Advanced Quadrotor flight
Author
Kristensen, Mikael Juhl
Term
4. term
Education
Publication year
2016
Submitted on
2016-08-12
Pages
60
Abstract
This project investigates autonomous indoor quadrotor flight using simple sensors. Because reliable state estimation requires position measurements, a GamesOnTrack system is employed. Challenges in measuring the states are addressed with two estimators (an Extended Kalman Filter and a sensor-driven Extended Kalman Filter). To make the platform more practical, the quadrotor is designed to yaw freely even while translating so a payload can be pointed in a desired direction; this is handled through accurate yaw estimation and by defining the tracking error in the body reference frame, which together with a Linear Quadratic Regulator (LQR) enables 3D flight with independent yaw control. Methods to increase tolerance to physical disturbances are also investigated, including Model Predictive Control and an experimental controller. The models, estimators, and controller are tuned and evaluated in simulation, and an implementation scheme is outlined; however, the approach was not realized on the physical platform within the project.
Dette projekt undersøger autonom quadrotor-flyvning indendørs med brug af enkle sensorer. Da pålidelig tilstandsestimering kræver positionsmålinger, anvendes et GamesOnTrack-system. Udfordringerne i at måle tilstandene håndteres med to estimationsmetoder (et Extended Kalman Filter og et sensordrevet Extended Kalman Filter). For at gøre platformen mere anvendelig til praksis søges fri yaw under bevægelse, så en nyttelast kan peges i en ønsket retning; dette adresseres med præcis yaw-estimering og ved at formulere fejlvektoren i kropsreferencerammen, som sammen med en Linear Quadratic Regulator (LQR) muliggør 3D-flyvning med uafhængig yaw-kontrol. Derudover undersøges metoder til at øge tolerance over for fysiske forstyrrelser, herunder Model Predictive Control og en eksperimentel regulator. Modeller, estimatorer og regulator er opstillet, tunet og afprøvet i simulering, og en implementeringsplan er skitseret; løsningen blev dog ikke realiseret på den fysiske platform inden for projektet.
[This apstract has been generated with the help of AI directly from the project full text]