Examination of the Unmanned Aerial Vehicle

Abstract

The contemporary interdisciplinary field of knowledge, which is the robotics used in unmanned aerial vehicles, is developing very dynamically. In view of the above, the authors of this paper have set themselves the following thesis: it is possible to build a flying mobile robot based on a controller with low computing power and a simple PID controller, and in this respect they undertook to prove it. The examined object in real experiments was the Quadrocopter. The article discusses the tasks implemented during the design and practical implementation of a remotely controlled flying unit. First, a mathematical model describing the dynamics of the UAV movement was defined. Then, electronic components were selected to allow the quadrocopter to fly. The board has a central unit in the form of the ATmega644PA microcontroller. In the following, the process of programming subsequent elements that make up the quadrocopter control program was carried out. The control system for stabilizing the machine requires information about the location of the quadrocopter in space. This is accomplished by a measurement module containing an accelerometer and a gyroscope. In addition, the quadrocopter needs information about the potential operator's commands. In the final part of the article, based on the analysis of the research subject, the mathematical model created and the necessary simulation tests carried out in this area, practical conclusions were presented.

RTK Kinematic Positioning Accuracy with Double Phase Difference of SIS GNSS Signals

“…The receiver clock error dtk r Tand carrier phase deviation dt , k r j Tare typical errors in Equation (14) and Equation (15), so they can be reduced by positioning DD. Therefore, this is the main reason why the DD positioning is preferably used.…”

A Synthesis of Marine Monitoring Methods With the Potential to Enhance the Status Assessment of the Baltic Sea

“…Unmanned Aerial Vehicles (UAVs), commonly known as "drones, " are measurement platforms collecting data while flying over the area of interest ( Figure 1O). For operations in marine and coastal environments, different types of UAVs are used with varying flight duration and modes of operation (autonomous or manual; Colefax et al, 2017;Setlak and Kowalik, 2019). In marine monitoring UAVs can be used to increase the spatio-temporal resolution and coverage of monitoring data for parameters used to assess biodiversity, eutrophication, commercial fish and shellfish, hydrological conditions, contaminants and marine litter.…”

Analysis of the Lqr Algorithm in the Field of Testing the Dynamics of Quadcopter Movement

“…Despite the fact that by using a traditional linearquadratic regulator, it is possible to achieve an increase in aircraft stability, however, information on all system state variables and large workloads are necessary, which is not conducive to using this method in practical applications [13], [14], [15].…”

“…Because equation (13) must meet all initial conditions, all trajectories of state (0) satisfy the following Lapunov equation (15):= + + * + * = 0 (15) From equation (15) it can be stated that if and matrices are given, the auxiliary matrix can be determined by the Lapunov function and is independent of the state of the system.…”

“…To sum up, when it comes to any -feedback matrix with a fixed value, if there is a nonnegatively defined symmetric matrix that satisfies the Lapunov equation (15) and the closed-loop system is stable, the quadratic efficiency factor is significant for the initial condition (0) and matrix , independent of system states [19], [20].…”