en:uav
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+ | ====== Experimental construction of Unmanned Aerial vehicle ====== | ||
+ | |||
+ | |||
+ | ===== " | ||
+ | |||
+ | {{: | ||
+ | |||
+ | ==== Major improvements ==== | ||
+ | |||
+ | * More reliable bus infrastructure (CAN) | ||
+ | * More volume and weight capacity for experimental avionics and payload | ||
+ | * Adding additional control layer realised by powerfull ARM computer [[en: | ||
+ | |||
+ | |||
+ | ===== Flying wing " | ||
+ | |||
+ | {{: | ||
+ | |||
+ | |||
+ | ==== Airframe ==== | ||
+ | |||
+ | === Mechanical Construction === | ||
+ | |||
+ | |||
+ | === Virtual mathematical 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 [[http:// | ||
+ | |||
+ | {{: | ||
+ | |||
+ | == CPUs == | ||
+ | |||
+ | PPM Decoder/ | ||
+ | |||
+ | Main UAV control board is based on [[http:// | ||
+ | |||
+ | == Sensors == | ||
+ | |||
+ | == IAS == | ||
+ | |||
+ | * [[http:// | ||
+ | |||
+ | == GPS == | ||
+ | |||
+ | * [[cs: | ||
+ | * [[http:// | ||
+ | |||
+ | == Current and Voltage sensor == | ||
+ | |||
+ | Resistive current measurement sensor with analog output and voltage divider to 3,3V range [[cs: | ||
+ | |||
+ | == Altitude measurement == | ||
+ | |||
+ | Barometric [[cs: | ||
+ | |||
+ | == 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, | ||
+ | |||
+ | We would use the simplest sonar ranging method at beginning. | ||
+ | |||
+ | == IMU == | ||
+ | |||
+ | Inercial measurement unit is based on [[cs: | ||
+ | |||
+ | == Magnetometers == | ||
+ | |||
+ | Magnetic orientation will be measured by two redundant magnetic sensors modules [[cs: | ||
+ | |||
+ | === Telemetry === | ||
+ | |||
+ | Telemetry will be realized by UART ascii output in NMEA like format. [[http:// | ||
+ | |||
+ | Another considered variant is use of some more powerfull telemetry modules [[http:// | ||
+ | |||
+ | === Data logging === | ||
+ | |||
+ | Measured data will be stored in SD card. [[cs: | ||
+ | |||
+ | |||
+ | === Radio Control === | ||
+ | |||
+ | We will use the JETImodel RC receiver [[http:// | ||
+ | |||
+ | ==== Software ==== | ||
+ | |||
+ | === Ideas === | ||
+ | |||
+ | == linear algebra == | ||
+ | | ||
+ | | ||
+ | |||
+ | == realtime OS: == | ||
+ | |||
+ | * [[http:// | ||
+ | * [[http:// | ||
+ | |||
+ | Bachelor' | ||
+ | |||
+ | === Testing === | ||
+ | |||
+ | The autopilot software control algorithm will be tested by [[http:// | ||
+ | |||
+ | |||
+ | ====== Ground control 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 ==== | ||
+ | |||
+ | === Datalinks === | ||
+ | |||
+ | * [[http:// | ||
+ | |||
+ | === Programmers === | ||
+ | |||
+ | * [[http:// | ||
+ | |||
+ | |||
+ | ====== Documentation ====== | ||
+ | |||
+ | ===== Technical documentation ===== | ||
+ | |||
+ | Project files are stored in [[svn:// | ||
+ | |||
+ | In Ubuntu run this command to check out all project documents. | ||
+ | |||
+ | svn co svn:// | ||
+ | | ||
+ | ===== Project management ===== | ||
+ | |||
+ | For tasks management and supervision of their implementation we use [[http:// | ||
+ | |||
+ | |||
+ | ====== Administrative ====== | ||
+ | |||
+ | ==== People ==== | ||
+ | |||
+ | * Ivan Jerabek | ||
+ | * Jakub Kákona - kaklik@mlab.cz | ||
+ | * Marian Such | ||
+ | * . | ||
+ | * . | ||
+ | * . | ||
+ | |||
+ | |||
+ | ==== External links ==== | ||
+ | |||
+ | Other similar known projects for reference: | ||
+ | |||
+ | * [[http:// | ||
+ | * [[http:// | ||
+ | * http:// | ||
+ | * http:// | ||
+ | * http:// | ||
+ | * http:// | ||
+ | * http:// | ||
+ | * http:// | ||
+ | * http:// | ||
+ | |||
+ | === Partners of project === | ||
+ | |||
+ | Project is supported by [[http:// | ||
+ | |||
+ | ==== Law & legal issues regarding UAV ==== | ||
+ | |||
+ | [[Legislativa|Model parameters and radio transmissions limits]] (cz only) \\ | ||
+ | [[http:// | ||
+ | |||
+ | |||
en/uav.txt · Last modified: 2013/11/01 01:09 (external edit)