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Quadcopter Sensor and filter evaluation
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
2016 (English)Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
Abstract [en]

In an electromechanical system hardware and software interoperate to perform a given task. Regardless of the task, it can be hard to know what level of complexity of components and software needed to perform well. Could you save on production costs by using cheaper sensors or is more expensive alternatives from well-known manufacturers needed? Does the control become simpler if you have more expensive sensors or is there always a need for advanced algorithms and filters?

In this report a quadcopter controlled by two different sensors and two different filters has been investigated. The two filters that were compered consisted of a simple complementary filter and a more advanced Kalman filter. The quadcopter was used as an empirical test to see how varying amount of disturbances or less exact data from the sensors affect a real system.

The results showed that the performance of the different sensors were quite similar, both in the area of raw data, calculated standard deviances and what was visually observable. With the constructed control system, the quadcopter was stabilizing around one axis with an accuracy of ±4° and the cheaper sensor actually recorded a lower standard deviance of the angle (1.624° compared to 1.754° for the more expensive sensor).

Abstract [sv]

I ett system samspelar hårdvara och mjukvara för att tillsammans utföra önskad uppgift, men det kan vara svårt att veta vilken nivå på komponenter samt kod som krävs. Kan man spara in på produktionskostnader genom att använda billiga sensorer eller bör man investera i dyrare varianter från välkända tillverkare? Blir regleringen enklare om man investerar i en bra sensor eller behövs det alltid avancerade algoritmer och filter?

I denna rapport presenteras resultaten från undersökningar av en quadcopter som reglerats med hjälp av två olika sensorer samt använt sig av två olika filter för att filtrera indatat. De två filtren som jämfördes var ett enkelt komplementärfilter och ett mer komplicerat Kalmanfilter. Quadcoptern användes som ett praktiskt test för att se hur mycket störningar eller mindre exakt data från sensorer påverkar ett verkligt system.

Resultatet visade att prestandan för sensorerna blev väldigt snarlika, både gällande mätvärden, beräknade standardavvikelser och vad som var visuellt observerbart. Med den konstruerade regulatorn svängde quadcoptern (runt en axel) vid användandet av båda sensorerna mellan ±4° fast den billigare sensorn hade en något lägre standardavvikelse av vinkeln (1.624° jämfört med 1.754° för den dyrare).

Place, publisher, year, edition, pages
2016. , 35 p.
National Category
Mechanical Engineering
Identifiers
URN: urn:nbn:se:kth:diva-191216OAI: oai:DiVA.org:kth-191216DiVA: diva2:955490
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Examiners
Available from: 2016-08-25 Created: 2016-08-25 Last updated: 2016-08-25Bibliographically approved

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