Matching Items (3)
Filtering by
- Member of: Theses and Dissertations
Description
The increasing civilian demand for autonomous aerial vehicle platforms in both hobby and professional markets has resulted in an abundance of inexpensive inertial navigation systems and hardware. Many of these systems lack full autonomy, relying on the pilot's guidance with the assistance of inertial sensors for guidance. Autonomous systems depend heavily on the use of a global positioning satellite receiver which can be inhibited by satellite signal strength, low update rates and poor positioning accuracy. For precise navigation of a micro air vehicle in locations where GPS signals are unobtainable, such as indoors or throughout a dense urban environment, additional sensors must complement the inertial sensors to provide improved navigation state estimations without the use of a GPS. By creating a system that allows for the rapid development of experimental guidance, navigation and control algorithms on versatile, low-cost development platforms, improved navigation systems may be tested with relative ease and at reduced cost. Incorporating a downward-facing camera with this system may also be utilized to further improve vehicle autonomy in denied-GPS environments.
ContributorsPolak, Adam Michael (Author) / Rodriguez, Armando (Thesis director) / Saripalli, Srikanth (Committee member) / Hannan, Mike (Committee member) / Barrett, The Honors College (Contributor) / Mechanical and Aerospace Engineering Program (Contributor)
Created2014-12
Description
This study aims to showcase the results of a quadrotor model and the mathematical techniques used to arrive at the proposed design. Multicopters have made an explosive appearance in recent years by the controls engineering community because of their unique flight performance capabilities and potential for autonomy. The ultimate goal of this research is to design a robust control system that guides and tracks the quadrotor's trajectory, while responding to outside disturbances and obstacles that will realistically be encountered during flight. The first step is to accurately identify the physical system and attempt to replicate its behavior with a simulation that mimics the system's dynamics. This becomes quite a complex problem in itself because many realistic systems do not abide by simple, linear mathematical models, but rather nonlinear equations that are difficult to predict and are often numerically unstable. This paper explores the equations and assumptions used to create a model that attempts to match roll and pitch data collected from multiple test flights. This is done primarily in the frequency domain to match natural frequency locations, which can then be manipulated judiciously by altering certain parameters.
ContributorsDuensing, Jared Christopher (Author) / Takahashi, Timothy (Thesis director) / Garrett, Frederick (Committee member) / Barrett, The Honors College (Contributor) / Mechanical and Aerospace Engineering Program (Contributor)
Created2014-05
Description
The purpose of the solar powered quadcopter is to join together the growing technologies of photovoltaics and quadcopters, creating a single unified device where the technologies harmonize to produce a new product with abilities beyond those of a traditional battery powered drone. Specifically, the goal is to take the battery-only flight time of a quadcopter loaded with a solar array and increase that flight time by 33% with additional power provided by solar cells. The major concepts explored throughout this project are quadcopter functionality and capability and solar cell power production. In order to combine these technologies, the solar power and quadcopter components were developed and analyzed individually before connecting the solar array to the quadcopter circuit and testing the design as a whole. Several solar copter models were initially developed, resulting in multiple unique quadcopter and solar cell array designs which underwent preliminary testing before settling on a finalized design which proved to be the most effective and underwent final timed flight tests. Results of these tests are showing that the technologies complement each other as anticipated and highlight promising results for future development in this area, in particular the development of a drone running on solar power alone. Applications for a product such as this are very promising in many fields, including the industries of power, defense, consumer goods and services, entertainment, marketing, and medical. Also, becoming a more popular device for UAV hobbyists, such developments would be very appealing for leisure flying and personal photography purposes as well.
ContributorsMartin, Heather Catrina (Author) / Bowden, Stuart (Thesis director) / Aberle, James (Committee member) / Electrical Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2015-12