QUADCOPTER NAVIGATION USINGAAKASH TABLET WITH ON BOARD IMAGE

PROCESSING

Garuda Control Station

Principal InvestigatorProf. D.B. Phatak

TEAM GARUDA

Project Team Members

Mr. Aaditya Hambarde

Mr. Ankit Kumar

Mr. D Yogendra Rao

Mr. Shubham Garg

Miss. Shuchi Sharma

Project Mentors

Mr. Sandesh PatiMiss Maitreyee MordekarMr. Sivakiran KodaliMr. Varun Madkaikar

Project In-Charge Mr. Rajesh Kushalkar

FEATURES

• Video Streaming

• Door detection

• GPS Tracking

• Ground Control Station on Aakash

Project Overview

YAW

ROLL

PITCH

YAW CONTROL

ROLL/PITCH CONTROL

‘IF YOU WANT TO GO FORWARD, PITCH FORWARD’

ALTITUDE CONTROL

PROPELLERS

• Two clockwise and two anti-clockwise

• Need a good balance on deciding length and pitch

Courtesy : www.atomikrc.com

ELECTRONICS SPEED CONTROLLER

• Generates signals for Brushless DC motor

• Pulse duration for 1000 us – 2000us

Courtesy : www.hangarone.co.nz

ACCELEROMETER & GYROSCOPE (MPU6050)

• Accelerometer :Sensitivity to vibrations

• Gyroscope : drift

Angular rate in three axes of space in deg/s

Courtesy : https://community.freescale.com/community/the-embedded

MAGNETOMETER (HMC5883L)

• Digital-output : angular movement , magnetic field intensity

• Reliable direction for magnetic north

Courtesy : https://community.freescale.com/community/the-embedded

PRESSURE SENSOR (MS5611)

• Altitude of quadcopter

• Temperature of the environment

Pressure is our 10th axis

Courtesy : https://community.freescale.com/community/the-embedded

GPS SENSOR (MT3329)

• Triangulation Method

• Location of quadcopter

• NMEA Protocol

(National Marine Electronics Association)

Courtesy : http://www.trimble.com/gps_tutorial/howgps-triangulating.aspx

SENSOR FUSION

• It literally means ‘fusing the data of two sensors’

• Accelerometer is noisy (has spikes).

• Gyroscope output has a time varying drift.

• Sensor Fusion-We take the best of both the worlds.

EXTERNAL AUTONOMOUS NAVIGATION

• Various Flight Modes-Stabilize, Acro, Alt Hold, Loiter, Auto Mode.

• For the AUTO mode, GPS is necessary.

• Waypoints can be set by our Application on the AAKASH tablet.

INTERNAL AUTONOMOUS NAVIGATION

• GPS fails in a closed-door environment.

• Detect a door/window and go out where GPS access is present.

• In future, we hope to design a controller for navigation of quadcopter from indoor to outdoor environs.

• SONARs will be used to create a depth map of the indoor environment and for obstacle detection.

Courtesy: http://www.scientificamerican.com/

DOOR DETECTION ALGORITHMS• Various alternatives like Training by Haar cascade, Feature matching by SURF

features were explored.

• To get a reasonable FPS, we had to settle on an algorithm which exploits the geometric properties of the door.

PID TUNINGProportional(P)Integral(I)Derivative(D)

1. NEED FOR PID TUNING

• For a stable and smooth flight of the quadcopter• To get the optimum or desired behavior from it•Without this, quad may topple, become sluggish or untamable

COMMUNICATION PROTOCOL : MAVLINK

• It is a protocol for communication between a Ground Control Station (GCS) and unmanned vehicles

• Each MavLink packet has a length of 17 bytes

6 bytes header + 9 bytes payload + 2 bytes checksum

RC INTERFACE

Fast Mode Access

Navigation Menu

RC Control

Connect Button to connect with

the quad

Mode Switch

INTERFACES

Planning Interface

Flight Data Interface

INTERFACES

Charts Interface

Camera Feeds

WHAT DID WE LEARN?

• Orientation algorithms of a quadcopter.

• Aerodynamics of a quadcopter.

• Explored Image Processing Techniques in detail.

• Streaming the video-feed of a USB webcam/RaspiCam over a local area network through MJPEG streamer.

• A new way of thinking and questioning things.

• A new communication protocol-MAVLINK.

CHALLENGES FACED

• Implementation of Haar training for door detection.

• PID tuning for stable flight.

• Overlapping the RC on the video feed.

FURTHER PROSPECTS

• Making ‘Garuda’ autonomous (using GPS based navigation).

• Designing a PID controller for internal navigation by door/window detection and SONAR.

• Face Recognition in the feed received at the AAKASH end.

• Recording the video feed on AAKASH tablet and processing it.

REFERENCES

• [1] https://github.com/AngusP/SkiTrack/blob/master/documentation/MS5611-01BA03%20datasheet.pdf

• [2] http://www.invensense.com/mems/gyro/.../PS-MPU-6000A-00v3.4.pdf

• [3] http://www.adafruit.com/datasheets/HMC5883L_3-Axis_Digital_Compass_IC

• [4] JoyStickView : https://code.google.com/p/mobile-anarchy-widgets/

• [5] MjpegStream : https://bitbucket.org/neuralassembly/simplewebcam

REFERENCES

• [6] HUD : https://code.google.com/p/copter-gcs

• [7] MAVlink : Mavlink for Dummies Part 1

• [8] Barton, Jeffrey D. "Fundamentals of small unmanned aircraft flight." Johns

• Hopkins APL technical digest 31, no. 2 (2012): 132-149.

• [9] Premerlani, William, and Paul Bizard. "Direction cosine matrix imu: Theory."DIY

• Drones.[Online][Cited: 1 7 2012.] http://diydrones. ning. com/profiles/blogs/dcmimu-theory-first-draft (2009).

• [10] http://dev.ardupilot.com/

THANK YOU