UAV Development
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UAV Development

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This presentation was given during the robotics summit to talk about the development of our quadrotor helicopter UAV.

This presentation was given during the robotics summit to talk about the development of our quadrotor helicopter UAV.

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  • Batteries 7.7 sbrio 19vBuilt a boost converter
  • 12 states Body fix to earth fixed, (transformation)Integrate to get
  • Acc with bias noise that get integrate (kalman filter on top)

UAV Development UAV Development Presentation Transcript

  • Building UAV Vehicles
    Ben Black, Ph.D – System Engineer
    Marcus Monroe – System Engineer
    Andy Cheng – Application Engineer
    Javier Gutierrez - Senior PMM
  • Agenda
    Hardware Description
    Algorithm Development
    Software Deployment
    Lessons learnt
  • Hardware Description – 4 rotor copter
    Motors + Blades
    Sensors
    6 axes IMU
    Ultrasound
    Dig Compass
    Controller
    Single Board RIO
    Extra hardware
    Daughter card
    Bluetooh
    Speed controllers
  • Control Algorithm Design
  • Model Development – Non Linear
  • Control Design – Control and Observer Gains
  • Model & Control Simulation
  • Deployment - I2C Sensor
  • Implementation Challenges
    Daughter Card
    Voltage requirements.
    Model calibration
    Sensor to state
    Implementation and Controller tuning
  • Challenges- Daughter card
  • Challenges - Voltage Requirements
    7.7 V
    19 V
  • Challenges- Model Calibration
  • Challenges – Sensor to state
    Sensors
    Model
    Measurements
    x, xdot,xdotdot
    12 States
    x, xdot
  • Challenges - Implementation and Tuning
    Sensor Noise
    Bias
    LQR design
    Kalman Filter
    Safety