Development of Multifunctional Rotary UAV Based on Pixhawk Family Flight Controllers
DOI:
https://doi.org/10.3849/aimt.01752Keywords:
GPS Receiver, ESC Controller, Failsafe, Arducopter, Ardupilot, Pixhawk, Google Earth, FMUv3, Notch Filter, Fourier Transforms, Mission Planner, STM32F427Abstract
The design of a copter has been carried out, that can be used to set up air interference, reducing the probability of impact of the enemy air defense systems, reconnaissance operations, and the transfer of military cargo. The developed hexacopter is capable of carrying a useful load of 2.5-3 kg, at a speed of up to 45 km/h, based on a Pixhawk family flight controller using the Arducopter firmware. Stability of the flight of a quad-copter on a frame of 850 mm during a gusty wind of 7-8 m/s in navigation modes for firmware Arducopter ver.4.0.7 has been experimentally tested. The use of software dynamic notch filters to reduce the impact of vibrations from running motors on the readings of the accelerometer and gyroscope is considered.
References
KOVAL, V.V., L.M. ARTYUSHIN, B.Y. SIMON, A.A. LOBANOV and A.A. GERASIMENKO. Approaches to Formulating a Strategy for the Manage-ment of Joint Combat Formations of Manned and Unmanned Aerial Vehicles (in Ukrainian). Science and Defence, 2021, 4, pp. 34-43. DOI 10.33099/2618-1614-2021-17-4-34-43.
BARRY, D. Shock UAVs and Problems Related to Their Autonomy (in Ukraini-an). Defence Bulletin, 2022, 1, pp. 4-13 and 2, pp. 6-13.
RASTOPCHIN, V.V. Shock Drones and Air Defence – Problems and Prospects of Confrontation (in Russian) [online], 2019 [viewed 2022-03-24]. Available from: https://www.researchgate.net/publication/331772628_Udarnye_bespilotnye_letatelnye_apparaty_i_protivovozdusnaa_oborona_problemy_i_perspektivy_protivostoania
YAROSH, S.P. and D.O. GURYEV. Analysis of the Development of Unmanned Aerial Vehicles, Methods of their Combat Use and Development of Proposals for the Organization of Effective Control of Unmanned Aerial Vehicles (in Ukraini-an). Science and Technology of the Air Force of the Armed Forces of Ukraine, 2021, 2(43), pp. 54-60. DOI 10.30748/nitps.2021.43.07.
WS2021: Three Drones from the UKRJET Company [online]. 2021 [viewed 2022-06-28]. Available from: https://www.ukrmilitary.com/2021/06/2021-ukrjet.html
LIENKOV, S., A. MYASISCHEV, O. SIELIUKOV, A. PASHKOV, G. ZHYROV and A. ZINCHYK. Checking the Flight Stability of a Rotary UAV in Navigation Modes for Different Firmware. In: Proceedings of the 2nd International Conference on Intellectual Systems and Information Technologies (ISIT 2021). Odesa: CEUR Workshop Proceedings, 2021, pp. 46-55. ISSN 1613-0073.
BOYKO, A. Areas of Application of Drones (in Russian) [online], 2017 [viewed 2022-03-24]. Available from: http://robotrends.ru/robopedia/oblasti-primeneniya-bespilotnikov
Copter Mission Command List [online], 2020 [viewed 2022-03-24]. Available from: http://ardupilot.org/copter/dtss/mission-command-list.html
FPV Piloting Theory (in Russian) [online], 2021 [viewed 2022-03-25]. Available from: https://github.com/mlutskiy/pioneer-doc/blob/master/database/pilot-module/pilot-3part.rst/
SHVOROV, S.A., N.A. PASICHNYK, S.D. KUZNICHENKO, I.V. TOLOK, S.V. LIENKOV and L.A. KOMAROVA. Using UAV during Planned Harvesting by Unmanned Combines. In: IEEE 5th International Conference Actual Problems of Unmanned Aerial Vehicles Developments. Kyiv: IEEE, 2019. DOI 10.1109/APUAVD47061.2019.8943842.
LIENKOV, S., O. SIELIUKOV, E. LIENKOV, I. TOLOK and V. LOZA. Evolution of Radars Resolution Capability Using Simulation Mathematical Model. In: 2018 IEEE 5th International Conference on Methods and Systems of Navigation and Motion Control (MSNMC). Kyiv: IEEE, 2018. DOI 10.1109/MSNMC.2018.8576283.
LYSENKO, V., S. GUNCHENKO, S. SHVOROV, S. LENKOV, S. KUZ-NICHENKO and E. LENKOV. Methodological Bases of Construction of Intensive Training Flight Simulators of Aircrews. In: 2018 IEEE 5th International Conference on Methods and Systems of Navigation and Motion Control (MSNMC). Kyiv: IEEE, 2018. DOI 10.1109/MSNMC.2018.8576192.
Extended Kalman Filter (EKF) [online], 2020 [viewed 2022-03-27]. Available from: https://ardupilot.org/copter/docs/common-apm-navigation-extended-kalman-filter-overview.html
Extended Kalman Filter Navigation Overview and Tuning [online], 2022 [viewed 2022-08-15]. Available from: https://ardupilot.org/dev/docs/extended-kalman-filter.html#extended-kalman-filter
ArduPilot Firmware Builds [online], 2020 [viewed 2022-03-26]. Available from: https://firmware.ardupilot.org/
MOHAMMED, I.K. and A.I. ABDULLA. Elevation, Pitch and Travel Axis Sta-bilization of 3DOF Helicopter with Hybrid Control System by GA-LQR Based PID Controller. International Journal of Electrical and Computer Engineering, 2020, 10(2), pp. 1868-1884. DOI 10.11591/ijece.v10i2.pp1868-1884.
PRAYITNO, A., V. INDRAWATI and I.I. TRUSULAW. Fuzzy Gain Scheduling PID Control for Position of the AR.Drone. International Journal of Electrical and Computer Engineering, 2018, 8(4), pp. 1939-1946. DOI 10.11591/ijece.v8i4.pp1939-1946.
Pixhawk Overview [online], 2020 [viewed 2022-03-26]. Available from: https://ardupilot.org/copter/docs/common-pixhawk-overview.html
Copter Mission Command List [online], 2020 [viewed 2022-03-26]. Available from: https://ardupilot.org/copter/docs/mission-command-list.html
Managing Gyro Noise with the Static Notch and Dynamic Harmonic Notch Filters [online], 2021 [viewed 2022-03-26]. Available from: https://ardupilot.org/copter/docs/common-imu-notchfiltering.html#common-imu-notch-filtering-static-notch
INAV – Navigation Capable Flight Controller [online], 2022 [viewed 2022-08-15]. Available from: https://github.com/iNavFlight/inav
Starlino. DCM Tutorial – An Introduction to Orientation Kinematics [online], 2011 [viewed 2022-03-24]. Available from: http://www.starlino.com/dcm_tutorial.html
Measuring Vibration with IMU Batch Sampler [online], 2011 [viewed 2022-03-23]. Available from: https://ardupilot.org/copter/docs/common-imu-batchsampling.html
mRo Pixhawk Flight Controller [online], 2022 [viewed 2022-03-27]. Available from: https://docs.px4.io/master/en/flight_controller/mro_pixhawk.html
Mission Planning [online], 2021 [viewed 2022-03-26]. Available from: https://ardupilot.org/copter/docs/common-mission-planning.html
MAVLink Developer Guide [online], 2017 [viewed 2022-03-15]. Available from: https://mavlink.io/en/
Measuring Vibration [online], 2021 [viewed 2022-03-27]. Available from: https://ardupilot.org/planner/docs/common-measuring-vibration.html
Downloads
Published
License
Copyright (c) 2023 Advances in Military Technology
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.
Authors who publish with this journal agree to the following terms:
1. Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.
2. Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
3. Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work.
Users can use, reuse and build upon the material published in the journal for any purpose, even commercially.
How to Cite
