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CHAPTER 4
Experiment.
4.1 Introduction.
This chapter explain the development of an autonomous gust insensitive
unmanned aerial vehicle which using off shelf parts. The development of the ground
control system (GCS) will be explained. Also the test which will be carried out to for
data collection and validation of the results. The development of the algorithms
which will be used to built the PID control by referring the research variable will be
discussed in this chapter.
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Wingspan
: 1370mm
Length
: 870mm
Weight
: 680 g
Airfoil Types : Glider wing types.
Control Surface:
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FORMULAS:
C=
MAC =
D=
PA =
BPr =
BPt =
S(A+2B)/(3(A+B))
A-2(AB)(0.5A+B)/3(A+B)
2Y(0.5A+B)/3(A+B)
(A+B)(Y)(0.5)
(%MAC/100)(MAC)+C
BPr-S
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1.
2.
3.
Built-in hardware failsafe that uses a separate circuit (multiplexer chip and
ATMega328 processor) to transfer control from the RC system to the
autopilot and back again.
4.
5.
6.
Supports 3D waypoints and mission commands (limited only by memory-approximately 600-700 waypoints with current code, but can be adapted for
more)
7.
8.
9.
Has 16 spare analog inputs (with ADC on each) and 40 digital input/outputs
to add additional sensors
10.
Four dedicated serial ports for two-way telemetry (using optional XBee
modules) and expansion
11.
12.
13.
14.
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2.
3.
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4.2.4 Magnetometer.
Current orientation of the aircraft and the direction the airframe is moving is
an important input for navigation and stabilization in ArduPlane.
Without a magnetometer, the orientation of the plane is calculated using
successive GPS fixes plus the inertial sensors: Sensor drift is compensated by
reference to the GPS ground course, as that should fix the current compass point for
the nose of the plane (assuming no wind or opposite rudder).
With a magnetometer, the system no longer has to rely on the GPS ground
course to correct for sensor drift, and the orientation of the plane becomes more
accurate. If the UAS fly with a cross wind, manually or under full autopilot control,
then the magnetometer will provide more accurate fixes for sensor drift.
This is a 3-axis digital compass board based on the Honeywell's HMC5843
(Picture 4.5). Communication with the HMC5843 is achieved through an I2C
interface. The board has an I2C translator and 3.3V power .
The HMC5843 featured with I2C interface with I2C translator for 5V
signals compatibility 2.5 to 3.3V and 4V to 5.5V supply range (one at time, jumper
selectable) Low current draw 7 milli-gauss resolution ArduIMU+ and
ArduPilotMega Shield pin compatible.
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2.
3.
4.
5.
6.
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The data need to be erase before a day of flying due to maximize the space
required to save the flight data log.
Figure 4.9 show the data types that can be logged in the onboard data flash memory.
It can be on or off by typing enable [log name] in the CLI Logs menu.
Log name
Default
Function
ATTITUDE_FAST DISABLED
ATTITUDE_MED
ENABLED
MOTORS
GPS
ENABLED
PM
DISABLED
CTUN
NTUN
MODE
ENABLED
RAW
DISABLED
CMD
ENABLED
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data ("ATT") and GPS data ("GPS"). If the GPS data is 0s that means that APM
didn't have GPS lock at that time. The Attitude data comes in three forms: Roll,
Pitch and Yaw. Many data fields can be added to the log file, from performance
monitoring to navigation calculations.
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Mission planning.
2.
Mission control.
3.
Data manipulation.
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The 3DR radio (figure 4.13) are selected due to its specification as below:
builtin error correcting code (can correct up to 25% data bit errors)
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The radio frequency is depends the model of the 3DR radio. For 3DR 443
model the minimum frequency is 414.0 MHZ and the maximum is 454.0 MHZ. For
model 3DR 900 the minimum frequency 895.0 MHZ and maximum frequency is 935
MHZ. But the range using the 3DR radio is about 2 km from the GCS and the UAS.
To solve this problem an amplifier is use which gives 12dB transmit gain, and 18dB
receive gain, automatically switching between transmit and receive modes when the
radio starts and stops transmitting. It can run on 5V from a UBEC, or can use a built
in switching regulator with a 2S or 3S LiPo. The amplifier range about 7.6 km from
the GCS and the UAS. The 3DR radio frequency is civil frequency which can be
referred to the Radio Frequency Spectrum Requirements for Civil Aviation Fifth
Edition 2009 Doc 9718-AN/957.
Chapter 4 Experimental Wind Tunnel and flight testChapter 5 Analysis, Discussion and
Conclusion