1.

Fundamental Aspects Required When Designing an Autonomous

Quadcopter

The designing of an autonomous quadcopter is a complicated and comprehensive task.

To tackle larger tasks, a "divide and conquer" strategy is often applied. By dividing the
project into smaller tasks to be solved independently, the overall complexity is reduced.
The project has thus been divided into smaller projects. Following, is a list describing the
different "mini" projects and why they are needed as a part of completing the overall
design [1].

 Filter design: All of our sensors provide raw data, which contains unwanted
noise. To reduce the noise levels, there are several different filters which can be
applied to the sensor readings. In this section, we will look at a few different
options and how to implement them on the Arduino microcontroller.
 Estimation of Roll and Pitch: In order to control the quadcopter, roll and pitch
angles, the angles must be known. None of the sensors measure the angles
directly, therefore an estimate has to be obtained from the accelerometer and/or
gyroscope sensors. In this section, we propose several estimation schemes for
the roll and pitch angles and compare the resulting estimates. An estimation
scheme is chosen based on the results.
 Estimation of Yaw: In order to control the quadcopter yaw angle, the yaw angle
must be known. Since none of the sensors measure the yaw angle directly, an
estimate has to be obtained from the magnetometer and/or gyroscope sensor.
These sensor readings are dependent on the roll and pitch angles, and thus
relies on the estimates found in the previous section.
 Estimation of position: The height above the ground is the most crucial
information needed in order to control the quadcopter. This will allow the
quadcopter to be manually controlled, using the desired height and tilt angles as
input. If the North and East coordinates are known as well, a complete
autonomous control scheme can be implemented. An estimation strategy for
height is proposed, using an ultrasonic sensor, and an estimation scheme for
position is proposed, using a GPS and an IMU. Solutions are chosen based on
the result.
 Control of attitude: If the estimates schemes of the attitude obtained from
previous sections are accurate, the attitude can be controlled by varying the
inputs to the motors. A difference in in the propeller speed on the motors, will
create a moment and turn the quadcopter frame. In this section, different control
schemes for controlling the attitude is presented, and a solution is chosen based
on the results.
 Control of altitude: By controlling the attitude, the quadcopter should not drift.
Controlling the height above the ground as well, will enable the quadcopter to
hover in the air. A control scheme for the altitude will presented, and a solution
will be chosen based on the result.
 Control of motion: Using a stable attitude and altitude controller as a basis, more
advanced control schemes can be devised. Depending on the objective, several
guidance systems may apply, and several path generation methods exists. Some
guidance systems will be explored along with trajectory generation methods and
path generation methods. To control the speed of the quadcopter along the
desired velocity given by the guidance systems, a speed controller will be
devised.
  Development of a prototype: In this section, we will go through the development
of a working prototype, printed using additive manufacturing techniques.
 User control interface: To control the quadcopter, a user control interface needs
to be designed. This control interface can be developed on numerous different
platforms using several different strategies. Different options will be presented,
and an application will be created.
 Error handling: Several unexpected errors can occur at any time during a fight. A
number of possible errors and solutions will be explored.

2. Designing Procedure

2.1 Coordinate System

2.1.1 BODY Frame

The quadcopter is navigating in a three-dimensional space. The BODY coordinates system

(denoted 'b') is a moving coordinate frame fixed to the quadcopter, with origin Ob in the
middle of the aircraft as seen in figure 2.1. The x-axis is defined to be pointing towards one of
the motors, the z-axis pointing out the bottom of the quadcopter and the y-axis complete the
right handed orthogonal coordinate system. An illustration of this is shown in Figure 2.1.

Figure 2.1: The quadcopter with its BODY coordinate system

2.2 Quadcopter Dynamics

2.2.1 Kinematic Model

The dynamic 6 DOF kinematic model of the quad-copter can be expressed in vector form as
[2].
2.2.2 Kinetic Model

The 6DOF kinetic model of the quad-copter can be expressed in vector form as [2].

Or

2.3 Drawing Procedure Using Catia

Firstly, make a point for a propeller and also a point for a main body frame. Gave a constraint
on each point of propeller and make a middle point precisely in the middle of 4 propeller.
Second, try to make a line and shape it will continue to draw a full design of quadcopter.
Third, fill all the shapes and lines with surfaces. For more detail process check to my design
on catia. And the last progress is give the material, this case I used polished carbon fiber due
to the material have a good durability and light weight.
 Figure 2.2: Designing a Quadcopter Using Catia

Figure 2.3: View of Quadcopter After Plotting Polished Carbon Fiber Material

3. The Camera
This camera is not just save an image after taking a shoot at the moment, it called NA
(noiseless acoustics) camera. It can analysis gas leak on the electrical grids directly used
image processing. It’s in the 1 package of 1 device. For now, the size of device not suitable
for install to the drone. But in the future, it will has special design that can suitable to bring
with drone.
 References
[1] Implemented on an Arduino Microcontroller, Using
Wireless Communication Linked with a Computer Interface,
Utilizing Additive Manufacturing Techniques to Enable Simple
Replication, by Andreas Vikane Hystad, Joakim Brobakk Lehn.
[2] Theory of Applied Robotics. Kinematics, Dynamics and
Control. Reza N, Jazar.