MISSION PLANNER GROUND CONTROL STATION

LAB N0.12
MISSION PLANNER GROUND CONTROL STATION
A Lab Report
Presented to
The Academic Faculty
by
M IBRAR
BAEM-F18-025
In Partial Fulfillment
of the Requirements for the Degree of
Bachelor of Science in Avionics
Engineering
SUPERIOR UNIVERSITY LAHORE
March 2022

AVIONICS SYSTEM DESIGN
Checked:
___________________________________________
Asst. Prof. Air Cdre. Wajih H. Hashmi (Rtd.)
Date Checked__________________

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AVIONICS SYSTEM DESIGN 31 March, 2022
TABLE OF CONTENTS
OBJECTIVE......................................... 4
PROCEDURE......................................... 4
CONTROL SURFACE................................... 4
BLOCK DIAGRAM..................................... 4
INERTIAL MEASUREMENT UNIT (IMU)................... 4
ACCELEROMETERS.................................... 5
GYROSCOPES........................................ 5
MAGNETOMETERS..................................... 6
TYPES OF INS...................................... 6
IMU CALIBRATION:.................................. 7
MISSION PLANNER GROUND CONTROL STATION............ 8
UNMANNED AERIAL VEHICLE (UAV)..................... 8
WHAT IS IMU CALIBRATION?.......................... 8
ACCELEROMETER..................................... 8
GYROSCOPE........................................ 10
REFERENCE........................................ 11
LIST OF FIGURES
Figure 1 Block diagram of basic concepts.......... 4
Figure 2 Gyroscope................................ 5
Figure 3 MAGNETOMETERS............................ 6
Figure 4 3-D view of INS.......................... 6
Figure 5 laser Gyroscope.......................... 7
Figure 6 IMU Calibration Block Kit................ 9
Figure 7 Calibration of the accelerometer......... 9
Figure 8 Orientations of the 3D gyroscope........ 10
Figure 9 Calibration Technique of MEMS Gyroscope. 10

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OBJECTIVE
Understanding and familiarization of the ground
control station of unmanned aerial vehicles (UAV)with
the help of mission planner software ardupilot.
PROCEDURE
CONTROL SURFACE
Here is the basic concept of the control surfaces
RUDDER PEDALS: To movie rudder for YAW.
JOYSTICK: To movie elevator forward and backward for PITCH
JOYSTICK: To a movie, ailerons left and right for ROLL.
BLOCK DIAGRAM
Figure 1 Block diagram of basic concepts
INERTIAL MEASUREMENT UNIT (IMU)
An inertial measurement unit (IMU) is an electronic
device that measures and reports a body's specific
force, angular rate, and sometimes the orientation
of the body, using a combination of accelerometers,
gyroscopes, and sometimes magnetometers. IMUs are
typically used to maneuver aircraft (an attitude and
heading reference system), including unmanned aerial
vehicles (UAVs), among many others, and spacecraft,
including satellites and landers.

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ACCELEROMETERS
One of the sensor types measures accelerations, not
velocity and distance. An accelerometer uses
electromagnetic sensing that measures the vibration
of a structure, in our case, an aircraft.
To measure the velocity, it uses the first equation
of motion.
v=u+at
To measure the distance, it uses the second equation
of motion.
s=u+
𝟏
𝟐
a𝒕𝟐
GYROSCOPES
One of the sensor types is MEMS devices that measure
angular velocity in units of °/s This would be
positive or negative depending on the direction of
the rotation.
FOR EXAMPLE
The average velocity is 360 °/s for exactly 0.25
seconds by using this we can calculate the turn
angle.
360 °/s x 0.25 s = 90°
Figure 2 Gyroscope

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MAGNETOMETERS
A magnetometer is a device that measures a magnetic
field or magnetic dipole moment. Different types of
magnetometers measure the direction, strength, or
relative change of a magnetic field at a particular
location.
Figure 3 MAGNETOMETERS
TYPES OF INS
There are two types of ins
• Stable-Platform INS
• Layer gyroscope INS
The Stable-Platform remains fixed in the aircraft.
Figure 4 3-D view of INS
It works on the principle of Doppler Effect Beam
going against the rotation produces high Freq.

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2-laser light beams are sent one clockwise, and the
other counter-clockwise.
Figure 5 laser Gyroscope
IMU CALIBRATION:
Before the aircraft fly, there are marks on the
starting point from where the aircraft will fly the
gyroscope and the accelerometer set its initial
position at zero according to the point of the
aircraft.
If IMU is not according to the initial points then
an error can happen in the starting angular velocity
of the gyroscope and the initial acceleration of the
accelerometer then it will measure the wrong distance
from the runway where it wants to land.
In military aircraft, these types of errors without
calibration of the IMU the missile can launch before
fighter aircraft 1Km.
Every aircraft has an IMU system because GPS and
other navigation systems can fail.

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MISSION PLANNER GROUND CONTROL STATION
Mission Planner is a full-featured ground station
application for the ArduPilot open-source autopilot
project. It is designed to control fixed-wing
aircraft, and various rotary-wing platforms,
including single, tri, quad, hex, and octal copters
and Airplanes. The software is written in C++ and
is completely open-source.
UNMANNED AERIAL VEHICLE (UAV)
unmanned aerial vehicle (UAV), military aircraft that
is guided autonomously, by remote control, or both,
and that carries sensors.
This UAV also works based on IMU which starts
initially from 0 degree-per-seconds for gyros
position and Initial acceleration zero for the
accelerometer.
WHAT IS IMU CALIBRATION?
IMU stands for Inertial Measurement Unit and is
essential for keeping your drone stable and level in
the sky. It’s a built-in device that measures force,
angular velocity, and attitude (yes, attitude, not
altitude). It does this through the drone’s
accelerometer, and gyroscope.
ACCELEROMETER
Accelerometers measure a drone’s proper acceleration
(acceleration relative to its freefall). If you find
that your drone is tilting when hovering, this could
be an accelerometer issue meaning you need to
recalibrate your IMU. It could also be a gyroscope
issue. If you don’t calibrate your drone on a flat
surface, this issue is usually quite common.

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Figure 6 IMU Calibration Block Kit
Calibration of the accelerometer requires taking
advantage of the acceleration due to gravity, which
we can use in the positive and negative orientation
of the IMU. Additionally, we can also position the
IMU perpendicular to gravity in order to acquire a
third calibration point. This results in three unique
values that can be combined to formulate a linear fit
between the three values and the values outputted by
each axis of the accelerometer.
Figure 7 Calibration of the accelerometer

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GYROSCOPE
Gyroscopes are small spinning disks inside the drone.
They help to measure the drone’s attitude remains
steady and stable in the sky.
Orientations of the 3D gyroscope during the four
calibration measurements. The first calibration
measurement ( left ) is performed with a sensor at
rest in an arbitrary position. During each of the
remaining three measurements ( right ), the sensor
is manually rotated on an even horizontal surface
around a different coordinate system axis ( x , y or
z ).
Figure 8 Orientations of the 3D gyroscope
In MEMS gyroscope, exploits a two-side excitation
signal to actuate the sense mode to obtain the
corresponding DC tuning voltage. The structural
characteristics of the dual-mass decoupled MEMS
gyroscope and the tuning principle of the excitation-
calibration technique are introduced first. Then, the
scheme of the digital excitation-calibration system
for the real-time mode-matching control is presented.
Figure 9 Calibration Technique of MEMS Gyroscope

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REFERENCE
[1] https://docplayer.net/17192637-Avionics-made-
simple.html
[2] https://ardupilot.org/dev/docs/commonmission-
planner-command-line-interface-cli.html
[3] https://www.heliguy.com/blogs/posts/how-to-
calibrate-imu-of-the-dji-phantom-4-rtk
[4] https://www.heliguy.com/blogs/posts/how-to-
calibrate-imu-of-the-dji-phantom-4-rtk
[5] https://makersportal.com/blog/calibration-of-
an-inertial-measurement-unit-imu-with-
raspberry-pi-part-ii
[6] https://cultofdrone.com/drone-imu-calibration/
[7]
https://www.researchgate.net/publication/
264794909_Time-_and_Computation-
Efficient_Calibration_of_MEMS_3D_Accelerometer
s_and_Gyroscopes/figures?lo=1
[8]
https://en.wikipedia.org/wiki/Inertial_me
asurement_unit
[9] https://www.mdpi.com/2072-666X/10/8/496

MISSION PLANNER GROUND CONTROL STATION

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