Keywords
IEM-N (KL0-electronica), Baliza, Infrarrojos, Sensor, Vuelo autónomo, UAV, Señal PWM., Beacon, Infrared, Sensor, Autonomous flight, PWM, UAV.
Navegación autónoma de drones en interiores mediante balizas de infrarrojos
Abstract
El presente documento expone el proceso de creación, implantación y certificación de un sistema de vuelo autónomo para drones en interiores. Esta nueva tecnología consistirá en la comunicación inalámbrica por medio de señales de infrarrojos entre unos dispositivos emisores de un tren de pulsos PWM dispuestos en la superficie del área de vuelo y un dispositivo receptor implantado en la parte inferior de dron. Estos dispositivos se denominaran balizas emisoras y receptoras respectivamente.
Este sistema tiene la intención de explotar al máximo el potencial de los componentes electrónicos hardware, eliminando así la utilización de sistemas sofisticados y recurriendo exclusivamente a los dispositivos necesarios. Optimizando de esta manera el peso, tamaño y coste.
Se han desarrollado dos métodos para el vuelo autónomo:
1º Dynamic Reference, en el cual se disponen las balizas formando un recorrido a seguir, y la información de las balizas al pasar el UAV por una de ellas, modificando la referencia de vuelo.
2º Beacon Grid, forma un mallado con los dispositivos emisores, los cuales transmiten las coordenadas [x,y] al dron al situarse encima de un de ellas. Y el plan de vuelo es gestionado por una misión.
Las medidas de las balizas se complementarán con la de ciertos sensores, a saber: tres giróscopos (para tomar referencia de los ángulos de Euler), tres acelerómetros (tomando medidas de las aceleraciones lineales relativas al cuerpo del dron), dos sensores de proximidad dispuestos en el lateral del UAV (para tomar referencia con una de las paredes y calcular el ángulo de guiñada) y un sensor sonar (para referenciar al vehículo aéreo con el suelo).
La estimación de la posición se realiza combinando todas las medidas mencionadas, a partir de un Filtro Extendido de Kalman, “EKF”. Finalmente esta estimación es testada, comprobando así la base teórica del proyecto.
This document exhibits the process of creation, implantation and certification of a system of autonomous flight for drones in interiors. This new technology will consist of the wireless communication by means of signs of infrared between a few issuing devices of a train of pulses PWM arranged in the surface of the area of flight and a receiving device implanted in the low part of drone. These devices will be named issuing and receiving beacons respectively. This system has the intention of exploiting to the maximum the potential of the electronic components hardware, eliminating this way the use of sophisticated systems and resorting exclusively to the necessary devices. Optimizing this way the weight, size and cost. Two methods have developed for the autonomous flight: 1st Dynamic Reference, in which the beacons get ready forming a trip to be continued, and the information of the beacons on having spent the UAV for one of them, modifying the flight reference. 2nd Beacon Grid, forms a grid with the issuing devices, which transmit the coordinates [x, y] to the drone on having been located on one of them. And the flight plan is managed by a mission. The measurements of the beacons will complement each other with that of certain sensors, namely: three gyroscopes (to take reference of the angles of Euler), three accelerometers (taking measures of the linear accelerations relative to the body of the drone), two sensors of proximity arranged in the side street of the UAV (to take reference with one of the walls and to calculate the wink angle) and a sensor to sound (to index to the air vehicle with the soil). The estimation of the position is realized combining all the mentioned measurements, from a Widespread Filter of Kalman, “EKF“. Finally this estimation is tested, verifying this way the theoretical base of the project.
This document exhibits the process of creation, implantation and certification of a system of autonomous flight for drones in interiors. This new technology will consist of the wireless communication by means of signs of infrared between a few issuing devices of a train of pulses PWM arranged in the surface of the area of flight and a receiving device implanted in the low part of drone. These devices will be named issuing and receiving beacons respectively. This system has the intention of exploiting to the maximum the potential of the electronic components hardware, eliminating this way the use of sophisticated systems and resorting exclusively to the necessary devices. Optimizing this way the weight, size and cost. Two methods have developed for the autonomous flight: 1st Dynamic Reference, in which the beacons get ready forming a trip to be continued, and the information of the beacons on having spent the UAV for one of them, modifying the flight reference. 2nd Beacon Grid, forms a grid with the issuing devices, which transmit the coordinates [x, y] to the drone on having been located on one of them. And the flight plan is managed by a mission. The measurements of the beacons will complement each other with that of certain sensors, namely: three gyroscopes (to take reference of the angles of Euler), three accelerometers (taking measures of the linear accelerations relative to the body of the drone), two sensors of proximity arranged in the side street of the UAV (to take reference with one of the walls and to calculate the wink angle) and a sensor to sound (to index to the air vehicle with the soil). The estimation of the position is realized combining all the mentioned measurements, from a Widespread Filter of Kalman, “EKF“. Finally this estimation is tested, verifying this way the theoretical base of the project.
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