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Experimental construction of Unmanned Aerial vehicle

Project files are stored in SVN repository (registration required). Remote access is possible by SVN client TortoiseSVN for example. Repository is public for reading, but requires account for write access. If you are interesten in contribution drop email to kaklik@mlab.cz please.

Flying wing "Samkřídlo" UAV01A

Airframe

Mechanical Construction

Aircraft type

Wing profile

Virtual model

Control System

Required features:

  • 10Hz update rate
  • Airspeed (min 16m/s, avg 22,3 m/s, max 30m/s) 600Pa max
  • Barometer (Air density, altitude)
  • Humidity sensor (Fail safe, Air density)
  • Temperature sensor (Fail safe, Air density)
  • Camera?
  • Battery Voltages, Currents (Battery gas gauge)
  • Engine power sensing, max engine current 30A.
  • GPS
  • IMU (Akcelerometers -3G to 5G)
  • Magnetometer

Hardware

Non fly prototype

Non fly prototype is build from MLAB prototyping modules. Photo

CPUs

PPM Decoder/DeMultiplexer is build from ATmegaTQ3201A populated by ATmega328 and 16MHz crystal.

Main UAV control board is based on STM32F10xRxT01A ARM microcontroller module. datasheet

Sensors

IAS
GPS
Current and Voltage sensor

Some resistive current measurement sensor with analog output and voltage divider to 3,3V range.

Altitude altimeter

Classical barometric BMP085 pressure and altimeter sensor. And GPS data.

Absolute terain altimeter

Absolute terrain altimeter is necessary for correct landing procedure. It can be resolved by several methods laser, ranging, radar ranging, camera terrain angle speed measurement, camera laser trigonometry, and sonar ranging.

We would use the simplest sonar ranging method at beginning.

IMU
Gyroscopes
Accelerometers
Magnetometers

Telemetry

Telemetry will be realized by UART ascii output in NMEA like format. Telemetry modules.

Another considered variant is use of some more powerfull telemetry modules Radiometrix modules or Laird Technologies AC4868

Data logging

Radio Control

We will use the JETImodel RC receiver JETI Duplex RSAT2 Some interesting capability of JETI Duplex technology is duplex comunication between receiver and transmitter. So telemetry download via JETI Duplex RC receiver could be possible. Old JETI Duplex V1 protocol specification

Software

Ideas

Bachelor's thesis about foundation for our control algorithms. Marián Šuch 2012

Testing

The autopilot software control algorithm will be tested by hardware in loop configuration. Where autopilot hardware will be physical but model of airplane and avionic will be numerically simulated.

Ground Station

Provedeni DGPS: Pozemni stanice bude vysilat vlastni telemetrii, ktera bude obsahovat DGPS korekce. Ty se v UAV pouziji pro vypocet polohy, ktera se opet telemetrii odesle do pozemni stanice. 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.

Hardware

Programmers

Software

Ideas

linear algebra

    • some algorithms will use quaternions to prevent gimbal lock

realtime OS:

Administrative

People

  • Ivan Jerabek
  • Jakub Kákona - kaklik@mlab.cz
  • Marian Such
  • .
  • .
  • .

Partners of project

en/uav.1382728272.txt.gz · Last modified: 2013/10/25 19:11 (external edit)