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Positioning and Trajectory Control of an Autonomous Helicopter using Real Time Kinematic GPS
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2013 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
Positionering och banföljning av en autonom helikopter med hjälp av Real Time Kinematic GPS (Swedish)
Abstract [en]

During this master’s thesis project a control system for a quadrocopter has been developed. A quadrocopter is a small helicopter with four rotors which is controlled by a hand held controller by an operator positioned on the ground.

This master thesis report treats three different main subjects. The first one is about evaluating a Real Time Kinematic Global Positioning System (RTK-GPS). The second one is about defining smooth motion paths which the aircraft autonomously shall be able to fly along. The third one is about improving the control system in the aircraft to obtain better flight performance under manual control and to enable autonomous features such as altitude hold.

The result is that it is possible to achieve centimetre accuracy in estimated position with the evaluated RTK-GPS system. It is also discussed how the performance of the RTK-GPS system can be maximized.

A smooth path can be defined in different ways. It is desirable that the path has continuous first and second derivatives. Therefore cubic spline curves are used to represent the path.

The control system was improved by transforming forces and angular velocities between the two different coordinate systems. This resulted in improved abilities by making the steering and control of the aircraft smoother.

Abstract [sv]

Under examensarbetet har reglersystemet för en quadrokopter utvecklats. En quadrokopter är en liten helikopter med fyra rotorer som styrs med hjälp av en handhållen kontroll av en operatör positionerad på marken.

Tre olika huvudämnen behandlas i detta examensarbete. Till att börja med utvärderas ett Real Time Kinematic Global Positioning System (RTK-GPS). Sedan definieras en mjuk rörelsebana som farkosten i framtiden autonomt kommer att reglera efter. Till sist behandlas styrsystemet i quadrokoptern för att erhålla goda flygegenskaper i det manuella fallet och exempelvis altitudhållning i det autonoma fallet.

Utvärderingen av RTK-GPS-systemet resulterade i att det är möjligt att uppnå centimeternoggrannhet i positionsbestämningen. I rapporten diskuteras också vad RTK-GPS-systemet kräver för att det ska fungera så bra som möjligt. En mjuk rörelsebana kan definieras på olika sätt. Önskemålet är att banan ska ha kontinuerlig första- och andraderivata, egenskaper som kubiska spline-funktioner besitter. Reglerprestandan förbättrades genom att krafter och vinkelhastigheter transformerades mellan de två kordinatsystemen som nyttjades. På detta sätt blev styrningen av quadrokoptern mjukare.

Place, publisher, year, edition, pages
2013. , 78 p.
Keyword [en]
Real Time Kinematic GPS, quadrocopter, motion path, cubic splines, automatic control
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-94514ISRN: LiTH-ISY-EX--13/4691--SEOAI: oai:DiVA.org:liu-94514DiVA: diva2:634312
External cooperation
Intuitive Aerial
Subject / course
Automatic Control
Presentation
2013-06-13, Systemet, Linköping, 15:15 (Swedish)
Supervisors
Examiners
Available from: 2013-07-02 Created: 2013-06-25 Last updated: 2013-07-02Bibliographically approved

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Positioning and Trajectory Control of an Autonomous Helicopter using Real Time Kinematic GPS(9579 kB)1567 downloads
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CiteExportLink to record
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Citation style
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