Design and Analysis of Quadcopter Control System Automation Coordinate with Global Positioning System Tracker

By GHANI AKBAR HABIBIE

111118031
Advisor I M. Sarwoko Ir. M.Sc Advisor II Agung Nugroho Jati ST.MT

Background
Automatic Location Finder Accuracy while Hovering

Observation (with additional camera)

Purposes
Know the integration of each block of Quadcopter
Analize the accurate of waypoint system (height,coordinate) Comparing CMD coordinate and the real hovering waypoint of Quadcopter Know the power consumption and flying time

Problems
How the integration of each block of Quadcopter ?
How the analize of accuracy ? (height,coordinate)

How the comparing result CMD coordinate and the real hovering waypoint of Quadcopter ?
How the relation of the power consumption and flying time ?

Limitation
Parts of Quadcopter are module
Wind factor are same each measuring No detail discussion about firmware and software Measuring parameters: CEP,2DRMS, and data distribution The influence of power consumption and flying time

Theory
Microcontroller ATmega2560 (main CORE)
256 Kbytes flash memory I2C

86 I/O pin
15 PWM channel

16 ADC channel

Theory (contd)
Microcontroller ATmega32U2 (interface)
32 Kbytes flash memory USB interface

22 I/O pin
UART

PPM Encoder

Theory (contd)
Brushless Motor Characteristic:
Stator Rotor

High Speed
High response

High Efficiency
Long life operation Noiseless

Theory (contd)
Gyro
Rotary Gyroscopes Vibrating Gyroscope

Optical Gyroscopes

Theory (contd)
Accelerometer (Micro-machined Electro-Mechanical System)
Capacitive (distance between 2 planar) Piozoelectric (crystal stress)

Theory (contd)
Global Positioning System
Coordinate of location -> X,Y,Z Accuracy -> Absolut (30-100 m) , SA off (3-6 m), DGPS (1-2 m), RTK (1-5 cm)

Theory (contd)
Statistic
Average Standard Deviation

CEP (Circular Error Probability)

2DRMS (2 Dimension Root Mean Square)

Design
Block Diagram of System
Sensor gyro, altimeter, accelerator, compass Transmitter RC Motor 1 GPS Mudule Motor 2 Receiver Microcontroller ATmega2560 ESC Motor 3 Microcontroller ATmega32U2

Flash Card Motor 4

USB

Design (contd)
Flow Chart System

Design (contd)
Flow Chart System

Design (contd)
Flow Chart System

Design (contd)
Flow Chart System

Design (contd)
Flow Chart System

Design (contd)
Hardware
Frame F450Q

Brushless Motor 950 KV

Electronic Speed Controller

Propeller 1045
Flight Controller (ATmega2560, ATmega32U2, Flash Card, GPS MT3329, Sensor) Battery Lipo 3000 mAH

Remote Control

Design (contd)
Software
APM Planner

Firmware Arducopter V2.8.1. Quad

Design (contd)
Config
Remote Control Calibrating ESC Calibrating Level Calibrating PWM
Mode Tone beep- 1 short tone beep-beep- 2 short tone beep-beep-beep- 3 short tone

Brake
Battery type Cutoff mode Cutoff threshold Startup mode Timing

Off
Lipo Soft-Cut Low Normal Low

On
NiMH Cut-Off Medium Soft Medium High Super soft High

Design (contd)
Scenario
High Measurement (50 cm, 100 cm, 150 cm, 200 cm) Simulation of accuracy (25 m) Manual flying test Flying time testing Autonomus test LOITER accuracy

186 100 120 20 40 60 80 0 142 144 146 148 150 152 154 156 158 1 15 29 43 57 71 85 99 113 127 141 155 169 183 197 211 225 239 253 267 281 295

188

190

192

194

196

198

200

202

204

High (accuracy)

50 cm -> 98,15 %

200 cm -> 98,17 %

150 cm -> 99,88 %

100 cm -> 92,72 %

184
1 13 25 37 49 61 73 85 97 109 121 133 145 157 169 181 193 205 217 229 241 253 265 277 289 138 1 14 27 40 53 66 79 92 105 118 131 144 157 170 183 196 209 222 235 248 261 274 287 300 140

Analysis
10 20 30 40 50 60 70

0
1 14 27 40 53 66 79 92 105 118 131 144 157 170 183 196 209 222 235 248 261 274 287 300

Analysis (contd)
Home(accuracy)
12 5.00 4.00

UTM Easting 790652,452299270 1,77677129

3.00

UTM Northing -9228595,299945440 1,575418767

10

Average
Standard Deviation
8

2.00

1.00

Count

6 CEP (50%) -5.00 -3.00

1,977792134
0.00 -1.00 1.00 3.00 5.00

2DRMS
2 (95%)

4,7493 -1.00
-2.00

0 1 2 3 4 -3.00 5 6 7

Jumlah Frekuensi
Count Easting Count -4.00 Northing

-5.00

Analysis (contd)
Destination(accuracy)
10

6.00

UTM Easting
790627,5376160250

4.00

UTM Northing
-9228596,1783064500

Average 8 Standard 7
6 Deviation
Count

2.00

1,919927329
-6.00 -4.00 -2.00 0.00 0.00

1,940173248
2.00 4.00 6.00

CEP (50%)
4 3 2 2DRMS

2,277459341
-2.00

(95%)
0 1 2 3 4

5,4591
5 -4.00 6 7
Jumlah Frekuensi Count Easting

Count Northing

-6.00

Analysis (contd)
Flying time and power consumption
Parameter Power consumption 4 motor FC power consumption Supply ESC max Battery Li-Po Flying time Value P = 4 x 141,525 = 566,1 Watt P = 5 x 200 mA = 1 Watt P = 4 x 11,1 x 20 = 888 Watt P = 3000 mAH 14 minute (from flight test)

ttarget

=
=

4 (0,235 ) +
3 4 (0,23517) +0,2

60

60 = 11,1 minute

Analysis (contd)
Zone 48 (accuracy)
12.00 14

Parameter

Value

Autonomous coordinate 12
10 Default altitude (meter) 7.00

-6,9801720 ; 107,5700480

Distance AUTO = 35 m
Northing UTM High AUTO

UTM Easting

Average
Count

Waypoint radius (meter) Standard Loiter radius (meter)

4 -13.00

783978,58774
2.00

Time AUTO V 4,626523031

12.00

7 -9227656,9978 4

= 10 m =8s = 4,375 m/s

Deviation

3,977970565
2.00

CEP (50%)-8.00

-3.00 -3.00

4 7.00 5,076651222 48 12,20310865

Zone UTM (95%) 2DRMS 2 UTM Converter mode Coordinate

1 of environment 2 3 Condition displacement 0

WGS84
4 7 free 5 area, no6wind obstacle 14,8263 8
Sum ofFrekuensi

value

-8.00 Count Easting

Count Northing

-13.00

Analysis (contd)
Zone 49 (accuracy)
Autonomous coordinate 18
16
20

Parameter

10.00

UTM Easting
6.00

8.00

Value -7,7576256; 110,2932480

Distance AUTO = 69,9 m

High AUTO Time AUTO 3,979366372 4 V
4
10.00

UTM Northing

Average
12

Default altitude (meter) 14 422063,996079611

4.00

7 -9142433,957422800

= 12 m = 16 s = 4,36875 m/s

Count

Standard Deviation 10 Waypoint radius (meter) 2,771351292

8 CEP (50%) 2.00

3,982923422

Loiter radius (meter) 2DRMS 4(95%) -10.00 -8.00 -6.00 -4.00

0.00 -2.00 0.00 -2.00

9,698607056 2.00 4.00 6.00 8.00

5

Coordinate UTM zone

0 1 2 UTM converter mode displacement 3

49
6 7 5,64288 WGS84 8

Sum of Frekuensi

4 -4.00

value Condition of environment Count Easting -6.00

-8.00

Count Northing

Free area with wind obstacle

-10.00

Conclusion & Suggestion

Conclusion
Block Quadcopter: Frame, FC, Motor, ESC, Sensor, GPS Module The accuracy of coordinat depend with wind factor The lowet displacemnent autonomous Quadcopter is 5,64 m Power consumption depend with motor using (weight quadcopter = 0,94 kg)

Suggestion
The test should be in low environment factor Hardware choosen must see the power consumption efficiency

Thank You