smart quadcopter
Manik Jahagirdar
Mayur Bajaj
Ashwini Deshpande
Mahesh Zanwar
What is quad copter ?
A quadcopters, also called as quad rotor
helicopter
Is lifted and propelled by four
rotors
Are classified as fixed-wing
aircraft
Quad-copter mechanics
" The acceleration 'a' of body is parallel and directly proportional to the net force acting 'F' acting on body "
- Isacc Newton (2nd law of motion)
To lift up the quadcopter we have to produce force more than that of it's weight
But for quadcopter this force is produced with help of 4 propellers
‘Independent research project in applied mathematics’
August 22, 2011Aalto University
Flight PRINCIPALS
Sensors
We want to measure the angular position of Quadcopter in Air with respect to Quadcopter on Ground
Accelerometer : We can use accelerometer to measure the tilt angle
Gyroscope : We can use the gyroscope to measure the rate of change of tilt angle
Accelerometer-gyroscope
How does MEMS accelerometer work ?
ADXL345 & L3G4200D both gives 16 bit Digital o/p
They can be operated through I2C protocol
filter
Accelerometer are slow to respond
Accelerometers have tendency to respond to noise & vibrations
Gyroscope respond fast
Gyroscope readings drift
Two filters
Kalman Filter
Complimentary Filter
Complimentry Filter
Algorithm
Result
smart quadcopter
By manik9000
