CBL - Campus del Baix Llobregat

Projecte llegit

Títol: sistema de navegació indoor de baix cost per drons


Estudiants que han llegit aquest projecte:


Director/a: CASAS PIEDRAFITA, OSCAR

Departament: EEL

Títol: sistema de navegació indoor de baix cost per drons

Data inici oferta: 01-02-2019     Data finalització oferta: 01-10-2019



Estudis d'assignació del projecte:
    GR ENG SIST AEROESP
Tipus: Individual
 
Lloc de realització: EETAC
 
Paraules clau:
dron, sistema navegació
 
Descripció del contingut i pla d'activitats:
Comparativa/desenvolupament d'un sistema de navegació per
interiors que permeti amb baix cost el control de drons.
 
Overview (resum en anglès):
The final degree project is based on the design of a low cost navigation system for indoor environments that is able to use in a drone. To prove the system in a real experiment a drone is built to use with the designed navigation system and to make flight tests. The project is structured in four big chapters.

The first chapter studies the actual state of art of the different navigation systems that exists and are used. We make a study of each of the existing possibilities. As a result of the study, the selected technology to use in the navigation system is the optic, that is to say, the data comes from cameras. The selected cameras are the depth camera Intel RealSense D435 and the tracking camera Intel RealSense T265.

The second chapter summarizes the laws and mathematical equations with which we mathematically model drone movements. It also explains how PID controllers work. This controller is the most commonly used controller in drone flight controllers. This chapter serves to understand how drones fly and how they stabilize.

In the third chapter, we expose all the selected components used to build the drone in order to test the indoor navigation system. One of the main criteria to select the drone components was the cost of them. Finally, we made two flight test to understand the difference between fly in an outdoor space with GPS signal and fly in an indoor space without GPS signal.

In last chapter, we explain the design of the indoor navigation system. Once the indoor navigation system was built and test with the drone, the results were very satisfactory. First of all we prove the zero capacity that a drone has to navigate in an indoor space without GPS signal and then, we have observed that using the indoor navigation system designed in this project, the drone is able to navigate in any environment without GPS signal.


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