X4 UAV Payload Design Notes

Coyt Barringer

6/7/2010

The X-Labs X4 High Altitude UAV system is a High Altitude Balloon Payload in the standard sense, but
upon decent the payload becomes both a controlled and autonomous unmanned areal vehicle (UAV)
that glides home. This UAV system will include a live video feed, complex control systems for
stabilization and autonomous navigation using an onboard computer and complex algorithms, an
extensive sensor package for measuring environmental conditions, redundant tracking systems,
continuous high speed and high range wireless communication with a ground station, and complete
real time UAV control from the ground station.

Very Valuable Resources:

1. http://diydrones.com/

Characteristics still undecided:

1. Payload Design using a paraglider type gliding system.

2. NEW IDEA: a dual payload system with the UAV cut down system inside a square payload
above the actual UAV.
3. Live High Definition Video Transmission using high speed radio modem and fast Arm
processor or DSP for data compression in real time.
4. Various Printed Circuit Boards for the systems.

System Components (Outline):

1. High Altitude Balloon Payload Setup

2. Payload Design – Physical Structure
3. Payload control – 2 Servos controlling Elevator and Rudder on Glider
4. Power Systems
5. Onboard Computer
6. IMU
7. Sensor Package
8. Wireless Communication
9. Video System
10. Camera System

- High Altitude Balloon Payload Setup:

o This is the use of a Standard High Altitude Balloon Launch to carry the UAV payload
up to 100,000 feet. It will use a regular weather balloon filled with Helium to carry
the payload to a high altitude.

o Possible use of a 2 payload system with UAV under square payload used to cut UAV
down???????????????
- Payload Design:

o Use a very stable model aircraft plane as the base for the UAV. The Multiplex
EasyStar is a very probable option due to it’s stability and room for electronics.
http://www.multiplexusa.com/

- Payload Control:

o Two small servos are used for controlling the Elevator and Rudder on the EasyStar.
o Should we keep the electric motor onboard???

- Power Systems:

o Power Control Board: for battery power management (Built onto another board??)
 Regulators – Switching?
 Power Control and connection system
 Power Usage Sensors

o Batteries:
 LiPo ?
 Temp problem?
 Li Ion

- Onboard Computer: The onboard computer must communicate with all systems on the UAV
as well as run advanced Algorithms for proper control of the UAV based on data from the
IMU. It must also interface with the Ground Station through the Radio Modem.

o Arduino Based?

 Use of the Arduino IDE for programming?

 ATmega2560? 16mhz

- The Inertial Measurement Unit (IMU): this is the system that gives the UAV a sense of
Position, lets the UAV stabilize, and allows it to move to the next position on it’s path. It is a
combination of several sensors using mathematical Algorithms to compensate for the
various sensors advantages and disadvantages. Ultimately, you end up with a very accurate
set of position and movement data no matter what position or movement the UAV is
following.

o GPS: This gives us Positional Data, speed, and Altitude using Global Positioning
Satellites.

 We only need 12 channel GPS

  Fast Update rate
 Works above 60,000 ft
 Easy interface, reliable, stable, and good reception and acquisition time.

o Accelerometer (measures acceleration): Shows orientation of a stationary platform

relative to the earth’s surface. It is not accurate when moving.

 3 axis
 I2C interface

o Gyro (Gyroscope): Measures rate of rotation around a particular axis. Will measure
Roll, Pitch, and Yaw of the UAV. Unfortunately not accurate alone in a UAV system
due to faults. Must be used in conjunction with an Accelerometer system.

 3 axis
 I2C interface
 MMA7455LT – Freescale Semiconductor

o Magnetometer (Digital Compass): This will tell us what direction we are going.

 3 axis
 I2C interface
 Tilt Compensation ????

o Wind Speed: This gives us the wind speed of the air as the UAV travels. It could be
used to calculate the speed of the UAV?

 Differential Pressure Sensor with Pitot Tubes

http://store.diydrones.com/product_p/kt-mpxv5004dp-01.htm

- Sensor Package: The Sensor Package will contain all of the extra environmental sensors for
research.

o Temperature
 Inside and Outside
o Humidity
o O2
o CO2
o O
o Atmospheric Pressure – Barometric Pressure (can be used as altitude measurement)

- Wireless Communication: There will be several wireless systems on the UAV for
communication with ground, tracking, and wireless video.
 o Main Data Radio Modem: This will be used for data communications both to and
from the UAV and ground. It will transmit all stats and updates from the UAV to
ground, and it will receive commands from the ground station

 XTend RF Modem – Long Range High Speed Serial Communication

 900mhz @ 1Watt 115Kbps OEM module
http://www.digi.com/products/wireless/long-range-
multipoint/xtend-module.jsp#overview
 Matching Ground Radio with Amplifier and High Gain Antenna

o The Main Stand Alone Tracking System will be an Automatic Packet Reporting
System (APRS). This is an Amateur Radio System that transmits GPS data to receiving
stations all around the world. The receiving stations then place the location of the
object on Google Maps.

 Micro-Trak 300 - 300mw 2meter transmitter

http://www.byonics.com/microtrak/
 Uses GPS data from onboard GPS

o Wireless Video Transmitter: This will be the last wireless system on the UAV. This
will transmit live video from an onboard video camera.

 1 watt 2.4GHz video transmitter and receiver Range Video

http://www.rangevideo.com/index.php?
main_page=product_info&cPath=8&products_id=97

- Video System:

o Small Video Camera – Range Video?

o HD video compression and transmission?

- Camera System: There will also be a high quality still photo camera on the UAV. This will take
very nice pictures with a high megapixel count.

o The camera will save all pictures to a SD card.

o HD video compression and transmission?

Control Algorithms: Mathematical Algorithms control how the UAV behaves and interacts with the
IMU to correctly position and stabilize itself.

“"There are some great starting points on here if you want to self-educate, and can stomach
the math. My starting point was the various Mahony papers, then Bill Premerlani's DCM IMU Theory
paper, followed by his matrix rotation paper, Euler angles paper, wind estimation paper, and all his
relevant discussions on here. That's in addition to reading several dozen research papers on IMU PID
controls, IMU fusion algorithms, unscented kalman filters, extended kalman filters, and novel
approaches at estimation and correction." (A post from DIY Drones)

- PID controller: http://en.wikipedia.org/wiki/PID_controller

- Kalman Fliters:
-

Ground Station:

- Receiving Equipment:
o 900mhz 1w Radio Modem matching one on UAV

 900MHz amplifier
 Microcontroller to connect Radio Modem to Computer

o Video Receiver for 2.4GHz video transmitter

 Preamp?
 Adapter for video input to computer
 Software Video overlay system

- Antenna Setup:

o Automatic Antenna Tracking System based on UAV position

o High Gain Directional 900MHz antenna
o High Gain Directional 2.4GHz antenna

- Computer Control Program:

o Google Earth / Maps position overlay?

o Control Interface panel
o Live Video Overlay
o Manual Remote Control – PC joystick
o Automatic Autopilot – Waypoint Set

Parts Suppliers:

1. http://www.sparkfun.com/
2. ...

Sources:

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