Decl
aredasDeemed-
to-
be-
Uni
ver
sit
yu/
s3oft
heUGCAct1956
FACULTYOFENGINEERI
NGANDTECHNOLOGYJAIN(DEEMED-
TO-
BEUNIVERSI
TY)
,BENGALURU
JAKKASANDRAPOST,
KANAKAPURATALUK,
RAMANAGARADISTRI
CT–562112
UAVBasedFl
i
ghtCont
rol
submi
tt
edby
MohammedSufiyan Aati
fmuneer
20BTRAN020 20BTRAN024
Depar
tmentAer
onaut
ics Depar
tmentAeronaut
ics
Gui
de
[Link]
rShast
ry
ABSTRACT.
[Link] ntr
oducesa flightcontr
ol
syst
em forUAVst hatf
ocusesonst at
ic
st
abil
it
yandpr
ecisemobil
i
tycont
rol
.
[Link] sy st
em ut il
i
zes ARM and FPGA
hardware architect
ure for control and
navigat
ion. Multipl
e sensors, such as
gyros, acceler
omet er
s, GPS, and ai r
pressur
e sensor s, are combi ned t o
i
mpr ovemeasur ementpreci
sion.
[Link]
tude hold,di rection contr
olloops,
andnavigat
iontechni quesareemploy
edf or
fli
ght contr
[Link] ul t
imate goalist o
achi
eve fine- gr ained ( centi
meter
-lev
el)
tr
ansl
ati
oncont r
ol oft hedrone.
I
NTRODUCTI
ON.
[Link] ialvehicl
es
(UAVs)hasi ncreasedi nrecenty earsdue
totheirconveni ence,safety,andcost -
effectiv enessi nv ar
iousappl icati
ons.
[Link] lUAVswi thstati
cst abil
ityarein
demandf orci
vili
antasksl i
ker emot e
sensingandmappi ng.
[Link] ,i
ntegrati
ngcont rol
paramet ersbecomesmor echallenging
whenai mi ngforbet termaneuv erabili
ty.
Thisst udyf ocuseson desi gning a st able
andcost -effecti
vefli ghtcont r
olsy stem for
smal l UAVs, ut il
izi
ng ARM and FPGA
architectures and opt imizing t he PI D
cont rol
lerforpreci
secont r
ol.
Precise posi ti
on sensor s arer equired for
bothi ndoorand out doorenvi ronment s,as
GNSS-basedposi tioningisnotsui tabl
ef or
fine-gr ainednav i
gation.
The obj ecti
vei st o achiev e fine- grai
ned
mot ion controlin a 2D gr i
d wi th a 5 cm
spaci ng,whichpr esent sdifficultiest hatcan
be addr essed wi t
h PI D contr ol
lers,fine-
grained act uati
on,and adv anced posi ti
on
sensor s.
I
DEAI
NFORMATI
ON.
[Link]
i
ghtControlSyst
em:Thesystem t
hatcontr
olshowt he
droneflies,incl
udingnavi
gati
on,alti
tude,di
rect
ion,and
handli
ngtr
ickysit
uati
onswi
thoutGPS.
[Link]
sePIDCont
rol
:Fi
ne-
tuni
ngthedrone'
scontrol
set
ti
ngsf
orsmoot
handst
abl
e
flyinginter
msofmovement,st
abi
l
ity
,andalt
itude.
[Link]-
Grai
nedDronePositi
oning:Devel
opi
ngahighl
yaccur
atesy st
em fort
hedr
onet
o
reachspeci
ficdest
inat
ionsbothindoor
sandout
doorswi
thcm-l
evelaccur
acy.
[Link]
olSensors:Equi
ppingthedronewit
hsensorsthati
mpr ov
eit
s
flightcont
rolcapabi
li
ti
esbyprovi
dingimpor
tantmeasurement
sforbet
tercont
rol
.
[Link]
imalPer
formance:I
ntegr
ati
ngtheflightcont
rolsy
stem,pr
eci
secont
rolsett
ings,
accur
ateposi
ti
oning,
andenhancedsensorstoensurethedr
oneper
for
msati t
sbest .
[Link]
DCont r
oll
ers:Dr
onesusePIDcontr
oll
ersforal
ti
tude,at
ti
tudeandtransl
ati
[Link]
control
ler
sensur estabi
l
ityandr
eli
ablemissionsbycommuni cat
ingwitheachother
andt heactuat
ors.
[Link]
ne-TuningTranslat
ionPID:Thef
ocusoftheresear
chistofine-t
unethetransl
ati
onPI
D
contr
ollerf
orprecisemovementofthedroneincenti
meteraccur
acy,asopposedtorel
yi
ng
onGNSSdat awi thapr eci
sionof2to3met er
s.
[Link]
stem Model:Thedrone'
splantcanberepresentedasasecond-ordersy
stem, wher
e
thet
ransl
ati
onPIDcontr
oll
ert
ransl
atestheer
rorbetweencur
rentanddesir
edposit
ionsint
o
desi
redacceler
ati
on.
[Link]
abil
it
yandReacti
vit
y:Intheproject
,stabi
l
ityi
spri
ori
ti
zedoverqui
cknesstoachi
eve
centi
meteraccur
acyi
ndr onemov [Link]
vat
ivecomponent(
Kd)ismini
mizedto
li
mitosci
ll
ati
onsandreduceovershooti
ng.
[Link]
imentalTuni
ng:Exper
iment
alfindi
ngsareusedtoassessthecrit
eriafort
uni
ngt he
PIDcont r
oll
[Link] i
vat
ivecomponentisremoved,andthepr opor
tionalcomponent
(KP)isr
educedtoachieveasmoothst
epresponsei
nthePIDcont
roll
er.
Concl
usi
on.
Thisar ticle exami nest he har dware design and
controlnav i
gat ion met hod ofa t inyUAV fli ght
controlsy stem.I tusesacombi nat
ionofARM and
FPGApr ocessor s,aswel lasMEMS- basedsensor s.
Thepr oposedsy st
em iscapabl eofcont r
olli
ngt he
UAV wi th st ati
c st abi
li
ty,and i ncludes features
suchasal titudehol dandaut onomousnav igati
on.
Inor dert oachi evecent imet er-
lev
elaccur acyf or
l
ocat i
onsensi ngout doors,thear ti
cleusesRTK-
GPSdat [Link] quemet hodol ogyisusedt oadj ust
thetransiti
onalPI Dcont r
oll
er,andpost -
processingis
performedont hesensordat at oachieveaccur ate
droneplacement .
REFERENCE.
1. A. D. Team. ( 2018) Ext ended kalman fil ter ( ekf).
[Onli
ne].
Avail
able:
htt
p: //
ardupi l
ot.
org/copter
/docs/ common- apm- navigati
on-
extendedkalman- fil
[Link]
2. Spar kfun. ( 2018) what '
s gps r tk? r eal t i
me mechani cs.
[Onli
ne].
Avail
able:
htt
ps: //l
[Link]
[Link]/ tutorial
s/what -
is-gps-rt
k/ al
l
[Link] dHar dwar eoptionsandUsage, Dec2017.
4. [Link]ffar d,“On- board modelpr ognost i
c managementofa quadr otor
heli
copter:styl
e,implement ation,andexper i
ment s,”[Link] s,technologyand
laptopSciencesUni versityofGol denSt ateatBer kel
ey ,Dec2012
5. H. WU,[Link],andZ. Zhou, “Microairvehicle: Configur ation,anal ysi
s,
fabricat
ion,andtest,”IEEE/ASMETr ansactionsonMechat ronics, Vol.
9, pp.108
-117, March2004.
