Navigation and control system for uav in outdoor environments

MINISTRY OF EDUCATION AND TRAINING HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION FACULTY FOR HIGH QUALITY TRAINING GRADUATION THESIS AUTOMATION AND CONTROL ENGINEERING NAVIGATION AND CONTROL SYSTEM FOR UAV IN OUTDOOR ENVIRONMENTS ADVISOR : LE MY HA, ASSOC PROF PHD STUDENTS: LE THANH DAT SKL010848 Ho Chi Minh City, June 2023 HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION FACULTY FOR HIGH QUALITY TRAINING GRADUATION PROJECT NAVIGATION AND CONTROL SYSTEM FOR UAV IN OUTDOOR ENVIRONMENTS LÊ THÀNH ĐẠT - 17151009 Major: AUTOMATION AND CONTROL ENGINEERING TECHNOLOGY Advisor: LÊ MỸ HÀ, Assoc Prof PhD Ho Chi Minh City, June 2023 THE SOCIALIST REPUBLIC OF VIETNAM Independence – Freedom– Happiness GRADUATION PROJECT ASSIGNMENT Student name: Lê Thành Đạt Student ID: 17151009 Major: Automation and Control Engineering Technology Advisor: Assoc Prof PhD Lê Mỹ Hà Class: 17151CLA1 Date of assignment: Date of submission: Phone number: 0834717152 Project title: Navigation and control system for UAV in outdoor environments Initial materials provided by the advisor: - The related thesis of previous students - The hardware specifications and its review Content of the project: - Read, perform surveys, and summarize to determine the scope of the project - Read and process sensors signal - Visualize and user interface for path planning - Write a program to control the microcontroller - Write a program for communication between the flight controller and the PC - Research tracking controller algorithm for a quadcopter - Write project report - Prepare slides for presentation Final product: The quadcopter can operate outdoor environment based on a combination of GPS, IMU, and LIDAR in Auto mode under not too complex conditions CHAIR OF THE PROGRAM (Sign with full name) ADVISOR (Sign with full name) THE SOCIALIST REPUBLIC OF VIETNAM Independence – Freedom– Happiness ADVISOR’S EVALUATION SHEET Student name: Lê Thành Đạt Student ID: 17151009 Major: Automation and Control Engineering Technology Project title: Navigation and control system for UAV in outdoor environments Advisor: Assoc Prof PhD Lê Mỹ Hà EVALUATION Content of the project: The content of this report is 80 pages The design and construction of the quadcopter can perform trajectory tracking and self-localizing The system runs based on a series of different sensors and algorithms The final product meets the requirements in the proposal Strengths: The author proposed a method for researching, constructing, and navigating Quadcopter The final product meets the requirements and success to follow several desired trajectories Weaknesses: The author should present more detailed information about the accuracy of the proposed method in experiments Approval for oral defense? (Approved or denied) Overall evaluation: (Excellent, Good, Fair, Poor) Mark: …………… (in words: ) Ho Chi Minh City, July 9th, 2023 ADVISOR (Sign with full name) THE SOCIALIST REPUBLIC OF VIETNAM Independence – Freedom– Happiness EVALUATION SHEET OF DEFENSE COMMITTEE MEMBER Student name: .Lê Thành Đạt Student ID: .17151009 Major: AUTOMATION AND CONTROL ENGINEERING TECHNOLOGY Project title: NAVIGATION AND CONTROL SYSTEM FOR UAV IN OUTDOOR ENVIRONMENTS EVALUATION Content and workload of the project The student used commercial hardware and open-source software to build a drone system that could be controllable However, the stability of the system is not good in practice Overall evaluation: (Excellent, Good, Fair, Poor) Mark: 8.2/10 (in words: eight pint two .) Ho Chi Minh City, July 16th, 2023 COMMITTEE MEMBER (Sign with full name) ACKNOWLEDGEMENTS In the process of implementing and completing the graduation project, in addition to our knowledge, I have received a lot of support and dedicated help First of all, I would like to send a special thanks to Mr Le My Ha, who has directly monitored, motivated, and guided our team to complete this project In addition, the valuable knowledge in the process of studying and researching in the courses at the school is an important preparation to carry out this project Through this, I would like to sincerely thank the teachers in the electrical and electronic faculty and the high-quality faculty of Ho Chi Minh City University of Technology and Education Finally, I would like to thank my family for encouraging, motivating, and caring to create favorable conditions for the team to complete this project ABSTRACT This thesis discusses the creation and use of a navigation and control system for unmanned aerial vehicles (UAVs) in outdoor environments The research aims to determine the effectiveness and practicality of implementing INAV (Navigation-enabled flight control software) to improve UAVs' navigation and control capabilities in outdoor environments The study involves a systematic approach, including the design, implementation, and testing of the navigation and control system It encompasses the selection and integration of appropriate sensors, the development of control algorithms, and the incorporation of INAV technology to enable intelligent navigation and precise control of UAVs The research proves the effectiveness of the navigation and control system in improving the UAV's performance in outdoor environments The system displayed enhanced stability, accuracy, and maneuverability, allowing efficient waypoint navigation, obstacle detection, and avoidance in various outdoor scenarios The integration of INAV technology provides advanced navigation features such as position hold, altitude control, and automatic waypoint following, improving the UAV's capabilities in complex and dynamic outdoor settings This research contributes to the field of navigation and control systems for outdoor UAV operations by providing a comprehensive framework for designing and integrating a navigation and control system tailored to outdoor settings using INAV The research evaluates the system's performance in various outdoor scenarios and highlights the practical considerations and challenges associated with its implementation However, it's critical to recognize certain limitations The system's performance may be impacted by elements like the surroundings, signal interference, and hardware limitations The study does not go deeply into other facets of UAV technology, instead concentrating primarily on the navigation and control components In conclusion, the research proves that the navigation and control system integrated with INAV is effective and has great potential for UAV operations in outdoor environments The findings provide valuable insights into the benefits, limitations, and practical considerations of using this system for autonomous navigation and precise control of UAVs The study's outcomes are a significant contribution to the advancement of UAV technology and provide a basis for further research and development in the field of navigation and control systems for outdoor UAV operations Keywords: Navigation, Control system, outdoor environments, UAV, INAV, waypoint navigation, position hold, altitude control Contents ACKNOWLEDGEMENTS ABSTRACT LIST OF FIGURES 10 LIST OF TABLE 13 ABBREVIATIONS 14 Chapter 1: INTRODUCTION 1.1 Proposal 1.2 Problem statement 1.3 Objectives 1.4 Project scopes and limitations 1.5 Research methods 1.6 Thesis summary Chapter 2: LITERATURE REVIEW 2.1 Quadcopter principle 2.2 Quadcopter kinematic 2.2.1 Reference Frames 2.2.2 Euler Angels 2.2.3 Euler Angle Rates Matrices 2.2.4 Mathematic model 2.2.5 Newton-Euler method 2.2.6 Force and Movement 10 2.2.7 Actuator dynamics .10 2.3 System controller 11 2.3.1 INAV Navigation-enabled flight control software 11 2.3.2 Motor Mixing Algorithms 11 2.3.3 PIDFF controller 12 2.3.4 Altitude stabilization method 13 2.3.5 Positioning stabilization method 14 2.4 Preprocessing of raw signal data 16 2.4.1 Digital Low pass filter and Digital Notch filter 16 2.4.2 Fast Fourier Transform .17 2.4.3 Matrix filter 17 2.4.4 Kalman filter .19 2.4.5 RPM filter 20 2.5 Brushless DC motor - BLDC .20 2.5.1 Working principle .21 2.6 Electronic speed controllers - ESC .22 2.6.1 Working principle .24 2.7 Motor Protocol 24 2.8 Technologies used in autonomous navigating quadcopter 25 2.8.1 LIDAR 25 2.8.2 Working principle .28 2.9 Global Positioning System 28 2.9.1 Working principle .28 2.10 Inertial Measurement Unit 29 Chapter 3: SYSTEM CONSTRUCTION 31 3.1 Structure of quadcopter 31 3.2 Hardware selection 32 3.2.1 Carbon frame - FUS x111 pro .32 3.2.2 Flight controller - Mamba MK4 F772 MINI 33 3.2.3 MCU - STM32F722RET6 .35 3.2.4 IMU - ICM-42688-P 36 3.2.5 Barometer - SPL06 37 3.2.6 Brushless motors - Diatone Mamba TOKA 1204 5000KV 39 3.2.7 ESC - Diatone MAMBA F40_128K BL32 MINI .40 3.2.8 LIDAR – TF-Luna 42 3.2.9 GPS - Beitian BN-880 module .43 3.2.10 RC Transmitter and receiver 44 3.2.11 LiPo for quadcopter 45 3.3 Hardware sketch assembly .45 3.3.1 Hardware pins configurations 45 3.3.2 Hardware overall combination 46 Chapter 4: DESIGN AND CALCULATION .47 4.1 Inner Loop 47 4.1.1 Mixer rules 47 4.1.2 PIDFF controller 48 4.1.3 PIDFF controller for roll, pitch, and yaw 48 4.1.4 Altitude Controller 50 4.1.5 Position controller 51 4.2 Filter parameters .52 4.3 Filter and controller tunning .53 4.3.1 PID toolbox 53 4.3.2 Filter tunning 53 4.3.3 Controller tunning 55 4.4 Outer loop 57 4.4.1 Robot operating system .57 4.4.2 ROS structure .57 4.4.3 Building ROS for quadcopter 58 4.4.4 MSP - Multiwii Serial Protocol 58 4.4.5 ROS node for MultiWii .59 4.4.6 INAV waypoint 61 4.4.7 Unity 62 Chapter 5: RESULTS AND ASSESSMENTS 65 5.1 Position hold in a real environment and visualize in a Unity environment 65 5.2 Trajectory tracking pattern .65 5.3 Performance results in practical experiments 66 Chapter 6: CONCLUSION AND DISCUSSION 78 6.1 Conclusion 78 6.1.1 Advantages: 78 6.1.2 Disadvantages: 78 6.2 Discussion 78 REFERENCE 79       At point 2: The quadcopter is moving to WP2 At point 3: The quadcopter tries to reach WP3 At point 4: The quadcopter is moving to WP3 At point 5: The quadcopter tries to reach WP4 At point 6: The quadcopter is moving to WP4 At point 7: The quadcopter tries to return home Figure 88 Waypoint trajectory data from a black box 67 Figure 89 Data of gyro and acceleration in perpendicular pattern of small area a) At point b) At point c) At point d) At point e) At point f) At point g) At point 68 Figure 90 Data of gyro and acceleration in perpendicular pattern of big area a) At point b) At point c) At point d) At point e) At point f) At point g) At point 69 Pattern: Hourglass pattern Figure 91 Result of moving Hourglass trajectory pattern Figure 89 shows the path of the trajectory in a perpendicular pattern The quadcopter started at WP1 and ended at WP4        At point 1: The quadcopter tries to reach WP2 At point 2: The quadcopter is moving to WP2 At point 3: The quadcopter tries to reach WP3 At point 4: The quadcopter is moving to WP3 At point 5: The quadcopter tries to reach WP4 At point 6: The quadcopter is moving to WP4 At point 7: The quadcopter tries to return home 70 Figure 92 Waypoint trajectory data from a black box 71 Figure 93 Data of gyro and acceleration in hourglass pattern of small area a) At point b) At point c) At point d) At point e) At point f) At point g) At point 72 Figure 94 Data of gyro and acceleration in hourglass pattern of big area a) At point b) At point c) At point d) At point e) At point f) At point g) At point 73 Pattern: Circular pattern Figure 95.Result of moving Circular pattern Figure 93 shows the path of the trajectory in a perpendicular pattern The quadcopter started at WP1 and ended at WP4           At point 1: The quadcopter tries to reach WP2 At point 2: The quadcopter tries to reach WP3 At point 3: The quadcopter tries to reach WP4 At point 4: The quadcopter tries to reach WP5 At point 5: The quadcopter tries to reach WP6 At point 6: The quadcopter tries to reach WP7 At point 7: The quadcopter tries to reach WP8 At point 8: The quadcopter tries to reach WP9 At point 9: The quadcopter tries to reach WP10 At point 10: The quadcopter returns home 74 Figure 96 Waypoint trajectory data from a black box 75 Figure 97 Data of gyro and acceleration in circular pattern of small area a) At point b) At point c) At point d) At point e) At point f) At point g) At point h) At point i) At point j) At point 10 76 Figure 98 Data of gyro and acceleration in circular pattern of big area a) At point b) At point c) At point d) At point e) At point f) At point g) At point h) At point i) At point 77 Chapter 6: CONCLUSION AND DISCUSSION 6.1 Conclusion The development of an outside navigation and control system for unmanned aerial vehicles (UAVs) has substantially increased these autonomous aircraft's capabilities and potential applications For those purposes, this thesis has been considered for choice and satisfied some basic requirements In detail, the quadcopter itself localizes its position in space and tracks flight path planning in an outside environment where easy to cause unsatiable to the system due to unknown parameters and random impact The method for design and control is suitable for a variety of types of UAVs After months of research, many problems and challenges have come out which caused lots of time and effort But thanks to wonderful support from members in ISLAB, especially the huge support from Lê Mỹ Hà Assoc Prof Ph.D., the projects have gained successful results 6.1.1 Advantages:  The project has reached the requirement in navigate and controlling systems in space  Successfully connecting computer and drone for further application  Create a structure for a variety of purposes in the future  Design a stable quadcopter system capable of performing tracking functions 6.1.2 Disadvantages:  The simulation is still in development  The tunning is still not optimal  Lots of potential features haven’t been applied  Short term flying 6.2 Discussion The thesis focuses on creating a method for navigation and control systems for UAVs which include flowing trajectory and path planning but the system is still not optimized due to the tunning and unable to perform simulation However, this will be a foundation for many researchers to reference for their projects 78 REFERENCE [1] “Global Consumer Drone Market Share Analysis Report, 2030.” https://www.grandviewresearch.com/industry-analysis/consumer-drone-market (accessed Jun 29, 2023) [2] F Ahmed, J C Mohanta, A Keshari, and P S Yadav, “Recent 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