uav/uas navigation und steuerung (control) - navka flight...

UAV/UAS Navigation & Steuerung DVW-Seminar 02/2019 „UAV 2019 - Geodäten erobern den Luftraum“ Reiner Jäger, HSKA

UAV/UAS Navigation und Steuerung (Control)

- NAVKA Flight Controls FC4 and FC6 -

Prof. Dr.-Ing. Reiner Jäger

Hochschule Karlsruhe Technik und Wirtschaft (HSKA) - University Applied Sciences

Faculty for Informationmanagement and Media (IMM)

Head „Labor für GNSS & Navigation“ and Projectleader Inst. for Applied Research (IAF)

RaD

www.dfhbf.de, www.goca.info, www.monika.ag , www.geozilla.de

www.moldpos.eu, www.navka.de

Email: [email protected]

Honorary Professor Siberian State University of Geosystems and Technologies

http://www.dfhbf.de/

http://www.goca.info/

http://www.monika.ag/

http://www.geozilla.de/

http://www.navka.de/

mailto:[email protected]

UAV/UAS Navigation & Steuerung DVW-Seminar 02/2019 „UAV 2019 - Geodäten erobern den Luftraum“ Reiner Jäger, HSKA 2

GNSS / MEMS / Optics Algorithms, Software, Hardware and Systems for Out-/Indoor Navigation (People, Vehicles, Goods) and Georeferencing

with distributed Sensors and Platforms

MOEMS

RaD Project

www.navka.de

Tbzeb

byeb

bxeb

eeeeeeeeeeee z y xy p r zyxz y xy s||||||,,,

= bz,eb

by,eb

bx,eb

bz,eb

by,eb

bx,eb

eeeeeeeeeeee | |z y x||y p r| zyx|z y x)t( = y



Navigation with Distributed Sensors & Platforms (NAVKA-Concept)


ZIM-Netzwerk „Hochpräzise Echtzeitnavigation B.W. „ - Initial Meeting 03 / 2018)

http://www.navka.de/index.php/de/weitere-projekte/hochpraezise-echtzeignavigation-b-w

http://www.navka.de/index.php/de/weitere-projekte/hochpraezise-echtzeignavigation-b-w


Purpose and Hardware

Flight Control System- Hardware, Sensors, Navigationunit

- Navigation&Control-Loop

- Application


– Flight Control and Navigation

– Manned Multicopter (Volocopter)

– Scalable UAV

NAVKA (www.navka.de) Flight Control Developments




Flight Control Hardware


Navigation with Distributed Sensors & Platforms (NAVKA-Concept)

NAVKArine

FC45 x 5 x 2 [cm]

bz,eb

by,eb

bx,eb

bz,eb

by,eb

bx,eb



CPU and GNSS/MEMS Sensors

u-blox NEO-M8N

MEMSIC MXR-9500

LAIRD RM-024

InvenSense

MPU-9150

Measurement

Specialities MS5611

NAVKArine-FC4

Complete FlightControl



Navigation

with

Distributed Sensors

and Platforms


....]t)(!2

1tI[)tt()t( 22b

ebbeb

be

be +++−= ΩΩRR

Orientation / Attitude

bie

bib

beb )Sensor( ΩΩΩ −=with

Space Curve of the body (b ) in the e-frame

)tt()t( beb

beb −=ΩΩ

Rotation Rates of the Body (b ) with respect to the e-frame

1.) State Transition-Equations for the body (b) in the e-frame

Modifcation

of the State

Parameters

and

Equations

by

Considering

Special Conditions

Detected in

Multithreading

Computing

New Way (NAVKA): Algorithms for Multiplatform-, Multisensor-, Leverarm-DesignNew Way (NAVKA): Algorithms for Multiplatform-, Multisensor-, Leverarm-Design

bz,eb

by,eb

bx,eb

bz,eb

by,eb

bx,eb



ipbp ],[ Rt

i

j

j,iss )],(,[ rt

2.) „Multisensor-Multiplatform Leverarm“ Concept

Sensor-

Position

and

Orientation

Platform

Position

and

Orientation

New Way (NAVKA) – Multisensor State Equations (here; e-frame)

bz,eb

by,eb

bx,eb

bz,eb

by,eb

bx,eb



Accelerometer- Sensorobservation j (Rawdata, on i-th Platform (p) – one-dimensional!)

ipbp ],[ Rt

i

j

j,iss )],(,[ rt

Orientation j-th

Sensor (s)

on i-th Platform (p)

j,i

pij,si

sin

sincos

coscos

=r

j,i

i

ijj,i

see

ieeie

eeie

ee

be

i,pb

p

ss

])t( )t(2 )()t([

)y,p,r(a

xΩΩxΩxgx

RRr

++−

=

i

j,i

i

j,ij,i

p

s

p

ssa ar = i,es

be

i,pb

p

s j,i

i

j,i)y,p,r( aRRa =

Observation-Equation for Sensor j

on Platform i

New Way (NAVKA): Algorithms for Multiplatform-, Multisensor- and Leverarm-Design


][)y,p,r(j,i

ps,p

bp

bp,b

eb

eb

es

i

iiij,itRtRxx ++=

j,i

i

ijj,i

see

ieeie

eeie

ee

be

i,pb

p

ss

])t( )t(2 )()t([

)y,p,r(a

xΩΩxΩxgx

RRr

++−

=

Referencing : Platform p(i) on Body (b) and Sensor s(i,j) on Platform (i) – „Leverarms“

(1)

(2)

„l(i,j)“

Observation-Equation for Sensor j

on Platform i

New Way (NAVKA): Algorithms for Multiplatform-, Multisensor- and Leverarm-Design

bz,eb

by,eb

bx,eb

bz,eb

by,eb

bx,eb



Orbit Design of the 4 GNSS (without Augmentation Systems)

GPS Orbit and GlONASS Orbit

Chinese

COMPASS Orbit

Orbit – Segment Galileo

28 Dec.2005 Giove-A lift off

05:19 UTC Baikonour,

Kazakhstan Galileo Satellite


International GNSS-Service (IGS

„Global G(lobal“)NSS Precise Positioning Services - Worldwide

„RTS“: http://rts.igs.org/


Pseudorange Modeling in ECEF and GNSS-time

jTROPi

jIONijSiR

jijí

iSiRObsi tctcc

tttt ,,,,),

)(~(

~)(

~)( ++−+

−−= oxx

Final Pseudo-Range observation equation

)()()))(sin()((

)(())()(()((

)),)(~

(~

)(~

)()(

,,,

,

)(~

ijTROPii

jIONi

j

i2ijS

iiREi

jSi

iR2iiR

Equation" Time Light" :Iteration - t

jijí

iSiRObsiObsi

tttEeac

2 ttc

)tttc

1ttc

c

ttttt

ijí

++

−−

−++

−−==

xωxx

oxx

Unknowns: )(),(),,( , iiRiR tttzyx

Corrections: Sagnac Ri, Relativity Sj Clock Sj

Further Corrections, Models or Add. Parameters: ION, TROP and Earth Dynamics

Observations:

)( iiR tt and

ObsjiObsi

ji ct = )(

OPPP - Pseudorange Equation in Absolute GNSS Modelling


Rover Motion: Over Point 2

20 cm

RTS/IGS - Realtime Data Stream of IGS SSR-Products

Ublox M8T and PPP-K

3D IGS/RTS PPP-K (Kinematic)

Positioning Error at 1 Hz in

ITRF2008.09.2015

Positioning Accaracy: 0.25m

Key:

- NAVKA RTKLIB’s based GNSS Algorithms

- Position in “ITRF 2014.yyyy.mm Frame”

OPPP – L1-Pseudorange and –Phasemeasurements using RTKLIB

New Generation (02/2019)

Low Cost Free Multifrequencies GNSS

(GPS L1/L5, GALILEO E1/E5a, ….)

e.g.ublox ZED F9P (right)

PPP-K: 5 cm, DGNSS RTK; (1-3) cm


txR ++=1t,ITRFyy1zyx

1t,zzITRF1 )t(),,()m1()t(x

( ) ( )( ) )tt( )t()t()m( )t()t( 12t.ITRFzz1)j(Pt.ITRFzz1t.ITRFzz1t.ITRFzz2 1112−++++= xRtxRxx

2.7cm/y => 80 cm

(ETRF89 – ITRF)

OPPP GNSS Positioning – Geodynamical Modeling Required


General Case

Special Case: „Platform = Body“

j,ibs

eb

eb

esGNSS )y,p,r(

j,itRxx +=−

Code-

Phase-

Doppler

GNSS-Obs.

Platform

Position

Sensor-

Position

on

PlatformPlatform

Orientation

NAVKA Algorithms for Multiplatform-, Multisensor- and Leverarm-Design

][)y,p,r(j,i

ps,p

bp

bp,b

eb

eb

esGNSS

i

iiij,itRtRxx ++=

−

bz,eb

by,eb

bx,eb

bz,eb

by,eb

bx,eb



Flight Dynamics

Flight Control Development

General Aspects

for Scalable UAV


Pitch p

Roll r

Yaw y

A = Area

r = Radius

bzeb

byeb

bxeb

,,,

eee z y x

Flight Dynamics of a Quadropter - 4 Propellers and Symmetry

+ l

- h

Thrust of Propeller

Motion of Body

Propeller

Design on

Body

Cp



Motion of Body

Total Motor Thrust F

Total MotorTorque M

−

−

=

0

TTl

TTl

HV

RL

T )(

)(

M


Flight Dynamics with arbitrary propeller orientation

Tiiiii

2i

4ii

bi Rc )cos,sinsin,sin(cos −=T

A = Area

r = Radius

Cp

),( ii



bopEnvHV

RLb

opEnvbT

bges

0

TTl

TTl

.Pr/..Pr/. )(

)(

MMMM

+

−

−

=+=

Side Wind caused

Roll Momenta R

Propeller Rotation

Air Resistance

Momenta D

Motion of Body including Air Environment

Propeller Rotation

Horizontal Forces H

Momenta


Flight Control Development Multicopter – n Prop.,no Symmetry

- General Propeller

Design (l, h, r, Cp ,…)

- Discrete J Momentum of Inertia

- Dynamically changing J

Manned Volocopter VC 200

ZIM Project, Flight Control

by IAF / HSKA

n1iiP ,, =



- General Propeller

Design (l, h, r, Cp ,…)

- Discrete J Momentum of Inertia

- Dynamically changing J

Manned Volocopter VC 200

ZIM Project, Flight Control

by IAF / HSKA

n1iiP ,, =

bib

bib

bib

n

1i

benv

bi

bges d ωJωJωMMM += += )()(

bii

bi TrM =

Euler Equations


Manned Volocopter

VC 200

ZIM Project

Flight Control

by IAF / HSKA

Newton Equations n1iiP ,, =


itotal

dt

md

=

)( vF

bbibbb

bib

b

ibi

btotal mmm

dt

mdm vωvvω

vgRFF +=+

=+= )(



)t,ttm

)t,tm

ePD

eTbges

bges

)()(),(,,,(

)()(,,,(

eeygJF

yygJFM,F

=

=

)t,tmt ePD

Tbges

bges )()(,,,()(: eegJFu'M,F ==

StateNavdesired ttt .)()()( yye −=Control Deviation

(German: Regelabweichung)

=

= (t))(

τ

τ

τ

T

(t)'

ψ

θ

φeuu

Instance 1.

Variable Control

(t)'u



)t,ttm

)t,tm

ePD

eTbges

bges

)()(),(,,,(

)()(,,,(

eeygJF

yygJFM,F

=

=

)t,tmt ePD

Tbges

bges )()(,,,()(: eegJFu'M,F ==

++=

0DIP tdtttt )()()()(' eKeKeKu

PD-Controller and PID-Controller, respect.

StateNavdesired ttt .)()()( yye −=Control Deviation




n=4

Variables Control Final (t)(t)'(t) uue ==

Control:

n1,i,ωiP =



TTni1 MF,Ku == −,...,,...,

IstSoll ttt )()()( yye −=

Control Deviation


(t)]Δω ,....,,...Δ[Δ][(t) T

ni1

TuKKMF,u' ===


""

::....),,( ; 1

xMotormatri

Chly

n

i

i

P

P

p

=

=

=

K

KF

M

F

M

Ambiguous =>

Optimization problem


PhD candidate

MSc Jan Zwiener

Pi

NAVKA

Daimler

Project

Safe-

Guard

UAS

Crash

Hall

Sindel-

fingen


2

3

1

5

4

6

7

8

9

18

16

10

11

15

14

17

12

13

X (Roll)

Y

Change of Mass Distribution

Fail of Propellers



NAVKA Flight Control Mathematical Model and Algorithms

T

bzeb

byeb

bxeb

eee

eeeeeeeee

z y x

y p r zyxz y xty

=

s||

||||)(

,,,

Teeeeeeeee y p r zyxz y xty ||)( =

n1iiP ,, = Motorcontroller

Flight Control

Algorithms

Cascade

Adaptive

Controller

niiP ,1, =


Flight Simulations

Flight Control Simulations for

Scalable UAV


Flight Control

General

Multicopter

„Hardware-

in-the-Loop“

Simulation

Course

Navigation

Parameters

given by

Trajectory or

Remote Control

Different

Environment

Influence

Factors


„Hardware-in-the-Loop“ Simulation NAVKA-Flight-Control

„Position Hold“ Functionality - Altitude


Real Tests with different UAV and Ground Control

„Position-Hold“ Functionality

http://www.qgroundcontrol.org/

http://www.qgroundcontrol.org/


„Position and Attitude Hold“ Functionality

Real Tests with different UAV and Ground Control


Flight Demonstrations

“Geodäten erobern den Luftaum”

Scalable UAV/UAS

and

Manned Multicopters


Flight Control Developments Multicopter n Propellers

NAVKA-UAV and NAVKArine FC4 Flight Control Position Hold


Hexacopter 1 – NAVKArine-FC1


Flight Demonstration VC25 Ironbird (3m)

NAVKArine-FC2


Flight Demonstration VC25 Carbon (3m)

NAVKArine-FC3


NAVKArine-FC4


NAVKA Flight Control (FC4) www.volocopter.com, Daimler Entreprise

http://www.volocopter.com/


NAVKA Flight Control (FC4)

www.volocopter.com

Daimler Investment Entreprise

https://www.youtube.com/watch?v=VFHYW2ueNeM

http://www.volocopter.com/

https://www.youtube.com/watch?v=VFHYW2ueNeM


Scaleability of UAV in Usability

Flight Control for

Scalable UAV

Scaleability in respect to

Sensor-Equipment


Scaleability in respect to Sensor-Equipment


Scaleability in Respect to Sensor-Equipment


Quasi-Autonomuous Out-/Indoor Navigation

NAVKAG1MC and NAVKA FC6 (Out- and Indoor UAV)


NAVKA-Project – Indoor UAS (e.g. Daimler Crash Hall Sindelfingen)

http://www.navka.de/images/files/UAV.mp4

NAVKA - Flight Control (FCx)

- Algorithms, Software and Hardware for

Out- and Indoor UAV/UAS (FC6, 2018/2019)

http://www.navka.de/images/files/UAV.mp4


Conclusions – NAVKA Flight Control

NAVKA

Flight Control

NAVKArine-FC4

- Any UAV

- Any

Manned Volocopter

- Size

- Payloads

- Sensors equipment

- Manned of UAV

- 3D mapping and geosensing

- Film industry

- Search and rescue of people

- Agriculture UAV

- Facility management and monitoring UAV

- Wild life protection

- Transport UAV

- Fire Fighting air vehicles

- ABC sensing UAV for emergency event

- Environment friendly and silent: air taxis, individuals

NAVKA

Out-/

Indoor

UAS

UAV/UAS Navigation & Steuerung DVW-Seminar 02/2019 „UAV 2019 - Geodäten erobern den Luftraum“ Reiner Jäger, HSKA www.navka.de

Flight Control Developments Multicopter – n Propeller

uav/uas navigation und steuerung (control) - navka flight...

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