Evaluation and prototypical implementation of a ground-level altitude hold for multicopter Timo Rokitte.

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Presentation transcript:

Evaluation and prototypical implementation of a ground-level altitude hold for multicopter Timo Rokitte

What is the problem? Long-term target: autonomous multicopter This development is just at the beginning First step: stabilize it in the air What is the problem?

Who would use it? Multicopter Community (especially beginners) Rescue teams Military Photographer / film maker Police Who would use it?

What will it cost? Ultrasonic Sensor: Multicopter: Devantech SRF02: 14 Euro Range: 15 cm – 6 m Multicopter: Quadrocopter based on the MultiWii Project with 3-axis gyroscopes and 3-axis accelerometer: approximately 350 Euro Remote control + receiver Approximately: 130 Euro Tools: I2C to USB Adapter: 24 Euro What will it cost?

What are the challenges? Modeling of the sensor Reflection characters Wind from the air-screws Selecting the right filter (Kalman, Particle Filter …) Finding and defining limitations of the system What are the challenges?

Has anyone else done something similar? Actual solutions are based on GPS or barometers Disadvantages of GPS Works only with stable satellite connection Expensive Heavy weight Inaccurate Disadvantages of Barometer: Not really cheap Affected by environment Has anyone else done something similar?