MINISTRY OF EDUCATION AND TRAINING HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION FACULTY FOR HIGH QUALITY TRAINING GRADUATION THESIS AUTOMATION AND CONTROL ENGINEERING NAVIGATION AND CONTROL SYSTEM FOR UAV IN OUTDOOR ENVIRONMENTS ADVISOR : LE MY HA, ASSOC. PHD STUDENTS: LE THANH DAT SKL010848 Ho Chi Minh City, June 2023 HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION FACULTY FOR HIGH QUALITY TRAINING GRADUATION PROJECT NAVIGATION AND CONTROL SYSTEM FOR UAV IN OUTDOOR ENVIRONMENTS LÊ THÀNH ĐẠT - 17151009 Major: AUTOMATION AND CONTROL ENGINEERING TECHNOLOGY Advisor: LÊ MỸ HÀ, Assoc. PhD Ho Chi Minh City, June 2023 THE SOCIALIST REPUBLIC OF VIETNAM Independence – Freedom– Happiness -------- GRADUATION PROJECT ASSIGNMENT Student name: Lê Thành Đạt Student ID: 17151009 Major: Automation and Control Class: 17151CLA1 Engineering Technology Advisor: Assoc. Lê Mỹ Hà Phone number: 0834717152 Date of assignment: Date of submission: 1.
Project title: Navigation and control system for UAV in outdoor environments 2. Initial materials provided by the advisor: - The related thesis of previous students. - The hardware specifications and its review. Content of the project: - Read, perform surveys, and summarize to determine the scope of the project.
- Read and process sensors signal. - Visualize and user interface for path planning. - Write a program to control the microcontroller. - Write a program for communication between the flight controller and the PC.
- Research tracking controller algorithm for a quadcopter. - Write project report. - Prepare slides for presentation. Final product: The quadcopter can operate outdoor environment based on a combination of GPS, IMU, and LIDAR in Auto mode under not too complex conditions.
CHAIR OF THE PROGRAM ADVISOR (Sign with full name) (Sign with full name) THE SOCIALIST REPUBLIC OF VIETNAM Independence – Freedom– Happiness -------- ADVISOR’S EVALUATION SHEET Student name: Lê Thành Đạt Student ID: 17151009 Major: Automation and Control Engineering Technology Project title: Navigation and control system for UAV in outdoor environments Advisor: Assoc. Lê Mỹ Hà EVALUATION 1. Content of the project: - The content of this report is 80 pages. - The design and construction of the quadcopter can perform trajectory tracking and self-localizing.
- The system runs based on a series of different sensors and algorithms. - The final product meets the requirements in the proposal. Strengths: - The author proposed a method for researching, constructing, and navigating Quadcopter. - The final product meets the requirements and success to follow several desired trajectories.
Weaknesses: - The author should present more detailed information about the accuracy of the proposed method in experiments 4. Approval for oral defense? (Approved or denied) .) Ho Chi Minh City, July 9th, 2023 ADVISOR (Sign with full name) THE SOCIALIST REPUBLIC OF VIETNAM Independence – Freedom– Happiness -------- EVALUATION SHEET OF DEFENSE COMMITTEE MEMBER Student name: .Lê Thành Đạt. Major: AUTOMATION AND CONTROL ENGINEERING TECHNOLOGY Project title: NAVIGATION AND CONTROL SYSTEM FOR UAV IN OUTDOOR ENVIRONMENTS EVALUATION 1. Content and workload of the project The student used commercial hardware and open-source software to build a drone system that could be controllable.
However, the stability of the system is not good in practice 2.eight pint two.) Ho Chi Minh City, July 16th, 2023 COMMITTEE MEMBER (Sign with full name) ACKNOWLEDGEMENTS In the process of implementing and completing the graduation project, in addition to our knowledge, I have received a lot of support and dedicated help. First of all, I would like to send a special thanks to Mr. Le My Ha, who has directly monitored, motivated, and guided our team to complete this project. In addition, the valuable knowledge in the process of studying and researching in the courses at the school is an important preparation to carry out this project.
Through this, I would like to sincerely thank the teachers in the electrical and electronic faculty and the high-quality faculty of Ho Chi Minh City University of Technology and Education. Finally, I would like to thank my family for encouraging, motivating, and caring to create favorable conditions for the team to complete this project. ABSTRACT This thesis discusses the creation and use of a navigation and control system for unmanned aerial vehicles (UAVs) in outdoor environments. The research aims to determine the effectiveness and practicality of implementing INAV (Navigation-enabled flight control software) to improve UAVs' navigation and control capabilities in outdoor environments.
The study involves a systematic approach, including the design, implementation, and testing of the navigation and control system. It encompasses the selection and integration of appropriate sensors, the development of control algorithms, and the incorporation of INAV technology to enable intelligent navigation and precise control of UAVs. The research proves the effectiveness of the navigation and control system in improving the UAV's performance in outdoor environments. The system displayed enhanced stability, accuracy, and maneuverability, allowing efficient waypoint navigation, obstacle detection, and avoidance in various outdoor scenarios.
The integration of INAV technology provides advanced navigation features such as position hold, altitude control, and automatic waypoint following, improving the UAV's capabilities in complex and dynamic outdoor settings. This research contributes to the field of navigation and control systems for outdoor UAV operations by providing a comprehensive framework for designing and integrating a navigation and control system tailored to outdoor settings using INAV. The research evaluates the system's performance in various outdoor scenarios and highlights the practical considerations and challenges associated with its implementation. However, it's critical to recognize certain limitations.
The system's performance may be impacted by elements like the surroundings, signal interference, and hardware limitations. The study does not go deeply into other facets of UAV technology, instead concentrating primarily on the navigation and control components. In conclusion, the research proves that the navigation and control system integrated with INAV is effective and has great potential for UAV operations in outdoor environments. The findings provide valuable insights into the benefits, limitations, and practical considerations of using this system for autonomous navigation and precise control of UAVs.
The study's outcomes are a significant contribution to the advancement of UAV technology and provide a basis for further research and development in the field of navigation and control systems for outdoor UAV operations. Keywords: Navigation, Control system, outdoor environments, UAV, INAV, waypoint navigation, position hold, altitude control. 6 LIST OF FIGURES .10 LIST OF TABLE .4 Project scopes and limitations. 3 Chapter 2: LITERATURE REVIEW .3 Euler Angle Rates Matrices.5 Newton-Euler method.6 Force and Movement .1 INAV Navigation-enabled flight control software .2 Motor Mixing Algorithms .4 Altitude stabilization method.5 Positioning stabilization method.4 Preprocessing of raw signal data .1 Digital Low pass filter and Digital Notch filter .2 Fast Fourier Transform .5 Brushless DC motor - BLDC .6 Electronic speed controllers - ESC .8 Technologies used in autonomous navigating quadcopter .9 Global Positioning System .10 Inertial Measurement Unit.29 Chapter 3: SYSTEM CONSTRUCTION .1 Structure of quadcopter .1 Carbon frame - FUS x111 pro .2 Flight controller - Mamba MK4 F772 MINI .3 MCU - STM32F722RET6 .6 Brushless motors - Diatone Mamba TOKA 1204 5000KV.7 ESC - Diatone MAMBA F40_128K BL32 MINI .8 LIDAR – TF-Luna.9 GPS - Beitian BN-880 module .10 RC Transmitter and receiver .11 LiPo for quadcopter .3 Hardware sketch assembly .1 Hardware pins configurations .2 Hardware overall combination.46 Chapter 4: DESIGN AND CALCULATION.3 PIDFF controller for roll, pitch, and yaw .3 Filter and controller tunning .1 Robot operating system .3 Building ROS for quadcopter .4 MSP - Multiwii Serial Protocol.5 ROS node for MultiWii .62 Chapter 5: RESULTS AND ASSESSMENTS.1 Position hold in a real environment and visualize in a Unity environment .2 Trajectory tracking pattern .3 Performance results in practical experiments .66 Chapter 6: CONCLUSION AND DISCUSSION .79 LIST OF FIGURES Figure 1.
The global consumer drone market from 2020 to 2030 [1]. Research on evolving of UAVs [2]. Quadcopter performed throttle movement. Quadcopter performed roll movement.
Quadcopter performed pitch movement. Quadcopter performed yaw movement. Body-Fixed frame and Inertial frame of the quadcopter [3]. Rotation matrix on the X axis.
Rotation matrix on the Y axis. Rotation matrix on the Z axis. Motor Mixing Algorithms block diagram. PIDFF controller block diagram [8].
Altitude stabilization algorithms block diagram. PIDFF controller block diagram for roll, pitch, and yaw. Positioning stabilization algorithms block diagram. Low Pass filter and Notch filter (Band-stop filter).
Phase shift (phase delay) phenomenal. Relationship between time domain and frequency domain. Misaligned in the gyro axis when mounted on a drone. The same noise frequency appears on all axis caused by the misaligned axis.
Matrix filter block diagram. Relationship between variance and covariance in one-dimensional Kalman filter. Kalman filter block diagram [12]. Brushless DC electric motor [13].
Hall sensor position in BLDC motor [14]. ESC working principle [15]. Wiring diagram of BLDC and ESC [15]. BLDC motor behave based on switching state.
BLDC motor using Hall-effect sensors [15]. BLDC motor using back EMF [15]. Working principle of LIDAR. Working principle of GPS.
Flight controller and flight computer connection structure. Block diagram of flight computer and flight controller. FUS x111 pro frame. The difference in size of the drone.
Mamba MK4 F772 MINI FC. FC components and FC wiring diagram. a) STM32F722RET6 MCU. b)STM32F722 in STM32CUBEMX.
STM32F722RET pinout in the datasheet. b)ICM-422688-P datasheet circuit. b) SPL06 datasheet circuit. Diatone Mamba TOKA 1204 5000KV product.
Diatone Mamba TOKA 1204 5000KV scheme. Diatone Mamba TOKA 1204 throttle test. Diatone MAMBA F40_128K BL32 MINI ESC. ESC protocol speed comparison.
ESC protocol timing cooperation. TF-Luna product. a) Beitian BN-880 GPS product. b) Beitian BN-880 scheme.
Tattu 450mAh product. Drone hardware wiring diagram. Final drone assembly. INAV motor mixer rules setup.
INAV Motor mixer rule documents [16]. INAV PIDFF controller flowchart .INAV PIDFF controller documents [10]. PIDFF controller for roll, pitch, and yaw flowchart. PIDFF parameter setup and adjust.
INAV Altitude controller documents [9]. INAV Altitude controller flowchart. INAV Position controller document [9]. INAV Position controller flowchart.
INAV Filter parameters section. Differences in Q value of matrix filter. Graph of raw gyro data and filtered gyro data before turning in the frequency domain. Harmonic of raw gyro and filtered gyro before tunning.
Graph of raw gyro data and filtered gyro data after tunning in the frequency domain. Harmonic of raw gyro and filtered gyro after tunning. Graph for roll and pitch controller data before and after tunning. ROS is utilized as a virtual algorithm application for autonomous vehicle.
ROS communication between subscriber and publisher [17]. Structure of MultiWii Serial Protocol [18]. ROS node structure for quadcopter. ROS topic monitor and data rate setup.
MSP waypoint message structure [9] .INAV Navigation controller flowchart. Unity and ROS connection. Unity for visualization and user interface. Structure of Unity and ROS connection for quadcopter.
a) Waypoint trajectory interface flowchart. b)Keyboard controller flowchart .64 Figure 85 a) Position hold in a real environment b) Visualize in the Unity environment. View on openstreetmap. a) Perpendicular pattern in small area.
b) Hourglass pattern in small area. c)Circular pattern in small area. d) Perpendicular pattern in big area. e) Hourglass pattern in big area.
f) Circular pattern in big area. Result of moving Perpendicular trajectory pattern. Waypoint trajectory data from a black box. Data of gyro and acceleration in perpendicular pattern of small area a) At point 1 b) At point 2 c) At point 3 d) At point 4 e) At point 5 f) At point 6 g) At point 7.
Data of gyro and acceleration in perpendicular pattern of big area a) At point 1 b) At point 2 c) At point 3 d) At point 4 e) At point 5 f) At point 6 g) At point 7. Result of moving Hourglass trajectory pattern .