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AUTOPILOT + STABILIZER + KALMAN + IMU + QUADROCOPTER + GCS + IMAGEPROCESSING

Posted by Geetesh Dubey on October 27, 2008 at 3:13pm
Yes..thats right. I have eventually developed all the above said techies in a past few months...A very thanks to DIY for the help i've found in posts and digging stuff sround on the site.So, inow finally have a EM-406 based Autopilot.Gps runs in NMEA but now i've hooked up to Binary(WOW i dint beliv its gonna be that straight....beliv me guys binary is far simpler as much we thot its difficult).It sends data to Autopilot (self made) which uses AVR atmega16I used the draganflyer to try my skills and i was able to autonomously takeoff and navigate(think so, i actually never let it go all by itself but it did make manouvrs to goto reqd heading)

I was usiing a micromag compass(guys its a hell experience with mags..im quitting to use mags unless they r 3-axis and magnetically shielded)Now i thinkGPS shud be used ....now that im gonna run it in binary so i expect a 5hz response...(make sure the vehicle moves abt 3m/s "In INDIA" to detect heading)..FInally im developing a QUAD with hitec outrunners

...i have alrdy workedTHE KALMAN FILTER out

the yellow line --> Actual Gyro angle in degrees(oops they do drift...look below)BLACK line --> Kalman+gyro+acceleroREd--> accelro degrees(oops it jitters)

im usin IMU v2 6DOF by sparkfun...im using the IMU in BINARY(wowee binary is fun)THE GCS i have made in VS C# has 3 displays1) Telemetry2)Real Time Vehicle Tracker(a Google map backgorund scaled to gps pts)3)Live Video Relay (video can be processed for objects as small as human ,mines, its can detect patterns if sign is give...have also developed a damn good image processing using SIFT(oops it gives 0.25 FPS hehe..but other r really fast))...all developed in MATLAB.

this 1 gives 0.25 FPS....but its good (ref. Dr. Lowe)...any suggestions...most welcome...
Tags: atmega16, autopilot, avr, gcs, imageprocessing, imu, india, kalman, quadrocopter, stabilizer
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Comments

  • Prindi Wibowo August 20, 2012 at 7:20am

    Hi Dubey, I am currently conducting same project as yours, by using kalman filter for fusion accelerometer and gyro implemented on Matlab. if you don't mind could you share your matlab code about it as my additional reference. it's my mail: prindi.wibowo@gmail.com

    thank you...

  • muhammad jawad majid malik April 14, 2009 at 2:35am
    Dear Geetesh,
    I am a Naval Architect and seeing all this fascinating stuff from you alike guys, I too want to start this hobby.I am in possession of a HIROBO rcHeli which I want to turn into a UAV.BUT first I need to install a stabilization unit into it; I have chosen an ANALOG DEVICES Triaxial to do this job! As I understand,though feebly, this data from the gyros+Accelerometers needs to be filtered prior going to a PID controller / rc servos.A Kalman Filter / Extended Kalman Filter is employed.I have no erstwhile knowledge of any such programming / mathematics; please can you send me the Kalman code which you have compiled for your project.I have acquired MATLAB and shall give it a try.I want to try this gyro+Kalman+PID outfit over on MATLAB before I transfer the entire code into a DSP???? That is what's up in my mind.Please do forward your kind suggestions; the same would be helpful.
    Sincerely,
    muhammad
    jawadmajidmalik@yahoo.com
  • Sgazaix January 25, 2009 at 2:18pm
    Could you send your MatLab Code ?

    I have difficulty for reading the sparkfun 6d0F in MatLab ...
    Thanks !
  • Geetesh Dubey November 5, 2008 at 6:30am
    I am still waiting for the motors to come in...so lets see how they perform...they are brushless outrunners so i wont use gears but will use propellers in em directly..im bsy tunig the KALMAN which is now DONE but still needs to be transported to embedded code from MATLAB...thats a task i need to do on priority...
  • Erik November 3, 2008 at 11:13pm
    I'm curious about how you picked your engines/propellers to use. How do you know how fast the propellers need to turn? Do you need to gear them down?
  • Brendan November 2, 2008 at 10:37am
    Very nice...and all done on a shoestring. Very impressive.
  • Geetesh Dubey November 2, 2008 at 9:10am
    THnx Howard for the links..Hey does any1 have idea if its possible to get a 5hz update from an EM406(i heard so..)...
  • Howard Gordon November 1, 2008 at 1:07pm
    I have been looking at SIFT and SURF lately. Here are a couple of C-based SIFT implementations that should be faster than MATLAB.





    http://web.engr.oregonstate.edu/~hess/index.html
  • Geetesh Dubey October 30, 2008 at 8:59am
    CHris...dats wht i am onto next...im tryin to transport the matlab code to bascom which i use to program my atmega16....i've shown the pic of the development board already...i'll connect the IMU to it and then lets c wht is next..(am scared of all the hardwork i'll have to do...no HIL debugging available...so...its like....prog-->test-->prog again--->test again--->goto beginning...hehehe)
  • Geetesh Dubey October 30, 2008 at 8:55am
    20 deg is like due to the drift...the black line is the real estimate.well i have used the EKF as used by rotomotion and jordi(his wii project) for my MATLAB based EKF.if need the code ...i can pass it on...i am still tuning the filter..so lets wait how it works on the real atmega16(...as it is on the PC now)..G-Factor if u see the black line closely its almost 0 deg and i calculated the mean(0.somthing)...so its cool..i can further average the reading to get a better estimate..

    - on the left is the GPS eval board by SParkfun(hehe wise use of FTDI onboard...im using it to connect my ttl IMU to USB of my laptop)...the IMu is the next green light on right....

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