Možnosti řízení kvadrukoptéry na platformě Raspberry Pi3+Navio2 a řídicího systému REXYGEN

Abstract

An unmanned aerial vehicle (otherwise known as a drone) is an unmanned aircraft that can be operated remotely or flow independently using pre-programmed flight plans or more complex dynamic autonomous systems. Unmanned aerial vehicles are often used in military for reconnaissance or attack flights. This thesis deals with the possibility of controlling a quadcopter using a Raspberry PI 3B + computer and a NAVIO2 board from the manufacturer EMLID. The aim of this work is to apply an extension of the application for quadcopter control created in the REXYGEN program. The partial goal of the work is to create an algorithm for stabilization in the z-axis. In the thesis, the successful application of the sensor to the application and its recovery was achieved. With the help of measurements, the parameters for the simulation and the model of the quadcopter in simulink were obtained. Control loops for height, tilt and rotation control were also simulated. The experiment to verify the stabilization design in space was only partially successful. The functionality of the controller was achieved, but the test fixture was not suitable for this test.