler strategy is applied for take-off and landing phases: •...
  • Page 18 During take-off and landing phases, ANAFI Ai's perception system is oriented vertically Environment reconstruction The reconstruction of the surrounding 3D environment for autonomous flight is performed in two steps: • extraction of depth information from the perception, as depth maps •...
  • Page 19 The depth map is updated at 30 Hz. Example of image captured by the right camera of ANAFI Ai's perception system (left) and the corresponding depth obtained by stereo matching (right). The color map goes from red (closer) to purple (far) – white meaning “out of reach”...
  • Page 20 Knowing the pose at which each frame was taken, points corresponding to a same feature in the different images can be triangulated and put back in 3D. This results in a 3D point cloud, containing up to 500 points for ANAFI Ai, generated at 10Hz. v1.8...
  • Page 21 Example of point cloud produced through depth from motion – the color map goes from red (closer) to purple (far) The depth from motion algorithm in ANAFI Ai usually generates less information (sparse point cloud) than the stereo matching algorithm and requires the drone to be moving to gather information.
  • Page 22 Example of occupancy grid. The voxels with a high confidence of occupation are superimposed to the view of the right stereo camera, with a color going from red (close) to purple (far). The occupancy grid constitutes the base for the motion planning algorithms used by ANAFI Ai for autonomous flight and obstacle avoidance.

  • Page 23: Flight Missions

    Every 30 ms, ANAFI Ai predicts what the nominal trajectory to follow will be over a short time horizon in the future. This prediction is deduced from the references sent by the user, whether it be piloting commands from the hand controller, waypoints to join for flight plan or an input trajectory.
  • Page 24 The missions developed internally by Parrot and available in FreeFlight 7 are described in the FreeFlight 7 section. The main one is the Default mission. Custom Flight missions can write new behaviors or reuse them from the Default mission. Default Mission Take-off We have developed two behaviors, a normal take-off mode and a hand take-off mode.
  • Page 25 Target proposals are displayed on the screen. The user selects the target on the screen according to 2 possibilities: • the user selects a target among those proposed • the user draws a rectangle to define a target ANAFI Ai – © Parrot 2021...
  • Page 26 Automatic target proposal / target selection Once the target is selected, the front camera automatically adjusts its attitude in order to keep it framed by means of visual tracking. The user can give the drone pitch, roll and vertical piloting commands to make it move around the target (the drone yaw angle is locked aligned with the front camera yaw).
  • Page 27 The convolutional neural network identifies objects in the scene and recognizes them regardless of their silhouette. This network is optimized on a base of Parrot images from our drones for a high level of reliability. The network is able to detect different classes of objects such as: people, cars, bikes, motorcycles, boats, animals (cow, dog and cat), etc.
  • Page 28 • Point of interest The maximum achievable speeds are: • horizontal - without obstacle avoidance: 12 m/s (43 km/h - 27 mph) • horizontal - with obstacle avoidance: 8 m/s (29 km/h - 18 mph) • ascending: 4 m/s (14 km/h - 8 mph) •...
  • Page 29 The vehicle position is then predicted according to its speed and direction to optimize the distance and the path to travel. ANAFI Ai – © Parrot 2021...

  • Page 30: Hybrid Stabilization

    Hybrid stabilization The ANAFI Ai camera has the most accurate stabilization of the micro-UAV market. It combines a double stabilization: • 3-axis with the mechanical gimbal • 3 axis with electronic stabilization (EIS) The mechanical stabilization stabilizes the camera's aiming axis regardless of the drone's flight attitude.

  • Page 31: 292° Tilt Range

    292° tilt range The camera can tilt vertically by -116/+176° around the pitch axis, providing observation above and below the drone. This is a unique capability in the micro-UAV market. ANAFI Ai – © Parrot 2021...

  • Page 32: 4G Connectivity

    • In-flight cloud file transfer ANAFI Ai integrates a Fibocom L860-GL 4G LTE module (in addition to the Wi-Fi radio) allowing to transmit a video in 1080p with a very low latency (300 ms) without range limit and everywhere in the world.
  • Page 33 Remote control drone connection in 4G ANAFI Ai connects to the 4G remote control in less than 30 seconds when the drone is not in Wi-Fi range, and in less than 15 seconds when the drone is in Wi-Fi range.

  • Page 34: Wi-Fi

    ANAFI Ai has a channel avoidance algorithm (dual band 2.4 GHz and 5 GHz) in case of interference detection. Bandwidth reduction At the limit of its range and if the conditions allow it, ANAFI Ai can switch to 10 MHz bandwidth to improve its sensitivity by 3 dB and gain 40% in range. v1.8...

  • Page 35: Video Streaming

    The H.264 stream is tuned to minimize the impact of packet loss on the radio network, and to avoid network congestion. Error propagation due to inter-frame prediction is also minimized. The algorithm combines the following methods: ANAFI Ai – © Parrot 2021...
  • Page 36 The following graphs illustrate the rate of success in decoding macroblocks, for a network loss rate of 5% - with and without ANAFI Ai’s advanced streaming functions. The algorithm ensures a correct decoding for 75% of the macroblocks. Those enable the user to carry on with his mission without screen freeze or streaming loss.

  • Page 37: Camera

    Even difficult scenes can be captured with minimal highlight blowout or loss of detail in shadows. Lens design The ANAFI Ai lens is specifically designed for Parrot. It integrates 6 aspherical elements and has been optimized for low optical flare.

  • Page 38: Video Modes

    Video modes Description of modes ANAFI Ai shoots smooth 4K 60 fps video, including in P-Log, as well as HDR10 4K videos up to 30 fps. The following table summarizes all ANAFI Ai video modes. Default values appear in bold.

  • Page 39: Hdr

    When recording videos in HDR8 and HDR10, ANAFI Ai covers a 14 EV dynamic range. The HDR10 format allows for a maximum brightness of 1,000 nits and 10 bits color depth. It provides a billion-color palette, against 16 millions for Standard Dynamic Range. Compared to HDR8, HDR10 allows for an image that is over twice as bright, with a matching increase in contrast.
  • Page 40 Refer to this table for details of Panorama output properties: Timelapse mode: This mode allows taking pictures at the following fixed time intervals: • 48 MP: 1, 2, 4, 10, 30 or 60 seconds • 12 MP: 0.5, 1, 2, 4, 10, 30 or 60 seconds GPS Lapse mode: This photo mode has been designed for inspection and photogrammetry.

  • Page 41: Settings

    Settings The following table summarizes the available settings for each mode. ANAFI Ai – © Parrot 2021...

  • Page 42: 6X Zoom

    Zoom is available in all photo and video modes. Combined with the 48 megapixels sensor, precise sharpening algorithms enable high definition still images, even when using the 6x digital zoom. ANAFI Ai users are now able to see 1 cm details at 75 m.

  • Page 43: Photogrammetry

    4G brings an unprecedented robustness to the drone data link. Our customers can operate their drones in large areas, near metallic structures, buildings, without losing the connection. Positano, Italy – modelled with ANAFI Ai ANAFI Ai – © Parrot 2021...

  • Page 44: Designed For Inspection And Mapping

    Our sensor allows to capture highly detailed images with a wide dynamic range. High resolution stills • ANAFI Ai generates 48 MP still photos, so customers can capture all details in high definition and generate high density point clouds. Great sharpness •...
  • Page 45 The ANAFI Ai gimbal embeds a 6-axis hybrid (mechanical + electronic) stabilization system, which compensates the flight vibrations and guarantees sharp images. -AXIS STABILIZATION ANAFI Ai’s camera has a controllable range of -90° to +90°, making it the ideal aerial tool for ± inspecting the underside of a bridge deck.

  • Page 46: Harness The Power Of Ai And 4G

    Survey-grade accuracy ANAFI Ai allows users to reach a 0.46 cm/px GSD at 30 m, meaning a relative accuracy in planimetry to within 0.92 cm. For comparison, at the same altitude, the DJI Phantom 4 Pro v2 only delivers a GSD of 0.82 cm/px.
  • Page 47 Machine learning algorithms recognize antennas on cell towers, and extract their dimensions, height, downtilt, azimuth and plumb. Click the images below to explore demo 3D models. ANAFI Ai – © Parrot 2021...
  • Page 48 Autonomous flight ANAFI Ai’s omnidirectional sensing system, based on stereoscopic vision, is automatically oriented in the drone’s direction of movement. The drone detects obstacles located at 30 m (100 ft). While performing a flight plan, Artificial Intelligence technology continuously builds and updates an occupancy grid.
  • Page 49 Inspection of high-voltage power lines Captured by ANAFI Ai, processed by PIX4Dmatic - scene size: 4060 x 60 x 70 m (13,320 x 200 x 230 ft) – 2,172 images GSD: 1.3 cm/px – altitude: 90 m (295 ft) – front / side overlap: 90% / 65% The drone seamlessly switches from Wi-Fi to 4G, and vice versa, favoring the strongest connection.
  • Page 50 • sensors, while reaching the same GSD. Higher altitude and faster mission go hand in hand. Photo capture at 1 fps: ANAFI Ai shoots twice faster than Autel EVO 2 and DJI Phantom 4 Pro v2. • In-flight 4G transfer to PIX4Dcloud In the process of creating a digital twin from UAV aerial imagery, file transfer and photo processing are two time-consuming tasks.
  • Page 51 PIX4Dcloud Online professional image processing PIX4Dmapper Advanced data processing software PIX4Dscan Flight planning for telecom tower inspections PIX4Dinspect Industrial inspection automation and asset management PIX4Dreact Offline 2D mapping for emergency response and public safety ANAFI Ai – © Parrot 2021...

  • Page 52: Photogrammetry Or Lidar

    Photogrammetry or LIDAR? Why you should choose photogrammetry for surveying and inspections Aside from its affordability and ease of use, aerial photogrammetry is your best choice when a visual interpretation of data is needed. Photogrammetry indeed: provides multiple renderings: orthomosaic maps, colored point clouds, textured mesh •...

  • Page 53: Partner Ecosystem

    They are part of our Ecosystem: PIX4D 2D/3D modeling applications: a unique suite of mobile, desktop and cloud photogrammetry applications https://www.pix4d.com DroneSense DroneSense is the most complete drone management and collaboration platform for public safety. https://www.dronesense.com ANAFI Ai – © Parrot 2021...
  • Page 54 An intelligent video, image, and sensor data platform: manage large volumes of 360° video, imagery, geospatial and time-based data with ease, see the complete picture from land, air, and sea on interactive map. https://www.survae.com/parrot/ DroneLogbook Comprehensive management platform: DroneLogbook is the industry leader for automating importing flight logs.
  • Page 55 SAR survey planning tools with custom elevation data import and terrain following mode. https://www.ugcs.com High Lander Highlander industry-leading fleet management platform, Mission Control, provides drone fleets with autonomous flight, intelligent airspace control, and coordinated air continuity. https://www.highlander.io ANAFI Ai – © Parrot 2021...
  • Page 56 Rapid Imaging Rapid Imaging is a situational awareness technology provider delivering products leveraging geospatial augmented reality and artificial intelligence to Government and Enterprise Customers. https://www.rapidimagingtech.com/ AirData AirData UAV is the largest online fleet data management and real-time flight streaming platform. It offers full-spectrum drone management that includes pre and post-flight data analysis.

  • Page 57: Software Development Kit

    Process video and metadata with PdrAW Parrot Software Development Kit is a set of tools and open-source software for developers. Since the first A.R. Drone, open-source is at the heart of our platforms and developer tools, and Parrot continually contributes to the open-source community.
  • Page 58 Run your code on ANAFI Ai Air SDK provides a breakthrough technological architecture to load and run code directly on ANAFI Ai. Developers can program custom-designed flight missions with access to all drone sensors, connectivity interfaces, and autopilot features. Air SDK give onboard access to: •...
  • Page 59 Air SDK software architecture ANAFI Ai – © Parrot 2021...
  • Page 60 Ground SDK is a Ground Control Station (GCS) framework for mobile devices (both iOS and Android are supported). It allows any developer to create a mobile application for ANAFI Ai, controlling the drone directly from the mobile device. All the features of the aircraft (control, video, settings) are accessible through an easy-to-use and fully documented API.
  • Page 61 Open-source ground control station For the first time, Parrot is open-sourcing its ground control station application. OpenFlight is the open-source core of our acclaimed FreeFlight 7 application. As a developer, you can focus on adding your own features and will immediately get a professional-looking App ready to be published on the application stores.
  • Page 62 Parrot Sphinx is a state-of-the-art drone simulation tool. Parrot engineers use it to develop and test all the features of ANAFI Ai. The general concept is to simulate the real drone firmware, with all its sensors, in a visually and physically realistic environment.
  • Page 63 ANAFI Ai in the Sphinx simulator ANAFI Ai – © Parrot 2021...
  • Page 64 Use Python to control ANAFI Ai Olympe provides a Python controller programming interface for ANAFI Ai. The original purpose of Olympe is to interact with the simulation environment Sphinx. Olympe can also control a physical ANAFI Ai from a remote computer.
  • Page 65 Advanced media player PdrAW is an advanced video viewer for ANAFI Ai media. The viewer supports both streamed (RTP/RTSP) and recorded (MP4) videos, on Linux, macOS, Android, and iOS platforms. PdrAW comes as a library (libpdraw), a wrapper library (libpdraw-backend), and a standalone executable (pdraw).
  • Page 66 C.A.D. Models We make available 3D models of our drones to integrate into your CAD project for rapid prototyping and accessories integration. ANAFI Ai 3D model in C.A.D. software Get ANAFI Ai C.A.D. model on Parrot Developer Portal. v1.8...
  • Page 67 ANAFI Ai is compatible with the open-source standard MAVLink v1 protocol, allowing for real-time data exchange between the UAV and a control station. ANAFI Ai can be flown manually or using automatic flight planning from MAVLink compatible base station, such as QgroundControl.

  • Page 68: Skycontroller 4

    2h30 autonomy (over 4 ANAFI Ai batteries flight time) • Dust resistant: IP5X • 4G compatible (with a SIM card in ANAFI Ai) The Skycontroller 4 remote control shares ANAFI Ai’s visual identity. Combined with FreeFlight 7, it is designed for performance and comfort of use. v1.8...

  • Page 69: Operations

    No maximum range in 4G mode HDMI The video stream from ANAFI Ai is decoded directly by the Skycontroller 4 and it can be broadcast in real time (1080 p, 30 fps), through the HDMI output, to a screen or to FPV goggles.

  • Page 70: Performances

    Performances Maximal range: 4 km (CE), 9 km (FCC) Maximal compatible device size: 210x135 mm Charging time: 2 hours Autonomy on a single charge: 2h30 (keeping the device charged) Video output: micro-HDMI Dimensions: 238 x 147 x 55 mm Mass: 606 g Quality •...

  • Page 71: Smart Battery

    3 x LiPo Capacity: 6800 mAh Charger: Embedded USB-C Durability: 96% capacity after 300 charge/discharge cycles Storage temperature range: -20°C to 40°C Charging temperature range: 10°C to 40°C Operating temperature range: -10°C to 40°C ANAFI Ai – © Parrot 2021...

  • Page 72: Functions

    Smart charging With its embedded 45 W charger, ANAFI Ai’s battery can be charged easily and quickly through any USB-C adapter. The battery is 3.0 USB-PD (Power Delivery) compatible. This protocol enables a full charge in 150 minutes.

  • Page 73: Quality

    Parrot performs random X-ray and tomography controls on samples, to check the quality of the cells (folding, connectors). • If users choose to share their data with Parrot, their ANAFI Ai batteries’ state of health is transferred to Parrot’s cloud for support and statistics purposes. ANAFI Ai – © Parrot 2021...

  • Page 74: Cybersecurity By Design

    1-Click deletion of all data so that users keep control very easily. It’s a matter of 1-Click in the FreeFlight7 mobile App or in the privacy settings of their Parrot.Cloud account. Thus, users may not only stop sharing data at any time, but they can also ask for data deletion very easily.
  • Page 75 The Secure Element protects the integrity of the embedded software, provides a unique identity to the drone for 4G pairing and strong authentication, and features a unique digital signing of the pictures taken by the drone. ANAFI Ai – © Parrot 2021...

  • Page 76: 4G Secure Pairing And Strong Authentication

    ANAFI Ai automatically connects in 4G. ANAFI Ai does a strong authentication on Parrot servers, using its private key stored on the Secure Element. Parrot servers look for the associated users and enables pairing between ANAFI Ai and the Skycontroller 4.

  • Page 77: Configuring User Keys On The Secure Element

    Users can configure into the Secure Element the public keys of the flight mission providers they choose to trust. ANAFI Ai will only run flight missions which are digitally signed with these keys. This process prevents an attacker from running malicious flight missions on the drone.
  • Page 78 The private programs initially gives exclusive access to selected security researchers and includes future Parrot drone models. The expertise and diverse skills of the researchers will confirm the high level of security of the products before they are marketed, for the greater benefit of Parrot users' security and the protection of their data.

  • Page 79: Data Management

    Data management Parrot’s cloud enable users whom have chosen to share their data to manage their flight and fleet data, as well as the media taken by their drones. Data collected Our cloud collects data from ANAFI Ai, from its battery, from the Skycontroller 4 and from FreeFlight 7.
  • Page 80 Skycontroller 4 data • Static data: • Serial number • Firmware version • Hardware version • Events data: • Button activation • Connection status • Telemetry data: • At 1 Hz: joystick commands (roll, pitch, yaw, speed) radio tx/rx count, battery level Smart battery data •...

  • Page 81: Final Use Of Collected Data

    Preventive maintenance: our tools collect all information relevant to missions (mission type, time of take-off and landing, missions count, drones’ locations, flight speed, Flight Plan and AirSDK settings). This offers us an accurate real time status of ANAFI Ai drones fleet (as well as their controllers and batteries).

  • Page 82: Pack

    1 additional set of propeller blades 1 gimbal protection Documentation Charger Parrot provides an international (interchangeable plugs, compatible with the main US/EU/UK standards), twin USB-PD charger It allows you to charge both ANAFI Ai and the Skycontroller 4 batteries in less than 3 hours. v1.8...

  • Page 83: Appendix: Certification Documents

    As of November 12 , 2021, the following certification documents, pertaining ANAFI Ai, the Parrot Skycontroller 4 and their respective components, are available online – right-click on document to open in a new tab or window. ANAFI Ai and components: ANAFI Ai European Union Declaration of Conformity ANAFI Ai Declaration of FCC &...
  • Page 84 PARROT DRONES SAS RCS PARIS 808 408 074 - 174 quai de Jemmapes, 75010 PARIS – France Parrot and the Parrot logo are trademarks of Parrot SA. ANAFI and Parrot Skycontroller are trademarks of Parrot Drones SAS.

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