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ZASNOVA IN IZVEDBA BREZPILOTNEGA AVTONOMNEGA ZRAČNEGA PLOVILA
MOČNIK, JURE (Author), Žemva, Andrej (Mentor) More about this mentor... This link opens in a new window

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Abstract
V nalogi je predstavljena izdelava brezpilotnega letala z vso potrebno strojno opremo za avtonomno navigacijo do vnaprej določenega cilja ali pa prevajanje pilotovih zahtev (leti naravnost, zavij levo. . . ) v ustrezne ukaze krmilnim površinam in motorjem. Naloga je razdeljena na štiri dele. V prvem delu je predstavljena mehanska zasnova letala. Sem spadajo spremembe na konstrukciji, ki omogočajo montažo treh motorjev in spreminjanje nagiba le-teh. V drugem delu bomo predstavili navigacijsko elektroniko. V tretjem delu je opis programske opreme navigacijske elektronike, ki skrbi za integracijo podatkov iz različnih senzorjev ter odloča o primernih ukazih pogonskim motorjem in servomotorjem za krmiljenje kontrolnih površin, ki ohranjajo letalo stabilno in v želeni smeri. V četrtem delu bomo predstavili preizkušanje letala. Cilj naloge je izdelati brezpilotno letalo z naslednjimi funkcijami: 1. samodejna stabilizacija letala; 2. "Fly - by - wire" prevajanje med ukazi pilota in ukazi krmilnemu sistemu; 3. vertikalen vzlet in pristanek; 4. možnost avtonomne navigacije do izbranih koordinat; 5. baterijo, ki bo omogočala čim daljši čas letenja.

Language:Slovenian
Keywords:brezpilotno letalo, fuzija senzorjev, avtonomna navigacija, računanje orientacije, inercialni senzorji
Work type:Master's thesis (m2)
Organization:FE - Faculty of Electrical Engineering
Year:2016
Views:577
Downloads:165
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Secondary language

Language:English
Title:DESIGN AND IMPEMENTATION OF AUTONOMOUS UNMANNED AERIAL VEHICLE
Abstract:
The thesis presents development of an unmanned autonomous aircraft which has all necessary hardware for either autonomous navigation to predefined coordinates or to interpret pilot commands (fly forward, turn left...) into appropriate commands for control surfaces and motors. The thesis is divided into four parts. The first part deals with mechanical design of the aircraft and changes that were done to facilitate mounting of three motors with tilt control. The second part presents navigation electronic. In the third part we present software for electronic that fuses sensor data into a representation of an airframe orientation and uses it to decide on the appropriate commands to motors and servos to keep the craft stable and on the required course. In part four we present testing that was done so far. Goal of the thesis is to build an aircraft with the following features: 1. automatic airframe stabilization; 2. Fly { by { wire translation between pilot commands and control commands; 3. vertical take-off and landing; 4. ability to autonomously navigate to selected coordinates; 5. battery module that will allow for the longest flight time.

Keywords:unmanned aerial vehicle, sensor fusion, autonomous navigation, attitude calculation, inertial sensors

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