Wojciech Janusz

Data Fusion Algorithm for the Altitude and Vertical Speed Estimation of the VTOL Platform

An approach to the autonomous of the realization VTOL platform take-off and landing significantly simplifies the operator labor to control such device. At the same time, implementation of these control scenarios allows to perform these tasks under failure conditions (for example communication breakdowns). One condition of proper operation of the vertical movement control system is the ability to provide reliable information about the altitude of the controlled platform. In this paper one of the solutions for obtaining estimate of the altitude based on sensor data fusion is presented. Proposed scheme uses information obtained from pressure sensor, inertial measurement unit, ultrasonic sensor and GPS, all of these instruments are nowadays very often mounted on VTOL platforms.

Surface monitoring of water basins based on use of autonomous flying robots

In this paper we address the problem of water basins surface measurements. This problem is important in regions where coal extraction took place because of it significant impact on the landscape. We propose method based on usage of quadrotor equipped with non-metrical camera. Presented concept include discussion about quadrotor path planning, image tracing, quadrotor state estimation and altitude stabilization.

Altitude estimation for the UAV's applications based on sensors fusion algorithm

Altitude measurement with a high reliability is a very difficult issue not because of the sensors complexity and requirements but due to the quality of the signals and fast changing environment conditions. In this paper we focus on the problem of the vertical movement measurements of the unmanned aerial vehicles and approach to the future control algorithms implementation. Two-sensors algorithm has been proposed on the basis of the data fusion from the pressure sensor and ultrasonic range finder.

Concept and realization of unmanned aerial system with different modes of operation

In this paper we describe the development process of unmanned aerial system, its mechanical components, electronics and software solutions. During the stage of design, we have formulated some necessary requirements for the multirotor vehicle and ground control station in order to build an optimal system which can be used for the reconnaissance missions. Platform is controlled by use of the ground control station (GCS) and has possibility of accomplishing video based observation tasks. In order to fulfill this requirement the on-board payload consists of mechanically stabilized camera augmented with machine vision algorithms to enable object tracking tasks. Novelty of the system are four modes of flight, which give full functionality of the developed UAV system. Designed ground control station is consisted not only of the application itself, but also a built-in dedicated components located inside the chassis, which together creates an advanced UAV system supporting the control and management of the flight. Mechanical part of quadrotor is designed to ensure its robustness while meeting objectives of minimizing weight of the platform. Finally the designed electronics allows for implementation of control and estimation algorithms without the needs for their excessive computational optimization.

Managing System Architecture for Multi-Rotor Autonomous Flying Platform-Practical Aspects

Unmanned aerial systems have become recently a rapidly developing research area. The most popular platforms are undoubtedly multirotors with an ability to vertical take-off and land. These are often controlled by human pilots using some basic apparatus. In this paper the mechanical architecture, hardware components, and software structure of the ground control station have been described. These components create an interface between an operator and the flying machine allowing to perform an operation with a different level of complexity. Furthermore the main purpose of designing this device is to obtain a user friendly system that can be used by a medium experienced user with limited training time.

Model identification and data fusion for the purpose of the altitude control of the VTOL aerial robot

Abstract In this paper we focus on the problem of the altitude control for an unmanned aerial vehicle known as quadrotor. One of the requirements for the proper operation of altitude control system, are reliable estimates of the UAV altitude and vertical velocity. In this paper altitude and vertical speed estimation algorithm in a form of the Kalman filter is presented which makes use of the ultrasonic range finder and accelerometer. On the basis of the estimates, the nonlinear Hammerstein-Wiener model of the velocity and parametric model of altitude are constructed. Next, the model of the quadrotor vertical movement is used in a process of cascade control system design. Finally, the verification of the controllers has been performed on the hardware platform, and the performance of the altitude controller has been examined.

UAV glider control system based on dynamic contraction method

In this article two control structures for UAV (Unmanned Aerial Vehicle) glider are presented. Both structures are using control law based on dynamic contraction method, both of these are of cascade structure. Presented control systems allow to control aircraft yaw angle and velocity with respect to air. One of them also allows to stabilize sideslip angle on values close to zero. Proper operation of suggested structures is checked by using numerical simulation prepared in Matlab environment.

Extended Modeling of Vertical Axis Motion Dynamics of VTOL Vehicle

Development of a reliable high-performance multirotor unmanned aerial vehicle (UAV) requires an accurate and practical model of the vehicle dynamics. This paper describes the process and results of the dynamic modeling of an unmanned aerial platform known as quadrotor. To model a vehicle dynamics, elementary physical and aerodynamical principles has been employed. Parameter estimations, from a UAV design have been obtained through direct and indirect measurements. In addition to standard configuration of VTOL (Vertical Take-Off and Landing) platform, the amortized landing gear, modeled as spring-damper system, has been added. The resulting model has been implemented in a simulation environment under MATLABs toolbox, SIMULINK. Some numerical results are presented to illustrate response of the open loop system to specific commands.

Compensation of magnetometers error based on nonlinear models for multimotor aerial robots applications

In this paper we describe the compensation of magnetometers error which are result of high current flows in their vicinity. This kind of errors can be found in multirotor applications where measurement unit is located in the platform center, while motors with propellers are mounted on a relatively short arms around the platform body. Varying current flows have an impact on magnetic field around the magnetometers what results in an apparent angular changes of the unmanned platform. In order to compensate this unwanted effect, we have builded nonlinear model relating motors control inputs with the magnetic field changes and employed it in a compensation scheme.

Identification of vertical VTOL movement model based on use of local linear models.

In this paper we present the identification process of VTOL platform vertical movement model. VTOL platform used during the research was quadrotor equipped with ultrasonic range finder. We would like to model forces acting on the platform body which are result of the propulsion system. In order to develop this model, we had to employ two step procedure. In the first stage we had to estimate thrust forces during the experiment. Then we have used nonlinear modeling technique based on use of local linear models to obtain dynamic model relating throttle inputs with throttle forces.