Table 1. Characteristics of the Point Grey Chameleon Camera Characteristic Resolution 1296 pixels × 964 pixels at 18 frames per second Sensor dimensions 1/3"; 4.86 mm (H) × 3.61 mm (V) Gain 0 dB to 24 dB Exposure time 5 μs to 10 s Overall dimensions and weight 40 mm × 32 mm; 37 g Power 2 W; 400 mA under 5 V tions of the GLMAV in the transient phase, one position in which the detailed observation is made, the location of the platform recovery, and the ground station. The latter is composed of a laptop for the GLMAV control and another one for the video display. Figure 1 (right) shows the GLMAV in projectile and operational modes. The ballistic launcher having a caliber of 80 mm has a mass lower than 10 kg with accessories. The final platform in the MAV configuration has an upper rotor diameter of 0.35 m, a lower one of 0.25 m, and a mass of 1.05 kg. Two operational scenarios were considered: the machine starts observing 100 m above the treatment area located 100 m or 500 m from the launch site. The flight of the GLMAV can be, therefore, split into three phases: C the classical ballistic flight of a projectile up to around its apogee; C the transient phase of the transformation of the projectile into a MAV with its slowdown up to the hovering flight; Figure 1. Photomontage of the concept of the GLMAV for detailed observation in an urban environment (left); GLMAV in projectile (middle) and operational (right) modes. OCTOBER 2017 IEEE A&E SYSTEMS MAGAZINE 39