Abstract

UAV (Unmanned Aerial Vehicle) is defined as an aerial vehicle

that does not carry a human operator, uses aerodynamic forces
to provide vehicle lift, can fly autonomously or be piloted
remotely, can be expandable or recoverable, and can carry a
lethal or nonlethal payload. It is controlled either autonomously
by on board computers or by remote control of a pilot on the
ground. Its usage is currently limited by difficulties such as
satellite communication and cost. A DRONE (Dynamic Remotely
Operated Navigation Equipment) has been built that can be
operated by radio frequency controller and send live visual
feedback. The simulation shows a very stable operation and
control of the developed Drone. Microcontroller based Drone
system has also been developed where a RF transmitter and
receiver operating in the frequency of 2.4GHz are used for
remote operation for the Drone. Earlier, Drones were deployed
for military applications such as spying on both domestic and
international threats. The developed drone in this work can be
used for a number of applications, such as policing, firefighting,
monitoring flood effected areas, recording video footage from
impassable areas and both military and non-military security
work. In addition, using an Android mobile device incorporation
has been used for live tracking of Drone and real time visual
feedback from Drone.
Keywords: Drone, Unmanned Aerial Vehicle, Aerial
Surveillance.
 Abbreviations
UAV: Unmanned Aerial Vehicle
BLDC: Brushless Direct Current
P: Proportional
ESC: Electronic Speed Controller
GPS: Global Positioning System
3G: Third generation mobile network

Chapter 1
1.1 Introduction

Unmanned aerial vehicles (UAV) are more properly known as

Drone. Basically, drone is a flying robot. Working in
combination with modern flight controller, the flying machine
may be remotely controlled or can fly autonomously by
software-controlled flight plans in their embedded systems.
Drones are most often used in military services. However, it is
also used for weather monitoring, firefighting, search and
rescue, surveillance and traffic monitoring etc. In recent years,
the drone has come into attention for a number of commercial
uses. In late 2013, Amazon announced a plan to use unmanned
aerial vehicles for delivery in the nearby area’s future. So, it is
clear that domestic usage of UAV has vast future possibility in
different fields rather than military usage.
Drones for military use were started in the mid-1990s with the
High-Altitude Endurance Unmanned Aerial Vehicle Advanced
Concept Technology Demonstrator. The Global Hawk hovers at
heights up to 65,000 feet and flying duration is up to 35 hours
at speeds approaching 340 knots and it costs approximately
200 million dollars. The wingspan is 116 feet and it can fly
13.8094 miles which is significant distance. Another very
successful drone is the Predator which was also built in the
mid-1990s but has since been improved with Hellfire missiles. It
is one of the top ten aircraft that changed the world, Predator is
the most combat-proven Unmanned Aircraft System (UAS) in
the world.
1.2 Issues
Issues of drones can be classified in different ways like morally,
ethically and legally. In many country’s drone is not permitted
to fly openly, but in some advance country is now allowing
drone for social purposes. Also, there is a build up a decent
drone marketplace in India but from ethical point of view it has
some conflict using drone. Military drone manufacturers are
also looking for an upgrade civilian uses for remote sensing
drones to spread their markets and this includes the use of
drones for surveillance where it’s needed. Drones will no doubt
make possible the dramatic change in the surveillance state.
With the convergence of other technologies, it may even make
possible machine recognition of faces, behaviors, and the
monitoring of individual conversations.
However, in this thesis project mainly we are designing the Roll,
pitch and yaw angle control system design. In addition, we are
going to integrate android mobile device to gather real time
visual information.
1.3 Review
Many methodologies have been tried to improve real-world
aircraft with vertical take-off and landing abilities. First, Nikola
Tesla introduced a vertical take-off and landing vehicle concept
in 1928. Advanced VTOL aircrafts uses a single engine with
thrust vectoring. Thrust vectoring illustrates that the aircraft
can send thrust from the engine in different directions, so that
vertical and horizontal fight can be controlled by one engine.
The Harrier Jump Jet is one of the most famous and successful
fixed-wing single engine VTOL aircraft. In the 21st century,
UAVs are becoming progressively conventional. Many of these
have VTOL capability, especially the quad copter type.
In addition to the practices of the drones, we were concerned
in evaluating applications in the industrial, commercial and as
well as government sector. In addition, new markets and uses
will emerge if small drones are very available. Potential new
markets in business and modern applications incorporate
reviewing pipelines or actually investigating perilous regions
like an emergency site at an atomic force plant. Harvest
evaluation or natural disaster aid seems also to be possible
areas where small drones could be beneficial. Although the
designs of different UAVs are charming, our interest was in
attempting to produce a small UAV which could support a
broad mission capability.
1.4 Objective
As has been already stated in the abstract, this thesis is turning
around an unmanned flying vehicle called drone. The aim of
this thesis is to find an appropriate mathematical model for
such a machine and develop a complete control architecture
which will allow the drone to fly. Using these features then we
develop our UAV, for observation and scouting missions for
civilian or even military personnel. An UAV (Unmanned Aerial
Vehicle) with precise payloads can hover straight above the fire
zone to record video of the fire line. So, if we surveillance the
affected area by UAV, then we can get a proper direction and
make decision from where to extinguish fire. At the same time,
we can send a UAV close to the fire to see whether any human
being exists inside the building or not. On the other hand, flood
visits our country almost every year. So, we can also
surveillance flood effected area and we can send primary help
to them like dry food, water or first aid kit. However,
surveillance can be done using helicopter but it consumes huge
amount of fuel thus it is costly. In addition, as the size of the
helicopter is bigger it cannot hover into a narrow space and if
any accidents happens then a lot of money will be destroyed as
well. In contrast, electric powered drone consumes very low
power and cost both plus it can hover into tiny spaces as it is
small in size. So, it is more efficient and environment friendly.
Chapter 2
2.1 Introduction
To build such a dynamic unmanned aerial vehicle we need to
attach many complex electronic devices. In this
implementation, we have used many intelligent electronic
devices like brushless DC motor, KK2.1.5 Multi-Rotor board, ESC
(electronic speed controller), digital servo motor and 2200mAh
Lithium Polymer battery. In this chapter, we will discuss about
all those electronic components and their behavior. Also,
development of telemetry system for real time communication
with drone is introduced in this section.
2.2 Development and construction
In order to develop this project, we have used Brushless DC
motors, Electronic Speed Controllers (ESC), power distribution
board (PDB), KK2.1.5 Multicolor Controller Board, 2200mAh Li-
Po battery and F450 frame.
2.2.1 Brushless DC motor
We have used 2212bldc motor and 1045 for the propeller. The
motor is a 3.9 ounce, 1000KV, 450 watts out runner brushless
motor. It's used for sport planes weighing 709 to 1550 gram.
Model Batter RPM/V Propell RPM MAX Thrust
y cell er Curren
count t
2212 3s 920 1045 9000 30A 1000g
bldc

In practice, we have used 1045 propellers so that we can get

1kg thrust form one motor. As we have used four motors in our
drone so we are getting approximately 4kg of thrust.
2.2.2 KK2.1.5 Multi-Rotor control board
In this project, we have used kk2.1.5 Multi-Rotor control board
to control the drone. This KK2.1 Multi-Rotor controller controls
the flight of multi-rotor. Its purpose is to stabilize the aircraft
during flight and to do this, it takes signals from on-board
gyroscopes (roll, pitch and yaw) and passes these signals to the
Atmega324PA processor, which processes signals according the
users designated firmware and passes the control signals to the
mounted ESCs (Electronic Speed Controllers) and the mixture of
these signals commands the ESCs to make fine adjustments to
the motors rotational speeds which stabilizes the craft.
The KK2.1.5 Multi-Rotor control board also uses signals from
radio system via a receiver and passes these signals together
with stabilization signals to the Atmega324PA IC via the aileron;
elevator; throttle and rudder user demand inputs. Once
processed, this data is sent to the ESCs which adjusts the
rotational speed of each motor to control flight orientation (up,
down, backwards, forwards, left, right, yaw).
Technical specifications of KK2.1.5 board:
 Size: 50.5mm x 50.5mm x 12mm
 Weight: 21 grams
 IC: Atmega644 PA
 Gyro/Acceleration: 6050MPU
 Auto-level: Yes
 Input Voltage: 4.8-6.0V
 AVR interface: standard 6 pin.
 Firmware Version: 2.1.5
We have used “quadcopter” firmware that is pre-installed in
the board. However, we had to tune it as per our model
because automatic settings were not working properly for
our model. Basically, settings are very different and unique
for each model. Without customized settings this board is not
going to work properly. So, to make our drone stable and
quick responsive to the disturbances, we have tuned the PI
editor and all other settings. The table shows the customized
values we have set to make our drone stable.
KK2 MENU ITEM

PI Editor P Gain: P Limit: I Gain: I Limit:

Axis: Roll 200 40 0 0
(Aileron)
Axis: Pitch 200 40 0 0
(Elevator)
Axis: Yaw 200 40 0 0
(Rudder)
Receiver Aileron: Elevator: Throttle: Rudder: Auxiliary
Test 0 0 0 0 :0
Mode Self-Level: Link-Roll Auto CPPM:
Settings Pitch: Disarm:
stick No Yes no

2.2.3 ESC (Electronic Speed Controller)

An electronic speed controller or ESC is a device installed to a
remote-controlled electrical model to vary its motor's speed
and direction. It needs to plug into the receiver's throttle
control channel.
 Electronic Speed Controller (ESC)
We have used 30A electronic speed controllers to control each
brushless motor in this experiment which can constantly supply
required current to drive brushless motors. It has following
specifications:
Constant Current: 0A
Burst Current: 50A
Battery: 2-3S Li-Po
SBEC: 5.5v / 4A
Motor Type: Brushless
Size: 70 x 32 x 17mm
Battery Wire: 14AWG
Motor Wire: 14AWG
Weight: 61g
2.2.5 Li-Po battery
As the brushless motor we have used in this experiment needs
high amount of current so we have used 2200mAh 11.1V 3 cell
Li-Po (Lithium Polymer) battery. It can provide approximately
3A current constantly.

Specifications:
Capacity: 2200mAh
Voltage: 11.1V
Max Continuous Discharge: 25C (82.5A)
Max Burst Discharge: 50C (165A)
Weight: 284g
Dimensions: 133×42×23mm
Charge Rate: 1-3C Recommended, 5C Max
2.6.1 Radio communication
There are many high range radio transmitter and receiver in the
market which are expensive. However, as it is prototype and to
minimize the cost, we used 2.4 GHz Fly Sky 6 channel
transmitter and receiver module. It covers almost 970 meters
to 1 kilometer with average obstacle.

Over 1200 meter it gets very low signal and completely lost the
signal over 1320 meters. To record precise values, we used a
car to move around and transmits the signal from a stationary
point.
Technical Specifications:
Radio: 2.4 GHz
Length: 7.4 in (188mm)
Height: 3.8 in (96.5mm)
Width/Diameter: 11.6 in (294.6mm)
Weight: 498.9 g

By the aid of this device, we can control the flight system of our
drone. Each channel controls a specific electronic device which
in embedded in our system such as brushless DC motors or
servo motors, thus we can control forward, backward, right or
left motion of the prototype.

2.6.3 Software
An Android mobile device has been installed in our Drone’s
payload system for live video stream, live position tracking and
real time voice communication. By the aid of two android
software, we have manipulated audio video tracking system.

2.6.3.4 Live video stream

Live video streaming can be implemented by using 5.4 GHz 600
mw wireless video transmitter and receiver but it is too
expensive. To reduce the cost in this experiment we have used
a 5.4 GHz 200mw transmitter and receiver along with Android
mobile phone. In comparison with 5.4 GHz 600 mw wireless
video transmitter and receiver mobile phone is much cheaper,
consumes less power.
For live video streaming we have used (Skydroid) android
application.

2.7 Hardware implementation

We have used F450 frame to minimize cost. It has inbuilt
landing gear which spreads weight evenly on the body. Four
brushless motors are mounted on the top of the F450 frame
and an ESC beneath each arm of the frame. Middle part of the
body contains all the payloads (flight controller, battery, RF
receiver, camera and video transmitter).
Design principles:

Each rotor produces both lift and torque about its center of

rotation, as well as drag opposite to the vehicle's direction of
flight.
Quadcopters generally have two rotors spinning clockwise (CW)
and two counterclockwise (CCW). Flight control is provided by
independent variation of the speed and hence lift and torque of
each rotor. Pitch and roll are controlled by varying the
net center of thrust, with yaw controlled by varying the
net torque.
Unlike conventional helicopters, quadcopters do not usually
have cyclic pitch control, in which the angle of the blades varies
dynamically as they turn around the rotor hub. In the early days
of flight, quadcopters (then referred to either as 'quadrotors' or
simply as 'helicopters') were seen as a possible solution to
some of the persistent problems in vertical flight.
Torque-induced control issues (as well as efficiency issues
originating from the tail rotor, which generates no useful lift)
can be eliminated by counter-rotation, and the relatively short
blades are much easier to construct. A number of manned
designs appeared in the 1920s and 1930s. These vehicles were
among the first successful heavier-than-air vertical take-off and
landing (VTOL) vehicles. However, early prototypes suffered
from poor performance, and latter prototypes required too
much pilot work load, due to poor stability augmentation and
limited control authority.

Torque
If all four rotors are spinning at the same angular velocity, with
two rotating clockwise and two counterclockwise, the net
torque about the yaw axis is zero, which means there is no
need for a tail rotor as on conventional helicopters. Yaw is
induced by mismatching the balance in aerodynamic torques
(i.e., by offsetting the cumulative thrust commands between
the counter-rotating blade pairs).


Schematic of reaction torques on each motor of a quadcopter
aircraft, due to spinning rotors. Rotors 1 and 3 spin in one
direction, while rotors 2 and 4 spin in the opposite direction,
yielding opposing torques for control.


A quadrotor hovers or adjusts its altitude by applying equal
thrust to all four rotors.


A quadrotor adjusts its yaw by applying more thrust to rotors
rotating in one direction.


A quadrotor adjusts its pitch or roll by applying more thrust to
one rotor (or two adjacent rotors) and less thrust to the
diametrically opposite rotor.
Vortex ring state
All quadcopters are subject to normal rotorcraft aerodynamics,
including the vortex ring state.

Mechanical structure
The main mechanical components are a fuselage or frame, the
four rotors (either fixed-pitch or variable-pitch), and motors.
For best performance and simplest control algorithms, the
motors and propellers are equidistant.