Semi Autonomous Hand Launched Rotary Wing Unmanned Air Vehicles
Green Aviation Project-2 Final Review
1. Development of Virtual Navigation Aid Using Simulator
AJMAL P YOOSUF
MUHAMMED NADHEER
NOUFAL SHAH
VINAY SADAN PILLAI
Project Guide:
Mr KIRUBAKARAN PSB
2. Project Overview
• To develop a Virtual Navigation
System (VNS) to enhance current
navigation capabilities of an UAV
• Provide real time simulation of
aircraft.
• This project relates to Green
Aviation Project- Aura Mithra II
3. INERTIAL NAVIGATION SYSTEM
• Dead Reckoning Navigation
• Velocity and position calculation by successive integration of
acceleration w.r.t time
• Major components: IMU, Instrument Support Electronics and GPS
• Two Types: Stabilized Platform & Strap-down Mechanism
• Stabilized platform involves mechanical gyros mounted on a stable
platform, giving orientation and acceleration when the vehicle
moves
• Strap-down mechanism involves accelerometers mounted directly to
airframe and measure body acceleration, processed using DCM
which in fact is computed using mounted gyro outputs.
• Strap-down Mechanism being used in this miniature model
6. Current Status
• What is the progress?
o IMUs and Chips Identified- ArduIMU V3 , Arduino UNO, u-Blox GPS
Module & Xbee Pro Transceiver
o Simulator best suited for the job decided : X-Plane
o ArduIMU chip programmed to make it work for our model
o Mode to transmit and receive data from IMU sorted out
o Sending the data to simulator is achieved
o Completed the working model of VNS as well as the Aircraft
8. ArduIMU+V3
• An Inertial Measurement Unit (IMU)
• Effective for running the Attitude Heading Reference System
(AHRS) code
• Based on DCM algorithm
• 9 DOF – 3 Accelerometers, 3 Gyros & 3 axis Magnetometer
• IMU - MPU 6000
• Magnetometer – HMC 5883L
• Microcontroller – ATMega328
9. Arduino UNO
• Integrate and retrieve the required values, i.e., Pitch, Roll and Yaw
from the ArduIMU
• It is programmed to read the binary values of Pitch, Roll and Yaw
and convert into angles
• Use ATMega328
10. u-Blox GPS
• Intended purpose of use – To reduce the yaw drift caused by IMU
values integration by magnetometer
• Error accumulates with passage of time and motion of IMU, where
the system confuses with it’s actual position
11. X-Bee Pro Transceiver
• Used for long range serial communication – 1600m in line of sight
• Two X-Bee Pro Transceivers are used in this system
• One transmits data to Arduino UNO ; other receives data from IMU
12. Attitude Indicator.exe
• In this system, this software plays a role of interfacing the Pitch, Roll
and Yaw data to X-Plane as inputs
• This runs on PC which runs the simulator and to which Arduino
UNO is connected
13. X-Plane Flight Simulator
• Implements an aerodynamic model – Blade Element Theory
• Best suited for design work and simulation
• Includes tools for designing Aircraft and Airfoil; Plane Maker and
Airfoil Maker respectively
• Model of our RC aircraft is designed for simulation using Plane
Maker
• The dimensions of the RC model was chosen based on it’s
performance in this simulator
14. Working Of The System
• ArduIMU mounted onboard, level and parallel to longitudinal axis
detects the Pitch, Roll and Yaw of the aircraft with the GPS data from u-
Blox GPS module
• X-Bee Pro transceiver connected to Tx pin of ArduIMU transmits the
data
• Arduino UNO programmed for reading binary data from ArduIMU
receives the serial data through X-Bee Pro transceiver connected to Rx
pin of Arduino UNO
• In Attitude Indicator.exe connect the COM port of Arduino UNO
• Open X-Plane, fly the model; it replicates the motion of the real aircraft
21. Conclusion
• The pilot gets a Bird’s Eye View of his
aircraft and the surrounding
environment
• Enable flights at near zero visibility
• Enable the use of a virtual ILS for
landing assist
• Aid in pilot training and perception of
situation
23. Appendix
• Documents Referred:
o X-Plane Tutorial
o Plane Maker Tutorial
o ArduIMU Datasheet & Schematics
o Quadcopter Design Document
o UAV Design Document
o Hardware In-Loop Simulation Guidelines
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