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, 2011
Aalto 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

 

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