TRNG I HC BCH KHOA H NI

VIN IN T - VIN THNG

------


BO CO
THC TP K THUT
TI:


Gio vin hng dn : TS. Trng Tun
Sinh vin: Lng Minh Nguyn
MSSV: 20111931
Lp: TVT 10 - K56
Vin: in T - Vin Thng

H Ni, 8/2014


1 Lng Minh Nguyn - Bo co kt qu thc tp k thut
MC LC
A. LI NI U ............................................................................................ 2
B. NI DUNG ................................................................................................. 3
CHNG 1: GII THIU V VIN IN T - VIN THNG V PHNG
NGHIN CU ASE LABORATORY .......................................... 3
1.1. Gii thiu v Vin in t - Vin Thng ............................................. 3
1.2. Gii thiu v B mn in T Hng Khng V Tr v phng
nghin cu ASE Laboratory ................................................................. 4
CHNG 2. NI DUNG THC TP ................................................................ 6
2.1. Gii thiu phng nghin cu ASE Laboratory ...................................... 6
2.2. Ni dung thc tp ................................................................................. 10
2.2.1. t vn .............................................................................. 10
2.2.2. Phng thc hot ng .......................................................... 11
2.2.3. Tng quan v phn mm trm mt t Mission Planner ....... 12
2.3. Mt s ni dung thc tp ph khc ...................................................... 24
CHNG 3: NHN XT, XUT .............................................................. 25
3.1. u im ................................................................................................ 25
3.2. Nhc im .......................................................................................... 25
3.3. xut ................................................................................................. 25
C. KT LUN ............................................................................................... 26
D. PH LC .................................................................................................. 27
E. TI LIU THAM KHO ..................................................................... 278


2 Lng Minh Nguyn - Bo co kt qu thc tp k thut
A. LI NI U
Mn hc Thc Tp K Thut (ET3270) nm trong chng trnh o to ca
Vin in t - Vin thng trng i hc Bch Khoa H Ni. Mn hc mi c
a vo chng trnh K55 nhm to iu kin cho sinh vin tip xc vi mi trng
lm vic thc t cc cng ty ngay t h nm th ba sinh vin c th thy r hn
v cng vic thc t mnh s lm sau ny. Vic c to iu kin thc tp sm
chc chn s gip sinh vin c nhng hiu bit tt hn v nhng lnh vc mnh ang
c hc trong trng, cng nh c hc hi thm nhng k nng rt cn thit khi
i lm.
Em xin gi li cm n n Ban lnh o Vin in T Vin Thng - Trng
i hc Bch Khoa H Ni to iu kin cho chng em c tham gia kha thc
tp doanh nghip ny, n thc s cung cp cho sinh vin chng em nhng kin
thc rt b ch v c chuyn ngnh v k nng mm sau ny c th tham gia vo
cng vic mt cch ch ng v d dng hn.
hon thnh tt kha thc tp ny, chng em nhn c s quan tm,
ng h v gip nhit tnh t thy gio Trng Tun cng cc bn sinh vin
khc trong phng nghin cu. Em xin gi li cm n chn thnh v su sc nht ti
thy hng dn TS. Trng Tun, thy hng dn chng em tn tnh, chu o
khng ch v kin thc, k thut chuyn mn, cch tip cn v thc hin ti m
cn dy cho chng em nhng bi hc qu gi v con ngi, cng vic, cng nh
nhng hng pht trin cho tng lai. Em xin chn thnh cm n cc anh ch, cc
bn sinh vin trong phng nghin cu gip , h tr cho em rt nhiu trong qu
trnh thc tp phng nghin cu.
Trong qu trnh thc tp, do kin thc cn hn ch nn cn nhiu thiu xt,
em rt mong s nhn c nhiu kin gp t cc thy c v cc bn.

3 Lng Minh Nguyn - Bo co kt qu thc tp k thut
B. NI DUNG
CHNG 1: GII THIU V VIN IN T - VIN THNG V PHNG
NGHIN CU ASE LABORATORY
1.1. Gii thiu v Vin in t - Vin Thng
i hc Bch khoa H Ni l trng i hc k thut a ngnh, c thnh
lp ti H Ni ngy 15 thng 10 nm 1956. Trng lun l mt trong nhng trng
i hc k thut hng u ca nn gio dc Vit Nam. Qu trnh hnh thnh, xy
dng v pht trin ca vin in T - Vin Thng cng gn lin vi trng i
Hc Bch Khoa H Ni.
Vin in t - Vin thng hin nay c trn 118 cn b, ging vin. Trong ,
s cn b ging dy l 80 u c trnh trn i hc, vi 13 PGS v 45 Tin s.
Hng nm, Vin in t - Vin thng o to khong 500 sinh vin chnh qui, 200
hc vin cao hc v 10 nghin cu sinh. Vin o to theo 5 chuyn gm: in
t k thut my tnh, thng tin truyn thng, in t y sinh, in t hng khng v
tr v k thut truyn hnh.
Cng vi qu trnh i mi v pht trin ca Trng H Bch khoa H Ni,
Vin in t - Vin thng ang tch cc trin khai cc hot ng i mi trn ton
b cc lnh vc: o to, Nghin cu khoa hc v xy dng c s vt cht. Chng
trnh o to c i mi ton din theo hng hin i v hi nhp. a dng ha
cc loi hnh o to. M rng cc chng trnh o to c bit (K s ti nng,
chng trnh tin tin), pht trin o to sau i hc (Cao hc, Nghin cu sinh).
Kt hp o to l thuyt v k nng thc hnh. Gn cht o to v nghin cu
khoa hc. Hot ng nghin cu khoa hc, hp tc trong v ngoi nc c pht
trin mnh m. Trang thit b, c s vt cht cho hc tp, thc hnh v nghin cu
c tng cng v ngy cng hon thin.C ch qun l mi theo hng t ch, t
chu trch nhim ang c trin khai tng bc. Mt mi trng hc tp, lm vic
v nghin cu khoa hc thun li, thn thin c to ln, c sc hp dn i vi
sinh vin v cn b khoa hc c trnh cao.

4 Lng Minh Nguyn - Bo co kt qu thc tp k thut
1.2. Gii thiu v B mn in T Hng Khng V Tr v phng
nghin cu ASE Laboratory
T nm 1986, Khoa V tuyn in, nay l Vin T-VT, bt u trin khai
ging dy cc mn hc lin quan n chuyn ngnh in t Hng khng - V tr v
c chin lc o to ngun nhn lc, chun b v t chc thnh lp chuyn
ngnh in t HK-VT. C th tin trnh cng tc chun b nh sau:
1986: Khoa V tuyn in c cn b ging dy v nghin cu v lnh vc
nh v dn ng.
Nm hc 1987 - 1988: Bt u o to mn nh v dn ng, gi sinh
vin thc tp v cung cp ngun nhn lc cho ngnh hng khng v mt s ngnh
lin quan.
1994: M m ngnh in t Hng khng (06.02)
2005: D tho thnh lp b mn chuyn ngnh in t Hng Khng.
2010: B mn in t HK-VT c ph duyt trong n thnh lp
Vin T-VT. Thnh lp t cng tc tin hnh cc bc chun b cn thit v
chuyn mn, t chc, nhn s, kho st nhu cu x hi v xy dng n thnh lp
b mn.
T nm 2011: Xy dng chng trnh v o to chuyn 4 K thut
in t Hng khng v tr cho kha 52 (s lng sinh vin 21), kha 53 (s lng
53 sinh vin).
Nm 2012, B mn T HK-VT c thnh lp nhm p ng nhu cu o
to ngun nhn lc cht lng cao trong lnh vc Hng khng V tr cng nh
m ra hng nghin cu chuyn ngnh mi cho Vin in t - Vin thng trong
lnh vc ny.
i ng cn b ca b mn tr, tm huyt, c o to chnh quy trong
nc v ngoi nc:, Nht Bn, o, Thi Lan, n . B mn c quan h quc t
vi nhiu c quan nghin cu uy tn ca nc ngoi nh i hc Torino (Cng ha
), Vin cng ngh h thng thng minh i hc Klagenfurt (Cng ha o) ,

5 Lng Minh Nguyn - Bo co kt qu thc tp k thut
Vin khoa hc tch hp tin tin, i hc Chiba (Nht Bn), Trung tm nghin cu
truyn thng khng dy Torino Wireless (Italia), Hc vin AIT (Thi Lan), Phng
nghin cu thng tin di ng Hc vin cng ngh Tokyo (Nht Bn) v.v... Hot
ng nghin cu khoa hc v o to ca b mn gn lin vi thc tin, c hp tc
vi n v trong v ngoi trng v cc doanh nghip.

Phng nghin cu ASE Laboratory:
Cng vi vic thnh lp b mn in t Hng khng V tr, phng nghin
cu ASE Laboratory c a vo hot ng. Hng nghin cu ca phng nghin
cu: tch hp cng ngh nh v dn ng, truyn thng v tuyn/di ng trong
thit k, trin khai cc h thng, thit bi, ng dng thi gian thc. Hin ti, phng
nghin cu c 42 thnh vin bao gm sinh vin cc kha K54, K55, K56, K57, hc
vin cao hc, nghin cu sinh, di s hng dn, qun l trc tip ca TS.
Trng Tun.
Trong qu trnh thc tp ti phng nghin cu, em c giao thc hin ti
Thit k, pht trin phn mm trm mt t gim st v iu khin thit b bay
khng ngi li UAV qua giao thc MAVLink. Mc tiu ca ti l pht trin
phn mm Mission Planner nhm gim st trnh bay ca UAV. Trn thit b bay
UAV c gn bo mch APM s gi cc thng s k thut v trm mt t qua giao
thc MAVLink, gip gim st trnh bay ca UAV mt cch hiu qu, v qua ta
c th iu khin c qu o bay ca UAV bng my tnh theo mun ca mnh.
ti thuc ti nghin cu khoa hc cp thnh ph, thc hin cnh bo
chy, h tr cu h cu nn trong phng chy cha chy trn a bn thnh ph H
Ni.

6 Lng Minh Nguyn - Bo co kt qu thc tp k thut

Hnh 2.1: S h thng UAV
CHNG 2. NI DUNG THC TP
2.1. Gii thiu phng nghin cu ASE Laboratory
Phng nghin cu ASE Laboratory c hnh thnh cng vi b mn in
t Hng khng V tr. Lnh vc nghin cu ca phng nghin cu l tch hp
cng ngh nh v dn ng, truyn thng v tuyn - di ng trong thit k, trin
khai cc h thng, thit b, ng dng thi gian thc.
Trng phng nghin cu: TS. Trng Tun.
Thnh vin: 42 thnh vin.
K54: 2 thnh vin.
K55: 11 thnh vin.
K56: 11 thnh vin.
K57: 11 thnh vin.
Hc vin cao hc, nghin cu sinh
a ch: Phng C9-410, Trng i hc Bch Khoa H Ni, S 1, i C
Vit, Hai B Trng, H Ni.
Hng nghin cu ti: cnh bo chy, thc hin cng tc h tr cu h
cu nn phng chy cha chy trn a bn thnh ph H Ni.

7 Lng Minh Nguyn - Bo co kt qu thc tp k thut
Cc nhm chuyn mn ca ASE-lab:
o Nhm UAV: chuyn tm hiu, nghin cu v thit b bay khng
ngi li UAV

Hnh 2.2: UAV 8 cnh

Hnh 2.3: UAV 16 cnh


8 Lng Minh Nguyn - Bo co kt qu thc tp k thut
o Nhm Cm bin: Tm hiu, nghin cu thit b u cui, pht hin
v cnh bo chy

Hnh 2.4: H thng cnh bo chy

Hnh 2.5: Mn hnh thit b cnh bo chy

9 Lng Minh Nguyn - Bo co kt qu thc tp k thut
o Nhm Android: Nghin cu, ch to xe t hnh phc v cng tc h
tr phng chy cha chy

Hnh 2.6: Hin trng thc nghim xe t hnh
o Nhm website: thit k, pht trin website ca lab

Hnh 2.7: Giao din web ca lab ASE


10 Lng Minh Nguyn - Bo co kt qu thc tp k thut
2.2. Ni dung thc tp
2.2.1. t vn
Thi gian gn y, trn a bn H Ni lin tc xy ra cc v ha hon ln :

Hnh 2.8: Mt v chy ti TP. H Ni
Nguyn nhn chnh ca cc v chy trn l do hin trng xy ra chy
thng trong cc khu chung c cao tng nn vi phun nc khng vn ti c
hoc nm su trong cc ng, hm c ng x giao thng cht hp dn n cc xe
cu ha khng th n gn. Bn cnh , h thng phng chy cha chy cng c
s h tng phc v cng tc phng chy cha chy ti ch cn thiu thn nhiu.
Ngi dn cn cha c tip xc nhiu vi thit b phng chy cha chy cng
nh c o to v cch x l tnh hung khi c ha hon. Cc v ha hon lun
li thit hi nghim trng v con ngi v ti sn, ng thi cng gy ra nhiu
kh khn v nguy him trong cng tc cu nn ca lc lng cnh st phng chy
cha chy.
gip cho cng tc cu h cu nn khi xy ra ha hon d dng hn,
phng nghin cu c tng thit k, ch to mt sn phm thit b bay khng

11 Lng Minh Nguyn - Bo co kt qu thc tp k thut
ngi li UAV thc hin nhiu chc nng. My bay X4 mini s c gn cc thit
b nh camera, cm bin cao thc hin chc nng gim st khu vc chy,
gi hnh nh v m chy, ngi b nn mc kt trn cc ta nh cao tngcho lc
lng phng chy cha chy ln k hoch cu h cu nn ph hp. My bay
X16 c kh nng mang ,trng ti 6 n 10 kg, s mang nhng vt dng cn thit
nh khn t, mt n cu hbay ln trn ta nh v th vo cho cc nn nhn,
h s dng duy tr s tnh to cho ti khi lc lng cu h ti gip
Cc thng s hot ng c bn ca UAV
X4 mini:
- Trn bay: Trn 50m
- Thi gian hot ng lin tc: 15 pht
- Gi d liu hnh nh qua camera tng t v trm mt t
X16:
- Trn bay: Trn 50m
- Thi gian hot ng lin tc: 15 pht
- Ti trng mang vt: 6 10 kg
2.2.2. Phng thc hot ng

Hnh 2.9: Phng thc hot ng ca h thng

12 Lng Minh Nguyn - Bo co kt qu thc tp k thut
Bc u, khi cc khi cm bin t trong cc ta nh o c nng khi,
nhit vt qu mc quy nh v an ton th s bo v trung tm, trung tm s
iu phi lc lng v phng tin cu h cu nn ti, bao gm c nhm UAV.
u tin, nhm s bay X4 mini quan st m chy v khu vc xy ra m chy
ri gi thng tin, hnh nh v trm mt t, qua gip lc lng cu h cu nn
ra phng n hnh ng tt nht. Tip n s dng X16 mang vt l khn t v
mt n khi ln ta nh cho nhng ngi gp nn bn trn. c th truyn thng
tin t UAV v my tnh di trm mt t phi thng qua phn mm trm mt t
Mission Planner. Phn mm Mission Planner cho php APM trn UAV v my tnh
trao i thng tin cho nhau, qua cc thng tin, hnh nh m UAV thu c s
c truyn v mt t, h tr cc nhn vin lc lng phng chy cha chy mt
cch hiu qu nht.
2.2.3: Tng quan v phn mm trm mt t Mission Planner
Phn mm c vit bng ngn ng C#, s dng cng ngh Windows Form
vi cng c lp trnh l Microsoft Visual Studio 2010
V tr ca phn mm trong h thng








Hnh 2.10: V tr ca phn mm trong h thng


Trm mt
t
UAV
Mission
planner
arduino
MAVLink

13 Lng Minh Nguyn - Bo co kt qu thc tp k thut
Giao din phn mm

Hnh 2.11: Giao din phn mm Mission Planner


Hnh 2.12: B sung chc nng iu khin vi sai cho phn mm Mission Planner
Mission Planner l phn mm trm mt t dng gim st v iu khin
trnh bay ca UAV, thng qua vic nhn v gi bn tin qua giao thc MAVLink.

14 Lng Minh Nguyn - Bo co kt qu thc tp k thut
Cch thc download, ci t v build code Mission Planner
Download v ci t Mission Planner
B1: Truy cp vo http://ardupilot.com/

Hnh 2.13: Giao din trang web http://ardupilot.com/
B2: Vo download chn Mission Planner, chn download

Hnh 2.14: Download phn mm


15 Lng Minh Nguyn - Bo co kt qu thc tp k thut
Download v build code Mission Planner
B1: Truy cp vo web http://ardupilot.com/ . Click vo communiti chn
developers. Tip theo chn mc Projects list ri chn code


Hnh 2.15: Giao din web download code
B2: Chn download zip v ti code v my

Hnh 2.16: Download code Mission Planner


16 Lng Minh Nguyn - Bo co kt qu thc tp k thut
Build code Mission Planner
B1: Gii nn file Mission Planner download v
B2: Chy phn mm Microsoft Visual Studio
B3: Chn open project. Dn n file Mission Planner va gii nn ri chn
Mission Planner.csproj
B4: Debug star debugging
Nu trong qu trnh debug treo mn hnh v c thng bo Managed
Debugging Assistant LoaderLock has detected a problem
Ta vo chn Debug => Exceptions => Managed Debugging Assistants => b
chn Loader Lock
B5: Sau khi sa xong, mn hnh c giao din


Hnh 2.17: Giao din khi build code Mission Planner
S xut hin li th vin, ta phi tin hnh Add th vin. Ta click chut vo phn
References. Chut phi remove nhng th vin c du chm than vng. Ta tin
hnh add thm th vin do code cng cp. chut phi vo references chn

17 Lng Minh Nguyn - Bo co kt qu thc tp k thut
add reference. Chn sang hi thoi browse chn phn lib. Tm tn th vin va xa
( th vin c ui .dll) ri ok. C lm nh th bao gi ht du chm than vng th
thi.
B6: Debug li

Hnh 2.18: Giao din khi Debug thnh cng
Cc phn code cho cc chc nng chnh
Load port:
// load danh sach cong com
private void cbbcom_DropDown(object sender, EventArgs e)
{
string[] ports = SerialPort.GetPortNames(); // lay ten cac cong com
co the ket noi
cbbcom.Items.Clear(); // xoa du lieu tu truoc
cbbcom.Items.AddRange(ports); // add danh sach cong com vao
cbb.
}
// chon cong com
private void cbbcom_SelectedIndexChanged(object sender, EventArgs e)
{
if (com.IsOpen) // neu cong com dang ket noi thi off
{
com.Close();
}

18 Lng Minh Nguyn - Bo co kt qu thc tp k thut
// con khong thi
com.PortName = cbbcom.SelectedItem.ToString(); // chon cong
com
}
Load baudrate
//chon baudrate
private void cbbbaudrate_SelectedIndexChanged(object sender,
EventArgs e)
{
if (com.IsOpen)
{
com.Close();
}
com.BaudRate = Convert.ToInt32(cbbbaudrate.Text);
// chon cung giong nhu cong com. cbbbaudrate kieu string nen ta phai
truy nhap vao truong text ep kieu sang int32
}
Kt ni cng com
if (!com.IsOpen)
{
com.Open();
btnconnect.Text = "DISCONECT";
lbconnection.Text = "CONNECTED";
lbconnection.ForeColor = Color.Green;
}
else
{
timer1.Stop();
wrlog.Close();
com.Close();
btnconnect.Text = "CONNECT";
lbconnection.Text = "DISCONNECTED";
lbconnection.ForeColor = Color.Red;

}
Hm x l d liu
public void data_receiver(object sender, SerialDataReceivedEventArgs e)
{
try
{
int num = com.BytesToRead;
for (int i = 0; i < num; i++)

19 Lng Minh Nguyn - Bo co kt qu thc tp k thut
{
byte data = (byte)com.ReadByte();
switch (state)
{
case 0: if (data == 0xFE)
{
//MessageBox.Show("bat dau nhan du llieu");
state++;
}; break;
case 1: datalength = data;
{
state++;
} break;
case 2: nummessage = data; { state++; } break;
case 3: systemid = data; state++; break;
case 4: componentid = data; state++; break;
case 5: messageid = data; state++; break;
case 6: buffer[datacounter] = data;
datacounter++;
if (datacounter >= 28)
state++;
break;
case 7:
{
//switch (messageid)
//{case 0x1E:
time_boot_ms = (UInt32)(getdatavalue(4, 4));
lat_ = (Int32)(getdatavalue(8, 4));
lng_ = (Int32)(getdatavalue(12, 4));
alt_ = (Int32)(getdatavalue(16, 4));
relative_alt = (Int32)(getdatavalue(20, 4));
vx = (Int16)(getdatavalue(22, 2));
vy = (Int16)(getdatavalue(24, 2));
vz = (Int16)(getdatavalue(26,2));
hdg = (Int16)(getdatavalue(28, 2));
state++;
}
break;

case 8: cka = data; state++; break;
case 9: { ckb = data; state++; } break;
cka = 0; ckb = 0; datacounter = 0; state = 0; break;
}

}
}
catch (Exception ex)
{
cka = 0; ckb = 0;
datacounter = 0; state = 0;
}
}

20 Lng Minh Nguyn - Bo co kt qu thc tp k thut
Hm hin th d liu ln GMAP
// xoa du lieu da ket noi lan truoc
if (route != null)
route.Points.Clear();
else
{
route = new GMapRoute(trackpoint, "track");
routes.Routes.Add(route);
}
if (hometocurrent != null)
hometocurrent.Points.Clear();
else
{
hometocurrent = new GMapRoute(listpoint_home_current,
"home direct");
home_overlay.Routes.Add(hometocurrent);
hometocurrent.Stroke.Color = Color.Green;
hometocurrent.Stroke.Width = 5;
}
routes.Markers.Clear();
markers_overlay.Markers.Clear();
// xoa xong
// cap nhat lai home cho duong noi thang home - current
home_point = new PointLatLng(lat_, lng_);
hometocurrent.Points.Add(home_point);
hometocurrent.Points.Add(home_point);

// danh dau home len ban do
marker = new GMapMarkerGoogleGreen(home_point);
marker.ToolTip = new GMapToolTip(marker);
marker.ToolTipMode = MarkerTooltipMode.Always;
marker.ToolTipText = "home";
markers_overlay.Markers.Add(marker);
Hng pht trin trong tng lai
Do nhu cu ca cng tc h tr cu nn, thit b bay khng ngi li UAV rt cn
thit, tuy nhin khi m chy xy ra, nhit , p sutkhng kh u rt cao v
khng n nh, thit b UAV khi tip xc gn c th s dn ti hng hc, ri. Ngoi
ra khi bay, cn c hnh lang an ton, trnh bay qu gn cc ta nh, cy ci...
trnh c cc tc nhn trn, nhm nghin cu, pht trin v hon thin phn
mm ch ra hnh lang bay an ton cho thit b UAV, qua gip ngi iu khin
d dng iu khin thit b UAV mt cch an ton.


21 Lng Minh Nguyn - Bo co kt qu thc tp k thut
Khung hnh bn trong l phm vi ta nh, khung hnh bn ngoi l khong cch ti
a m thit b UAV cch xa ta nh m bo c th tip nhn thng tin hnh nh
tt nht v m chy. im point mu xanh l v tr ca thit b UAV.

Hnh 2.19: Thng bo an ton khi UAV bay trong phm vi cho php
Hnh 2.20: Cnh bo nguy him khi UAV bay ngoi phm vi cho php


22 Lng Minh Nguyn - Bo co kt qu thc tp k thut
Code cc hm quan trng
V phm vi ta nh v hnh lang bay an ton
namespace Test_Gmap
{
public partial class Form1 : Form
{
GMapOverlay overlay;
GMapPolygon polygon, //Hnh ch nht bn trong
polygon2; //Hnh ch nht bn ngoi
GMarkerGoogle maker;
List<PointLatLng> point_list, point_list2;
PointLatLng currentpoint;

public Form1()
{
InitializeComponent();
gMapControl1.MapProvider = GMapProviders.GoogleMap;
gMapControl1.Position = new PointLatLng(21.0059202, 105.8422284);
// ta trng BK

gMapControl1.Zoom = 20;
overlay = new GMapOverlay("overlay");
point_list = new List<PointLatLng>();
polygon = new GMapPolygon(point_list, "polygon");
overlay.Polygons.Add(polygon);
point_list2 = new List<PointLatLng>();
polygon2 = new GMapPolygon(point_list2, "polygon2");
overlay.Polygons.Add(polygon2);
gMapControl1.Overlays.Add(overlay);
}

private void gMapControl1_MouseDown(object sender, MouseEventArgs e)
{
currentpoint = gMapControl1.FromLocalToLatLng(e.X, e.Y);

//V hnh bn trong

if (polygon.Points.Count < 4)
{
polygon.Points.Add(currentpoint);
gMapControl1.UpdatePolygonLocalPosition(polygon);
}





23 Lng Minh Nguyn - Bo co kt qu thc tp k thut
//V hnh bn ngoi

else if (polygon2.Points.Count < 4)
{
polygon2.Points.Add(currentpoint);
gMapControl1.UpdatePolygonLocalPosition(polygon2);
}

Kim tra xem thit b UAV c trong phm vi an ton khng
{
maker = new GMarkerGoogle(currentpoint,
GMarkerGoogleType.green_dot);
if (overlay.Markers.Count > 0)
overlay.Markers.Clear();
overlay.Markers.Add(maker);

// nu im nm ngoi hnh 1 v trong hnh 2 th an ton

label1.Visible = true;
if (polygon2.IsInside(currentpoint) == true &
polygon.IsInside(currentpoint) == false)
{
label1.ForeColor = Color.Green;
label1.Text = "An ton!";
}

// cn li l nguy him

else
{
label1.ForeColor = Color.Red;
label1.Text = "Nguy him!!!";
}
}











24 Lng Minh Nguyn - Bo co kt qu thc tp k thut
2.3. Mt s ni dung thc tp ph khc
Trong thi gian thc tp trn ASE-lab, em c tham gia cc bui thc
nghim thc t cng cc thnh vin ca lab, kim nghim kh nng bay ca UAV,
kh nng trao i thng tin, hnh nh t UAV v trm mt tQua em gip em
hiu r hn v tng quan h thng mnh ang tham gia xy dng v pht trin.

Hnh 2.21: Th nghim chc nng bay vi sai qua UAV

Hnh 2.22: Hnh nh 1 bui thc nghim cng ASE Laboratory


25 Lng Minh Nguyn - Bo co kt qu thc tp k thut
CHNG 3: NHN XT, XUT
3.1. u im
- Tch cc tham gia cc hot ng nghin cu cng lab.
- C tinh thn hc hi, tip thu kin thc.
- C gng hon thnh tt cng vic c giao.
3.2. Nhc im
- K nng qun l code, k nng lm vic nhm cn yu.
- Kin thc chuyn mn cha vng
- K nng tm hiu ti liu ting Anh cn yu, ph thuc nhiu vo cng
c trn internet.
3.3. xut
Em hy vng s ngy cng c nhiu phng nghin cu nh ASE Laboratory
sinh vin c c hi thc hnh nhng kin thc c hc trn lp, cng nh lm
quen vi mi trng cng vic khi ra trng.
Mn thc tp k thut l mn c 2 tn ch hc phn nhng hiu qu n mang
li l rt ln. Mong rng sau ny vin in T - Vin Thng trng H Bch Khoa
H Ni s to cng nhiu cc c hi cho sinh vin tip cn thc t nh vy.

26 Lng Minh Nguyn - Bo co kt qu thc tp k thut
C. KT LUN
Qua t thc tp va qua, em hc c rt nhiu kin thc b ch. Di
s ch bo trc tip ca thy gio Trng Tun, em bit c cch thit k,
xy dng h thng c bn, xy dng k hoch, trnh t thc hin h thng ng thi
l nhng kin thc chuyn mn. Qua , em cng bit c phn no cng vic ca
mnh v gip em nh hng c nhng k nng cn thit trong cng vic. Em
nhn thy rng, y l mt mi trng tt cho sinh vin rn luyn k nng, trau di
kin thc v kinh nghim trc khi ra trng. T chng em c th chn cho
mnh con ng thng tin ph hp nht vi nng lc v nguyn vng ca bn thn.
Em xin cm n cc thy c, ban gim hiu nh trng, ban ch nhim khoa, c
bit cm n thy Trng Tun v cc thnh vin trong phng nghin cu ASE
Laboratory gip , to iu kin em hon thnh tt t thc tp ny.
Sau khi thc tp, em s tip tc tham gia nghin cu, thc hnh ti ASE lab
y cng l mt thu hoch cng nh l c hi ln m mn thc tp k thut mang
cho sinh vin. Kt thc mn hc cng l khi sinh vin trng thnh hn trong nhn
thc ngh nghip, chuyn su hn trong kin thc chuyn mn.

27 Lng Minh Nguyn - Bo co kt qu thc tp k thut
D. PH LC
Danh mc hnh nh:
Hnh 2.1: S h thng UAV
Hnh 2.2: UAV 8 cnh
Hnh 2.3: UAV 16 cnh
Hnh 2.4: H thng cnh bo chy
Hnh 2.5: Mn hnh thit b cnh bo chy
Hnh 2.6: Hin trng thc nghim xe t hnh
Hnh 2.7: Giao din web ca lab ASE
Hnh 2.8: Mt v chy ti TP. H Ni
Hnh 2.9: : Phng thc hot ng ca h thng
Hnh 2.10: V tr ca phn mm trong h thng
Hnh 2.11: Giao din phn mm Mission Planner
Hnh 2.12: B sung chc nng iu khin vi sai cho phn mm Mission Planner
Hnh 2.13: Giao din trang web http://ardupilot.com/
Hnh 2.14: Download phn mm
Hnh 2.15: Giao din web download code
Hnh 2.16: Download code Mission Planner
Hnh 2.17: Giao din khi build code Mission Planner
Hnh 2.18: Giao din khi Debug thnh cng
Hnh 2.19: Thng bo an ton khi UAV bay trong phm vi cho php
Hnh 2.20: Cnh bo nguy him khi UAV bay ngoi phm vi cho php
Hnh 2.21: Th nghim chc nng bay vi sai qua UAV
Hnh 2.22: Hnh nh mt bui thc nghim cng ASE Laboratory

28 Lng Minh Nguyn - Bo co kt qu thc tp k thut
E. TI LIU THAM KHO
[1] Ngn ng lp trnh C#
[2] http://www.csharpvn.com/KienThuc_DSKienThuc.aspx?Id=300&Page=7
[3] http://diendan.congdongcviet.com/showthread.php?t=43233
[4] http://diendan.congdongcviet.com/showthread.php?t=3131
[5] Nht Ngh (2008). Gio Trnh ASP.NET.
[6] http://ardupilot.com/