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## Design and Software Development of the Simplified Mission Computer for a Small Unmanned Rotorcraft

#### Abstract

The aim of this thesis is to design the functionality and develop a software for the simplified mission computer for a small unmanned rotorcraft and test in on the quadrotor simulator. The task of mission computer is to send such signals to the autopilot, which leads quadrotor to perform the mission entered by an operator. On the basis of current information about the state of the rotorcraft, the mission computer specify its location and spatial orientation in relation to the values set by the operator and calculate the linear and angular velocity with which the rotorcraft should fly to complete the mission. The review of modern civilian use of unmanned aerial rotorcraft was conducted. Assumptions which should be met by the projected simplified mission computer were made based on the collected data. The mission computer has two modes of operation. In the first one, the operator writes complete information concerning every waypoint: its coordinates, yaw angle, time, during which rotorcraft must stay in the waypoint and maximum distance between waypoint and rotorcraft for which the waypoint is passed. This mission plan is executed in the order of waypoints written by the operator. The goal of the second mode is to perform area searching mission. The operator writes coordinates of a territory, height of flight, the width of camera image on the ground from that height and the width of overlap of films from neighboring flights. The search route is generated automatically based on this information. Designed functionality was programmed in C++ and implemented to the reconfigurable architecture of the quadrotor simulator in the form of a dynamic link library. The plan of the mission is read by the mission computer from the file prepared by the operator. Numerous tests were conducted, during which the current state of the rotorcraft was observed through graphical interface of the instructor program, the data printed on the screen in the console and through the visualization system. Test results are saved to a file and then imported to the Matlab program, where their analysis is made.
Diploma type
Engineer's / Bachelor of Science
Diploma type
Engineer's thesis
Author
Adam Aleksander Rodacki (FPAE) Adam Aleksander Rodacki,, Faculty of Power and Aeronautical Engineering (FPAE)
Title in Polish
Projekt i oprogramowanie uproszczonego komputera misji dla małego bezilotowego wiropłata
Supervisor
Maciej Zasuwa (FPAE/IAAM) Maciej Zasuwa,, The Institute of Aeronautics and Applied Mechanics (FPAE/IAAM)Faculty of Power and Aeronautical Engineering (FPAE)
Certifying unit
Faculty of Power and Aeronautical Engineering (FPAE)
Affiliation unit
The Institute of Aeronautics and Applied Mechanics (FPAE/IAAM)
Study subject / specialization
, Lotnictwo i Kosmonautyka
Language
(pl) Polish
Status
Finished
Defense Date
18-03-2016
Issue date (year)
2016
Pages
40
Internal identifier
MEL; PD-3658
Reviewers
Maciej Zasuwa (FPAE/IAAM) Maciej Zasuwa,, The Institute of Aeronautics and Applied Mechanics (FPAE/IAAM)Faculty of Power and Aeronautical Engineering (FPAE) Janusz Narkiewicz (FPAE/IAAM) Janusz Narkiewicz,, The Institute of Aeronautics and Applied Mechanics (FPAE/IAAM)Faculty of Power and Aeronautical Engineering (FPAE)
Keywords in Polish
komputer misji, automatyczne sterowanie, bezzałogowe statkipowietrzne
Keywords in English
mission computer, automatic control, unmanned aerial vehicles
Abstract in Polish
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ar_praca_inzynierska.pdf
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Identyfikator pracy APD: 10275

Uniform Resource Identifier
https://repo.pw.edu.pl/info/bachelor/WUT4b41b415a50043ffbe48f888e3ee64c2/
URN
urn:pw-repo:WUT4b41b415a50043ffbe48f888e3ee64c2

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