Unmanned Aerial Vehicle

ABSTRACT

I developed applications and device drivers which are used to control servo motors, Inertial Measurement Unit (IMU), using GPS and a Graphic User Interface monitoring tool to display data such as pitch, roll, yaw, latitude, longitude and altitude. The UAV can fly autonomously based on pre-programmed flight plans. The pre-programmed flight plan is to go from point A to point B, take a picture at point B, send a picture to the ground control system back at point A, and do a surveillance flight. One path planning and guidance algorithm, Direct Azimuth Guidance, for UAVs was used to reach to the destination (point B). The UAV was also simulated for safe automatic flight with a flight simulator, and tested many times.

UAV VIDEO DEMO 1/2

UAV VIDEO DEMO 2/2

HARDWARE SPECIFICATION

Umanned Aerial Vehicle
XScale(PXA255) SoC-based EZ-X5 Board 2xRS232 Port, 1xRS232 for Debugging Console
RF-Ethernet TCP/IP supported RF-Modem 900MHz, 1.5Mbps (187KBps)
UAV Span : 1820mm, Length : 1150mm, 2500g
Gyro-Scope MicroStrain MI-A3550, 25Hz, 115200BPS
GPS Ublox SAM-LS. 4Hz, 9600BPS
Station
Laptop (P4 2.6G) 2xRS232 Port, 1xRS232 for Debugging Console
RF-Ethernet TCP/IP supported RF-Modem 900MHz, 1.5Mbps (187KBps)

SYSTEM ARCHITECTURE

UAV System Architecture 1/3
UAV System Architecture 2/3
UAV System Architecture 3/3
UAV System Architecture based on TMO
Component Diagram
Control Diagram
Control Diagram using TMO

FLIGHT CONTROL

Principle of Flight Control 1/2
Principle of Flight Control 2/2

POSE CORRECTION - VIDEO DEMO

GROUND CONTROL UNIT

Design of Ground Control System
Program of Ground Control System (QT 3.3.3 for x11)

HILS (Hardware-In-the-Loop)

HILS Architecture
HILS Result

FLIGHT TEST

UAV Appearance with Junmo An
Test of Controlling UAV
Checking UAV before Real Flight Test
Real Flight Test
Simulation with FlightGear 1/2
Simulation with FlightGear 2/2