Building UAV Vehicles<br />Ben Black, Ph.D – System Engineer<br />Marcus Monroe – System Engineer<br />Andy Cheng – Applic...
Agenda<br />Hardware Description<br />Algorithm Development<br />Software Deployment<br />Lessons learnt<br />
Hardware Description – 4 rotor copter<br />Motors + Blades<br />Sensors<br />6 axes IMU<br />Ultrasound<br />Dig Compass<b...
Control Algorithm Design<br />
Model Development – Non Linear<br />
Control Design – Control and Observer Gains<br />
Model & Control Simulation<br />
Deployment - I2C Sensor<br />
Implementation Challenges<br />Daughter Card<br />Voltage requirements.<br />Model calibration<br />Sensor to state<br />I...
Challenges- Daughter card<br />
Challenges - Voltage Requirements<br />7.7  V<br />19 V<br />
Challenges- Model Calibration<br />
Challenges – Sensor to state<br />Sensors<br />Model<br />Measurements<br />x, xdot,xdotdot<br />12 States<br />x, xdot<br />
Challenges - Implementation and Tuning<br />Sensor Noise<br />Bias<br />LQR design<br />Kalman Filter<br />Safety<br />
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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.

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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

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