A Project by Sagar Medikeri, Shravan Kemtur, Reshma Desai, Vikas Vaddin Under the guidance of Dr Uma Mudenagudi Department

of Electronics and Commmunications, B V Bhoomaraddi College of Engineering and Technology, Hubli.

UAVs are aerial vehicles capable of flight without an onboard pilot Applications
Law Enforcement, Reconnaissance Search and Rescue, Scientific Research Aerial Archeology and Photography

Various Configurations of UAVs

Sensors Accelerometer (Wii Nunchuk) measures acceleration Gyroscope (Wii Motionplus) measures angular rate Sensor Mounting

Fast I2C (400KHz)

Accelerometer readings are noisy. Gyroscopes suffer from drift. Kalman Filter is used for Sensor Fusion. Kalman Filter is a popular tool used to fuse noisy sensor readings to get clean, accurate estimates.

Accelerometer

Angle State Model

Kalman Filter

Bias

Gyroscope

State Model Xk = A Xk1 + B Uk1 + Wk1 Zk = H Xk + Vk State Matrix

Inputs to Kalman Filter

Calculation of Euler angles using sensor data:

Gyroscope Accelerometer

Derivation of State Matrices

A B H Qk = Covariance of Wk (Process Noise)

Rk = Covariance of Vk (Measurement Noise)

PID loops are implemented for Yaw, Roll and Pitch PID Tuning

Generated using built-in timer in Atmega32. Algorithm

Obtain PIDpitch. If PIDpitch is positive, Decrease front motor duty cycle by (PIDpitch/2)*gain. Increase rear motor duty cycle by (PIDpitch/2)*gain. If PIDpitch is negative, Increase rear motor duty cycle by (PIDpitch/2)*gain. Decrease front motor duty cycle by (PIDpitch/2)*gain.

Conclusion

Successfully implemented IMU with Kalman Filtering Flight Tests not satisfactory Brushed motors Use Brushless Motors Incorporate Magnetometer, Pressure sensor, GPS and Laser scanner Mount a Video camera onboard and implement IP functions like activity recognition.

Future Work