Experimental Analysis and Affirmation of Vital Parameters of Multi-Rotors Drones
02 Apr 2021-
TL;DR: In this article, the authors presented a less complex and simplistic way to do all the calculations of all vital parameters needed for building any drone, and the theoretical validation of the equations which are derived and mentioned in the paper with the practical data obtained from the prototype built.
Abstract: Drone are now commercially used in almost every industry from delivery to defense, general people also make them for hobbies, but due to lack of clear open source information, new enthusiast and even the existing one find it very difficult to build it on their own without any professional help. This paper presents a less complex and simplistic way to do all the calculations of all vital parameters needed for building any drone. This paper presents the theoretical validation of the equations which are derived and mentioned in the paper with the practical data obtained from the prototype built. The analysis of each parameter is done very precisely to make the mistakes as low as possible. All the equations which are mentioned have some assumptions and use of standard values, which is clearly mentioned with the work. The prototype built is an autonomous system containing six rotors and communication modules for sending data on the ground. The conclusion of the paper shows the difference in the accuracy between theoretical values calculated from the derived equations and what practical testing gives.
References
More filters
01 Jul 2017
TL;DR: Small embedded force sensors are developed that mount between a micro UAV's airframe and motors—forces generated by the rotors are measured as they are transmitted to the rigid body of the aircraft.
Abstract: Trajectory tracking of micro UAVs requires accurate thrust and velocity estimates. High-quality motion control of quadrotors typically employs accurate high-speed optical sensing indoors. However, these measurements are not available outdoors, and GPS is unreliable and inadequate for performance motion control. We have developed small embedded force sensors that mount between a micro UAV's airframe and motors—forces generated by the rotors are measured as they are transmitted to the rigid body of the aircraft. The direct force measurements can be directly integrated with a model of the mapping between aircraft motion and induced rotor forces. From this, the translational velocities of the rotors relative to the local wind can be measured, and thus the overall velocity of the aircraft can be inferred. We have assembled a proof-of-concept quadrotor platform with all four rotors fitted with force sensors, and demonstrate accurate measurement of a quadrotor's lateral velocity during prescribed motions using the onboard force sensors. The vertical velocity measurement was found to be insensitive.
29 citations
27 Dec 2018
TL;DR: This work addresses the design and implementation of a filter that estimates the orientation of the body-fixed $z$ axis and the velocity of a quadrotor UAV from the inertial measurement unit (IMU) given a known yaw.
Abstract: This work addresses the design and implementation of a filter that estimates the orientation of the body-fixed $z$ axis and the velocity of a quadrotor UAV from the inertial measurement unit (IMU)given a known yaw. The velocity and attitude estimation is possible since the filter employs a linear drag model measuring the drag forces on the quadrotor through the IMU. These forces are functions of the robot's velocity and attitude. In addition, the filter estimates the linear drag parameters and thrust coefficient for the propellers. These parameters may be fed back into a controller to improve tracking performance. Experimental results are used to validate the proposed approach.
16 citations
01 Oct 2016
TL;DR: In this article, a novel technique for measurements onboard UAVs, particularly inertial measurement unit or IMU, is proposed, which allows to measure frequency in short time and with high accuracy, using a few electronic components.
Abstract: In agricultural tasks, monitoring of large fields is required. In the last years automatic/autonomous monitoring has been researched; where unmanned aerial vehicles (UAV)—commonly known as drones—are used. For these systems, constrains related with autonomy during flight arise. In order to control properly the UAVs during flight, they require to measure physical variables, in a fast and accurate way. Also, the weight of instruments must be reduced for improving autonomy. In general, aerial vehicles obtain parameters like position, velocity and acceleration using inertial navigation systems. Regarding to this concern, in this work application of a novel technique for measurements onboard UAVs—particularly inertial measurement unit or IMU—is proposed. There are accelerometers inside the IMU. These accelerometers have a frequency domain output. The speed and position are calculated by the INS from acceleration. The acceleration is obtained from frequency measurements of the accelerometers output. For this reason an accurate and fast frequency measurement method is required. In this work, for this particular application, frequency measurement using principle of rational approximations is proposed. This technique allows to measure frequency in short time and with high accuracy, using a few electronic components. Due this properties, it perfectly fits requirements for UAVs.
15 citations
01 Sep 2020
TL;DR: A practical method that includes meteorological forecast information in order to obtain the most energy efficient path of a fixed-wing aircraft and takes into consideration the aircraft performance, including the effects of en-route winds and the power required for active electro-thermal icing protection systems to mitigate the effectsof icing.
Abstract: Earlier studies demonstrate that en-route atmospheric parameters, such as winds and icing conditions, significantly affect the safety, and in-flight performance of unmanned aerial systems Nowadays, the inclusion of meteorological factors is not a common practice in determining the optimal flight path This study aims to contribute with a practical method that includes meteorological forecast information in order to obtain the most energy efficient path of a fixed-wing aircraft The particle swarm optimization-based algorithm takes into consideration the aircraft performance, including the effects of en-route winds and the power required for active electro-thermal icing protection systems to mitigate the effects of icing As a result, the algorithm selects a path that will use the least energy to complete the given mission In the scenario evaluated with real meteorological data and real aerodynamic parameters, the battery consumption of the optimized path was 52% lower than the standard straight path
13 citations
01 Sep 2016
TL;DR: A fuzzy model was chosen for implementation taking into consideration a computational complexity benchmark and promising results of experimental studies open the way for possible applications of the presented method, such as expanding estimation algorithms of attitude and vertical velocity or improvement of the mathematical model.
Abstract: In this paper, a simple and easily applicable model of the coaxial propulsion unit for multirotor UAVs is presented. Measurements performed on the experimental test bench provided information about the generated thrust in relation to PWM control signals and supply voltage. Modelling techniques based on Takagi-Sugeno fuzzy interface and surface fitting are proposed. Implementation of the first order inertial element with the varying time constant allows to consider the propulsion unit's dynamics. A fuzzy model was chosen for implementation taking into consideration a computational complexity benchmark. Fusion of four independent models provides information about a total thrust generated by the physical platform during real flight scenarios. Promising results of experimental studies open the way for possible applications of the presented method, such as expanding estimation algorithms of attitude and vertical velocity or improvement of the mathematical model.
10 citations