UNMANNED AERIAL VEHICLE

Girija sankar dashEMBETICS SOLUTIONS

INTRODUCTION TO UAV

THE QUAD-COPTER THEORY

HARDWARE IMPLEMENTATION

SELECTION OF COMPONENTS

OVERVIEW

ADVANCED FEATURES

APPLICATIONS

INTRODUCTION

• Unmanned Aerial Vehicles (UAVs) are crafts capableof flight without an onboard pilot.

• They can be controlled remotely by an operator orcan be controlled autonomously via pre-programmed flight paths.

• Quad-copter is a device with a intense mixture ofElectronics, Mechanical and mainly on theprinciple of Aviation.

THE QUAD-COPTER THEORY…

• Quad-copter uses four propellers, eachcontrolled by its own motor and ESC’s.

• For Hovering:– SUM(Fi) > m•g <=> climb– SUM(Fi) = m•g <=> hover– SUM(Fi) < m•g <=> decline

• Direction of Rotation of Motors:

• Manipulation of Roll, Pitch and Yaw:

HARDWARE IMPLEMENTATION

• Quad-Board• Propellers• BLDC Motors• 2.4 Ghz Transmitter And Receiver• Electronic Speed Controllers (ESC)• Gyroscope• Accelerometer• A Strong Base As To Hold The Structure

SELECTION OF COMPONENTS• STATIC THURST CALCULATION:

– Step1: Power transmitted by the motors to the propellersin terms of rpm

– Step2: Thrust produced by a propeller

– Step3:

SELECTION OF COMPONENTS– Step4: The power that is absorbed by the propeller from

the motor

– Step5:

– Step6:Newton’s Law, F=ma, is used to obtain equation 6.

• DC MOTORS

• This desired rpm will beused in the Propeller andMotor Selection

• FLIGHT TIME:

• A Small demonstration before calibrating the ROLL, PITCH and YAW.

• A Small demonstration after calibrating the ROLL, PITCH and YAW.

ADVANCED FEATURES• Includes some features of autonomous flight

like:– Mission Planning– Way-points– Telemetry– Gimbal– Different Flight Modes

APM…

• MISSION PLANNING: Mission planning is easy with Mission Planner– Mission Planner is a free, open-source software

compatible with APM

• WAYPOINTS: A GPS module is essential forproviding the autopilot with location data thatallows the autopilot to interact with the realworld.

• TELEMETRY: To communicate with the groundstation from the air using the Mavlinkprotocol.

• GIMBAL: ArduCopter support up to 3-axisgimbals and triggering of a camera shutterautomatically.

• DIFFERENT FLIGHT MODES:– Acro Mode: When the control sticks are released

the vehicle will remain in it’s current attitude.– Altitude Hold: When altitude hold mode is

selected, the throttle is automatically controlledto maintain the current altitude.

– Drift Mode: Drift Mode allows the user to fly amulti-copter as if it were a plane with built inautomatic coordinated turns.

– Auto Hold: In Auto mode the copter will follow apre-programmed mission script stored in theautopilot which is made up of navigationcommands (i.e. waypoints).

– Circle Mode: When circle mode is engaged thevehicle will begin flying in a circle with the nose ofthe vehicle pointed towards the center.

– Guided Mode: Guided mode is a capability of todynamically guide the copter to a target locationwirelessly using a telemetry radio module andground station application.

• RTL Mode: In return to launch (RTL) mode, thecopter navigates from its current position to hoverabove the home position.

• Loiter Mode: When switched on, loiter modeautomatically attempts to maintain the currentlocation, heading and altitude.

APLLICATIONS• Military Uses:

– Unmanned Arial Vehicle are used for surveillance and reconnaissance by military and law enforcement agencies

– search and rescue missions in urban environments

APLLICATIONS• Commercial Uses:

– Quad copters has been in the field of aerial photography.

• Research Platform:– Flight Control Theory– Robotics– Navigation

Now the final flight!!!

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