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en:uav [2013/10/25 15:48] – kakliken:uav [2013/11/01 01:09] – [Major improvements] kaklik
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-====== Unmanned aerial vehicle ======+====== Experimental construction of Unmanned Aerial vehicle ======
  
-{{:uav_02.png?nolink&500 |}}{{:uav2.png?nolink&500|}} 
  
-Project files SVN repository is https://k222-lab11.fsik.cvut.cz/repos/UAV/ (registration required). Remote access is possible by SVN client [[http://tortoisesvn.net/downloads.html|TortoiseSVN]] for example. Repository is public for reading, but requires account for write access.+===== "Žehlička" UAV02A =====
  
-===== Airframe =====+{{:cs:designs:uav:uav2.png?direct&300|}}
  
-==== Mechanical Construction ====+==== Major improvements ====
  
-=== Aircraft type === +  * More reliable bus infrastructure (CAN) 
-== Wing profile ==+  * More volume and weight capacity for experimental avionics and payload 
 +  * Adding additional control layer realised by powerfull ARM computer [[en:odroid-x2|ODROID-X2]], other [[http://en.wikipedia.org/wiki/List_of_single-board_computers|single board computers]] variants will be available soon.
  
  
-  * [[Konstrukce]]+===== Flying wing "Samokřídlo" UAV01A =====
  
-==== Virtual model ====+{{:cs:designs:uav:uav_02.png?direct&400|}}
  
  
-===== Control System =====+==== Airframe ====
  
-{{:control_system.png?direct&600|}}+=== Mechanical Construction === 
 + 
 + 
 +=== Virtual mathematical model === 
 + 
 + 
 +==== Control System ==== 
 + 
 +{{:cs:designs:uav:control_system.png?direct&600|}} 
 + 
 +=== Required features ===
  
-Required features: 
   * 10Hz update rate   * 10Hz update rate
   * Airspeed (min 16m/s, avg 22,3 m/s, max 30m/s) 600Pa max   * Airspeed (min 16m/s, avg 22,3 m/s, max 30m/s) 600Pa max
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   * IMU (Akcelerometers -3G to 5G)   * IMU (Akcelerometers -3G to 5G)
   * Magnetometer   * Magnetometer
-==== Hardware ==== 
  
  
-=== Non fly prototype ===+=== Hardware ===
  
-Non fly prototype is build from [[http://www.mlab.cz|MLAB]] prototyping modules. {{:dev_board.jpg?linkonly|Photo}}+== Non fly prototype ==
  
-== CPUs ==+Non fly prototype is build from [[http://www.mlab.cz|MLAB]] prototyping modules. 
  
-[[PPM_demux|PPM Decoder/DeMultiplexer]] is build from [[http://wiki.mlab.cz/doku.php?id=cs:atmegatq32|ATmegaTQ3201A]] populated by ATmega328 and 16MHz crystal.+{{:cs:designs:uav:dev_board.jpg?direct&300|}} 
 + 
 +== CPUs ==
  
-Main UAV control board is based on [[http://wiki.mlab.cz/doku.php?id=cs:stm32f10xrxt|STM32F10xRxT01A]] ARM microcontroller module. {{:stm32f103.pdf|datasheet}}+PPM Decoder/Demultiplexer is build from [[en:atmegatq32|ATmegaTQ3201A]] populated by ATmega328 and 16MHz crystal.
  
 +Main UAV control board is based on [[http://wiki.mlab.cz/doku.php?id=cs:stm32f10xrxt|STM32F10xRxT01A]] ARM microcontroller module populated with STM32F103 microcontroler.
  
-=== Sensors ===+== Sensors ==
  
 == IAS == == IAS ==
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 == GPS == == GPS ==
  
-  * [[http://shop-emea.u-blox.com/abashop?s=274&p=productdetail&sku=781|u-blox LEA-6S]] module.+  * [[cs:gps|GPS01A]] module.
   * [[http://www.v-torch.com/downloadfront.do?method=picker&flag=all&id=8dc0a281-ff0f-4b87-a993-deda31ebbacb&fileId=f1cf3f67-0628-48a0-8fe2-5b32b90324be&memstate=/MemberLogin.html|VTGPSIA-3]] GPS patch antenna   * [[http://www.v-torch.com/downloadfront.do?method=picker&flag=all&id=8dc0a281-ff0f-4b87-a993-deda31ebbacb&fileId=f1cf3f67-0628-48a0-8fe2-5b32b90324be&memstate=/MemberLogin.html|VTGPSIA-3]] GPS patch antenna
  
 == Current and Voltage sensor == == Current and Voltage sensor ==
  
-Some resistive current measurement sensor with analog output and voltage divider to 3,3V range. +Resistive current measurement sensor with analog output and voltage divider to 3,3V range [[cs:iuc|IUC01A]].
  
-== Altitude altimeter ==+== Altitude measurement ==
  
-Classical barometric [[http://www.bosch-sensortec.com/content/language1/html/3477.htm|BMP085]] pressure and altimeter sensor. And GPS data.+Barometric [[cs:altimet|ALTIMET01A]] pressure and altimeter sensor. And GPS data.
  
 == Absolute terain altimeter == == Absolute terain altimeter ==
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 == IMU == == IMU ==
  
-== Gyroscopes == +Inercial measurement unit is based on [[cs:imu|IMU01A]] MLAB sensor module
- +
-  * [[http://www.invensense.com/mems/gyro/imu3000.html|IMU-3000]] +
- +
-== Accelerometers == +
- +
-  * [[http://www.analog.com/en/mems-sensors/inertial-sensors/adxl345/products/product.html|ADXL345]] +
  
 == Magnetometers == == Magnetometers ==
-  * [[http://www.freescale.com/webapp/sps/site/prod_summary.jsp?code=MAG3110|MAG3110]] + 
-  * [[http://www.google.com/url?q=http://www.honeywell.com/sites/servlet/com.merx.npoint.servlets.DocumentServlet%3Fdocid%3DD3FD254D5-CA52-839E-7C1A-93855C7E5E83&sa=U&ei=EeTfTszeOc-u8QPZxtT8BA&ved=0CAQQFjAA&client=internal-uds-cse&usg=AFQjCNGKNh9Jb6RDRMbOY4wjBbNEWdgUrg|HMC5883L]]+Magnetic orientation will be measured by two redundant magnetic sensors modules [[cs:mag|MAG01A]].
  
 === Telemetry === === Telemetry ===
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 === Data logging === === Data logging ===
  
-  * [[http://www.ust.cz/shop/product_info.php?cPath=22_32&products_id=74&language=en|SDcard01B]] - SD card module.+Measured data will be stored in SD card. [[cs:sdcard|SDcard01B]] 
  
 === Radio Control === === Radio Control ===
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 ==== Software ==== ==== Software ====
  
-[[Ideas]]+=== Ideas === 
 + 
 +== linear algebra == 
 +   
 + [[http://eigen.tuxfamily.org/index.php?title=Main_Page|Eigen]] some algorithms will use quaternions to prevent gimbal lock. 
 + 
 +== realtime OS: == 
 + 
 +   * [[http://www.chibios.org/dokuwiki/doku.php?id=start|ChibiOS]] 
 +   * [[http://www.freertos.org/|FreeRTOS]]
  
 Bachelor's thesis about foundation for our control algorithms. [[https://dip.felk.cvut.cz/browse/details.php?f=F8&d=K102&y=2012&a=suchmari&t=bach|Marián Šuch 2012]] Bachelor's thesis about foundation for our control algorithms. [[https://dip.felk.cvut.cz/browse/details.php?f=F8&d=K102&y=2012&a=suchmari&t=bach|Marián Šuch 2012]]
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 The autopilot software control algorithm will be tested by [[http://en.wikipedia.org/wiki/Hardware-in-the-loop_simulation|hardware in loop]] configuration. Where autopilot hardware will be physical but model of airplane and avionic will be numerically simulated. The autopilot software control algorithm will be tested by [[http://en.wikipedia.org/wiki/Hardware-in-the-loop_simulation|hardware in loop]] configuration. Where autopilot hardware will be physical but model of airplane and avionic will be numerically simulated.
-====== Ground Station ====== 
  
 +
 +====== Ground control station ======
  
 Provedeni DGPS: Provedeni DGPS:
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 Navigace tak bude v podstate rozdilova proti pozemni stanici.  Navigace tak bude v podstate rozdilova proti pozemni stanici. 
 To umozni snazsi definovani bodu trasy a nasledne i pripadne zjednodussi budouci moznost pristavani pobliz pozemni stanice.   To umozni snazsi definovani bodu trasy a nasledne i pripadne zjednodussi budouci moznost pristavani pobliz pozemni stanice.  
 +
 +
 ==== Hardware ==== ==== Hardware ====
  
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   * [[http://www.ust.cz/shop/product_info.php?cPath=22_23&products_id=33|ATprogISPUSB02A]] AVR micro-controller  programmer.   * [[http://www.ust.cz/shop/product_info.php?cPath=22_23&products_id=33|ATprogISPUSB02A]] AVR micro-controller  programmer.
-==== Software ==== 
  
  
-===== Administrative =====+====== Documentation ====== 
 + 
 +===== Technical documentation ===== 
 + 
 +Project files are stored in [[svn://svn.mlab.cz/svnUAV|SVN repository]] (registration required). Remote access is possible by SVN client [[http://tortoisesvn.net/downloads.html|TortoiseSVN]] for example. Repository is public for reading, but requires account for write access. If you are interested, write email to kaklik@mlab.cz please.  
 + 
 +In Ubuntu run this command to check out all project documents.  
 + 
 +  svn co svn://svn.mlab.cz/svnUAV 
 +   
 +===== Project management ===== 
 + 
 +For tasks management and supervision of their implementation we use [[http://www.mlab.cz/redmine/projects/uavs| Redmine]].  
 + 
 + 
 +====== Administrative ======
  
 ==== People ==== ==== People ====
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 +==== External links ====
  
-==== Links ==== 
 Other similar known projects for reference: Other similar known projects for reference:
  
-http://paparazzi.enac.fr/wiki/Main_Page+  * [[http://paparazzi.enac.fr/wiki/Main_Page|Paparazzi Autopilot]] 
 +  * [[http://rtime.felk.cvut.cz/helicopter/|CVUT RAMA]] 
 +  * http://pixhawk.ethz.ch/wiki/ 
 +  * http://code.google.com/p/ardupilot-mega/ 
 +  * http://www.openpilot.org/ 
 +  * http://gluonpilot.com/wiki/Main_Page 
 +  * http://code.google.com/p/gentlenav/ 
 +  * http://slugsuav.soe.ucsc.edu/index.html 
 +  * http://www.sensesoar.ethz.ch/doku.php?id=solar_airplane_design#autopilot
  
-CVUT RAMA http://rtime.felk.cvut.cz/helicopter/ +=== Partners of project ===
- +
-http://pixhawk.ethz.ch/wiki/ +
- +
-http://code.google.com/p/ardupilot-mega/ +
- +
-http://www.openpilot.org/ +
- +
-http://gluonpilot.com/wiki/Main_Page +
- +
-http://code.google.com/p/gentlenav/ +
- +
-http://slugsuav.soe.ucsc.edu/index.html +
- +
-http://www.sensesoar.ethz.ch/doku.php?id=solar_airplane_design#autopilot +
- +
-[[project_partners|Partners of the project]]+
  
 +Project is supported by [[http://www.ust.cz/|Universal Scientific Technologies s.r.o.]] development team {{ :logo_ust.png?nolink|Universal Scientific Technologies s.r.o.}}
  
 ==== Law & legal issues regarding UAV ==== ==== Law & legal issues regarding UAV ====
  
 [[Legislativa|Model parameters and radio transmissions limits]] (cz only) \\ [[Legislativa|Model parameters and radio transmissions limits]] (cz only) \\
- 
-====== Doplněk X ====== 
- 
-===== Linky ===== 
- 
 [[http://www.caa.cz/postupy-pro-vydani-povoleni-k-letani-letadla-bez-pilota|Postupy pro vydání povolení k létání letadla bez pilota na palubě (UCL)]] [[http://www.caa.cz/postupy-pro-vydani-povoleni-k-letani-letadla-bez-pilota|Postupy pro vydání povolení k létání letadla bez pilota na palubě (UCL)]]
  
  
-===== Ideas ===== 
- 
-==== linear algebra ==== 
-   *  [[http://eigen.tuxfamily.org/index.php?title=Main_Page|Eigen]]\\ 
-    * some algorithms will use quaternions to prevent gimbal lock 
- 
-==== realtime OS: ==== 
-   * [[http://www.chibios.org/dokuwiki/doku.php?id=start|ChibiOS]] \\ 
-   * [[http://www.freertos.org/|FreeRTOS]] 
- 
- 
-===== Súbory ===== 
- 
-{{:uav_doplnek_x.pdf|Doplněk X leteckého předpisu L2}} 
  
-{{:ucl_pokyny_uav.pdf|Pokyny pro vyplnění žádosti o evidenci pilota, UA a povolení k létání}} \\ 
-{{:formular_ucl_uav.doc|Formulář CAA/F-SLS-027-0/2012 - Žádost o evidenci pilota, UA a povolení k létání}} \\ 
-{{:smernica_ucl_uav.pdf|Směrnice CAA/S-SLS-010-0/2012 - Postupy pro vydání povolení k létání letadla bez pilota na palubě}} 
en/uav.txt · Last modified: 2013/11/01 01:09 (external edit)