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

2. 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?

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

4. 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?

5. 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?

6. 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?