Questions tagged [uav]
Unmanned aerial vehicle. See also the tags ugv & auv.
0
votes
1answer
21 views
How is the IMU used in the PixHawk?
Looking at 3DR's Pixhawk hardware on GitHub the FMU and IMU are treated as different pieces of hardware. On the schematics for the FMUs (example) there is limited reference to the IMU.
So, is the IMU ...
1
vote
1answer
62 views
what is the algorithm to get position (Linear displacement and linear velocity ) using IMU (Like MPU6050)?
So I have been working on a drone project for a very long time, now I decided to work on Kalman filter which is used widely nowadays like Ardupilot. I looked at the source code so basically understand ...
0
votes
2answers
80 views
How to implement a novel control algorithm for a drone
I and my research team are working on a novel drone design based on trirotor. The difference between this design and a trirotor is that it has an extra propeller to generate additional thrust, ...
0
votes
3answers
56 views
How many independent control inputs does a hexarotor have?
6, because a rigid body has six degrees of freedom
4, since it is similar to a quadrotor, except with more motors
6, because there are six motors
I was taking an online quiz, and I thought option 3 ...
0
votes
0answers
11 views
Gyro-stabilize cargo in VTOL UAV configuration
How would you go designing a "gimball" lets say mechanism which would keep the cargo of a VTOL UAV at the same configuration as placed in it before liftoff? Lets say not trying to spill a glass of ...
2
votes
0answers
72 views
Position-Attitude Kalman filter with Quaternions
I want to design an EKF to estimate the position of a UAV. If I were doing this with Euler angles then I would have a state vector that would look like
\begin{bmatrix}north&east&down&...
1
vote
1answer
34 views
how to write a uav teleop code?
I'm currently working on a teleoperation code for crazyflie. I'm not using a joystick, but I'm using leapmotion and I'm trying to understand how they code for a joystick in order to implement the same ...
1
vote
1answer
125 views
Generate a coverage path given a polygon region
I'm making an app which controls a drone (DJI) and takes photos.
In one particular feature, the user can draw a polygon (let's keep it a convex quadrilateral for now) and the app should generate a ...
0
votes
1answer
115 views
Generation of a trajectory (position,velocity,acceleration) from velocity
I would like to generate a trajectory for a quadrotor UAV and I am using an architecture which allows to do so only by specifying position, velocity and acceleration.
I only know that I want to do a ...
0
votes
0answers
21 views
Finding the Center Field of View for a UAV
I am working on a project involving a UAV where I am given a 3D space with terrain information as well as the location of the UAV in the 3D space and the orientation of the UAV camera. My job is to ...
0
votes
1answer
190 views
Is MoveIt! suitable for fixed-wing aircraft path planning and obstacle avoidance?
I have seen that it is possible to use MoveIt! for path planning and obstacle avoidance for quadcopters/quadrotors.
For example:
https://www.youtube.com/watch?v=NRzeQD_Etog
https://www.youtube.com/...
2
votes
2answers
739 views
How to convert raw Pitot tube readings to air speed in m/s?
I'm building a kite flying robot, for which I want to measure air speed. So I combined a Pitot tube with an ADC and connected it to my Raspberry Pi using this tutorial.
It seems to work perfect, in ...
0
votes
0answers
93 views
Covariance analysis
I am a SLAM newbie here.
The thing i want to do is to perform a covaraince analysis, to ensure whether the estimation of the covariance is done correctly or not.
The localization output creates a ...
4
votes
2answers
218 views
How to measure pull force on a (kite) rope?
I'm building a kite flying robot, in which I've already got some sensors built in. I now also want to measure the pulling force on the rope which is attached to the kite. So I thought of attaching a ...
1
vote
2answers
699 views
Possible stabilize Crazyflie 2.0 drone autonomous flight without additional sensors?
I just bought the Crazyflie 2.0 drone. This is my first drone, and it is my first time programming a drone.
My first goal is simple: Make the drone hover in place stably for 10 seconds.
I found a ...
1
vote
1answer
76 views
How does Amazon ensure its drones are not shot down or captured when in service [closed]
If Amazon plans to deliver packages using drones, how does it ensure the drones reach their destination safely and come back? Won't thieves be able to easily steal packages and drones by shooting them ...
0
votes
1answer
161 views
Utilizing the inertial sensors in an AR Drone
I'm trying to figure out how to use the inertial sensors in an AR Drone to perform a rough version of dead reckoning. I want to move the drone around a room (without flying it) and using the velocity ...
1
vote
0answers
62 views
How to precisely land a copter in a defined place? [closed]
Say, I have a flat square landing place for a copter, made of e.g. aluminium or plastic, with marks on it making a square, looking like this from the top:
...
4
votes
1answer
228 views
Will this pseudocode work as a basis for a flight controller?
I'm programming a flight controller on an Arduino. I've researched how other people have written theirs but without notes it's often so obfuscated that I've decided it will be easier and better to ...
1
vote
1answer
833 views
CC3D PWM control signal characteristic (to be simulated by Raspberry PI)
My goal is to control drone by Raspberry PI. The Raspberry PI uses camera and OpenCV, sends control commands to AVR microcontroller which will generate the PWM control signal. Meaning that it will ...
3
votes
2answers
140 views
Estimating the displacement of a drone in three dimensions
Assuming a drone is in two dimension, it has to predict its future position by calculating its future displacement:
For a real quad-rotor, why should we not only estimate the displacement of a robot ...
0
votes
1answer
677 views
Holonomic and Non-holonomic UAV's: Gliders vs Quadcopters
Good day I would just like to ask if a fixed wing aircraft such as a glider(without thrust capability therefore needs external forces such as air flow to move constraining its movement) can be ...
0
votes
2answers
96 views
Fixed Wing UAV: Do inherently unstable systems desire to be stable for all cases when a closed loop control is implemented on them?
As we all know fixed wing vehicles are designed to have inherent instability which is what enables all fixed wing vehicles to fly.
However does this apply to all cases?
Do inherently unstable ...
2
votes
3answers
120 views
Vision-based Position Estimation for a quadrotor
As a subtask inside a main project I need to compute the position (x,y,z) of a quadrotor using an homography.
To do this I will use a camera (attached to the quadrotor) pointing down to an ...
3
votes
1answer
117 views
How to estimate the position of multiple static ground targets captured from a down facing camera?
An aerial vehicle captures images of the ground using its down facing camera. From the images, multiple targets are converted from their pixel position to the camera reference frame using the pinhole ...
5
votes
1answer
1k views
CC3D - Replacing RC emitter with an RPi
I am trying to control a quadcopter using te OpenPilot CC3D board and a RaspberryPi. The main idea was first replace the signals from the RC emitter to the CC3D RC receiver for an RPi connected ...
1
vote
0answers
60 views
PixHawk or Naza M V2 for Aerial Imaging of Small Study Area with Hexacopter [closed]
I have a project that is going to involve capturing ~80 images of a 35m x 50m agricultural study area for image processing.
I am wondering whether to use a NAZA v2 or PixHawk controller to outfit my ...
0
votes
1answer
376 views
Are there any aerodynamics modeling/simulation software that is capable to consume a SolidWorks model and to interface with MATLAB/Simulink?
Currently I am developing a control system for an aircraft of a unique design (something in between a helicopter and a dirigible). At this moment I can model only the dynamics of this vehicle without ...
3
votes
1answer
168 views
Compatibilty of my setup?
I'm building my first quadcopter, and these are the components I intend to buy:
Motor: EMAX BL2212 1400 KV Brushless Outrunner Motor around 0.9 kg thrust:
Flight Controller: Multiwii V2.5 Flight ...
-2
votes
2answers
444 views
Displacement with accelerometer [duplicate]
I want to use a sensor to find displacement with accelerometer.
How can I use accelerometer to find displacement? I want to use this for a quadcopter.
4
votes
1answer
1k views
The aerial refueling problem: sketch of a feedback controller
At first happy new 2015!!!
I'm looking for my next simulator development: a Tanker is flying at constant speed (350 Knots) (no acceleration, no change of altitude or direction). The Tanker is ...
4
votes
4answers
4k views
Why does the Pixhawk have 2 IMUs
I was looking at the Pixhawk specs and noticed that it has 2 different IMUs- Invensense and STM. Is it for redundancy or does it have any other higher purpose?
1
vote
1answer
180 views
Implementing a position control for UAV through a flight controller. Plant model is unknown
We are using Naza-M-Lite for our flight controller without GPS. The localization is obtained through our RGB-D camera sensor. We are able to teleoperate and even implement PID controllers for Roll, ...
8
votes
2answers
4k views
Our quadcopter goes forward instead of hovering in place. How to correct it?
I'm trying to do a quadcopter with some friends and we have a problem. It goes forward instead of hovering in place. We made a video to explain it, you can see it here.
As you can see, the quadcopter ...
2
votes
1answer
2k views
What autopilot to purchase APM 2.6 or PixHawk? [closed]
I'm a newbie in UAV stuff, your advice would be very helpful, i want to start mapping using fixed wing UAV, but my main choice was APM 2.6, but after some researches, i found that APM 2.6 won't be ...
3
votes
2answers
221 views
Do I need an accurate flight model for a UAV?
As I understand it, a Kalman filter uses a mathematical model of the robot to predict the robot's state at t+1. It then combines that prediction with information from sensors to get a better sense of ...
1
vote
0answers
87 views
quadrotor experimental identification [closed]
i want to model the quadrotor using experimental method "i have not built it yet" what i want to do is: turn only one motor at a specific speed ,then plot the x,y,z and the angles then identify the ...
3
votes
1answer
475 views
What is telemetry used for?
I'm pretty new to the world of UAS after a ten year holiday from RC flying.
I'm looking at Ardupilot and am wondering what purpose telemetry serves? Is it just to get in flight data back to a ground ...
5
votes
2answers
481 views
If you can create pure yaw motion with a quadcoptor then why won't this work with a tricoptor?
An answer to the question Why are quadcopters more common in robotics than other configurations? said:
You need 4 degrees of freedom to control yaw, pitch, roll and thrust.
Four props is ...
2
votes
2answers
271 views
How to tell when an ArduPilot has finished initialising its gyros (without referencing telemetry)?
Using ArduPilot software (fixed wing, ArduPlane), I know that after I boot up I need to keep the system sit still while the gyros initialise.
When I have ground station in the field it's easy to know ...
3
votes
1answer
452 views
Is there a benefit to using 2 IMU units on a UAV set at different sensitivities?
I noticed that some IMU units are tuned to be sensitive to small changes, other to large changes and some that can be adjusted between different sensitivities. I am familiar with the use of a Kalman ...
5
votes
2answers
2k views
Arduino Nano + Raspberry Pi = UAV Ground Station?
I'm a programmer by trade, and an amateur aerospace nut, with some degree-level training in both fields. I'm working on a UAV project, and while the good people over at DIY Drones have been very ...
9
votes
2answers
1k views
Do I really need a gyro for an airplane flight stabilization system?
I'm working on a basic airplane flight stabilization system, as the precursor to a full autopilot system. I'm using a salvaged Wii Motion Plus and Nunchuk to create a 6DOF IMU. The first goal is to ...
9
votes
2answers
860 views
Guiding a Quadrotor Towards a Target
I am working on a quadrotor. I know its position -- $a$, where I would like to go -- target position $b$, and from that I calculate a vector $c$ -- a unit vector that will take me to my target:
<...
20
votes
4answers
4k views
Why are quadcopters more common in robotics than other configurations?
I've noticed that almost all research being done with helicopter robots is done using quadcopters (four propellers). Why is there so little work done using tricopters in comparison? Or a different ...
56
votes
5answers
8k views
Why do I need a Kalman filter?
I am designing an unmanned aerial vehicle, which will include several types of sensors:
3-axis accelerometer
3-axis gyroscope
3-axis magnetometer
horizon sensor
GPS
downward facing ultrasound.
A ...
5
votes
6answers
339 views
Spatial tracking between two UAVs
I have two Unmanned Aerial Vehicles (planes) which work well. They can fly to various waypoints automatically using GPS.
Now I would like them to fly together in formation. I would like them to fly ...
14
votes
6answers
1k views
What UAV kit(s) would be suitable for a beginner roboticist with programming experience? [closed]
I'm really new to robotics, however I am a programmer familiar with several different languages. I don't have a ton of money to spend and I was wondering what is a really good starter kit.
My ...
