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Currently the drone sector, also referred to as Unmanned Aircraft System (UAS) or Remotely Piloted Aircraft System (RPAS), has experienced exponential growth due to the versatility it offers in various areas, whether in leisure, in inspections of infrastructure or agriculture, rescues or even the use of these in police forces and government security forces. The mechanisms for remote control of drones depend on the system they incorporate, using different frequencies for each case. In general, they can be distinguished between control by radio, by Wi-Fi and by LTE (4G, 5G, etc.). Regarding radio and Wi-Fi control, they have a couple of disadvantages, range and interference with obstacles. Although there are methods to be able to increase the operational range of the remote controller, its use for it to be optimal must be in an open field, without obstacles. On the other hand, the systems controlled by LTE offer more range due to the fact that they have a connection to the mobile communication network. Even so, this last system needs ground stations or antennas that provide the network, meaning that in remote places or without network access or poor connection, it cannot be used. Also, satellite communication can offer to fill this last problem, since no ground station would be needed, as the connection is made directly with the satellites. In this project, carried out in the German drone company Dronivo GmbH, it will seek to implement a satellite communication system (primarily with Starlink, due to its recognition and high capabilities) and adapt it in UAS or remote control systems in order to study the benefits and disadvantages that this would entail, either in data transfer, video transmission, remote control or even the implementation in the system. During this project, a market study is presented in order to have an idea of which devices could be used, which devices will finally be used together with their integration and configuration in the system, a series o, Outgoing, Objectius de Desenvolupament Sostenible::9 - Indústria, Innovació i Infraestructura

The purpose of this work is to explore and elucidate the capabilities of the Ardupilot platform for developing robust control systems for autonomous aerial vehicles (AAVs) that are resilient to challenges posed by electronic warfare (EW). Utilizing a comprehensive analytical approach, this study examines the platform’s ability to integrate with various AAV types, its compatibility with numerous sensors, and its provision of advanced, customizable flight control algorithms. Additionally, the research delves into Ardupilot’s simulation capabilities, specifically through Software In The Loop (SITL) and Hardware In The Loop (HITL), to safely test and refine new algorithms and configurations within a controlled setting. Findings from this investigation demonstrate that Ardupilot is a highly effective tool for engineering adaptive and secure control systems. Its features support redundant control algorithms, facilitate multiple communication channels, and enable robust data encryption, thereby ensuring operational reliability and resilience against EW threats. The theoretical implications of this research underline the significance of leveraging sophisticated simulation tools and adaptive algorithms to bolster AAV resilience. The practical implications are significant, offering pathways to enhance the reliability and security of AAV systems across military, commercial, and research domains. The originality and value of this study reside in its detailed exploration of how Ardupilot can fortify AAV control systems against the complexities of modern EW. However, this research recognizes limitations, including the necessity for extensive real-world testing to corroborate simulation-based findings and the ever-evolving nature of EW tactics, which demand continuous algorithmic updates and adaptations. Future research should aim to develop more intricate adaptive algorithms and further refine simulation environments to advance the robustness of AAVs in challenging EW scenarios.

En este trabajo de fin de grado se lleva a cabo un análisis de los principales protocolos de comunicación para vehículos aéreos no tripulados (del inglés Unmanned Aerial Vehicle o UAV) y sus comunes vulnerabilidades de red. Se presenta una solución experimental que implementa un cifrado de extremo a extremo en la comunicación entre un UAV basado en ArduPilot y la estación de control en tierra QGroundControl, utilizando el algoritmo de cifrado ChaCha20. Mediante modificaciones en los protocolos MAVLink y en los sistemas de software involucrados en la comunicación, se ha logrado un flujo de comunicación seguro sin comprometer significativamente el rendimiento del sistema. Esta solución garantiza la protección de datos sensibles durante las misiones de vuelo, asegurando que solo los operadores con la clave privada necesaria puedan descifrar la información transmitida. Así, se contribuye a la seguridad y fiabilidad de las operaciones con UAV en contextos donde se maneja cada vez más información sensible. Finalmente, se han realizado pruebas exhaustivas que verifican el correcto funcionamiento del sistema.

This project is a contribution to the Drone Engineering Ecosystem. In this project I introduce functionalities to improve the module Dashboard Games, more specifically, the Controllers Game from it. These functionalities include, adding obtacles, redesigning the creating scenario process, creating a MongoDB Service module, and exporting data to Mission Planner.

Donat el problema cada vegada més alarmant que és el canvi climàtic, els boscos s’han de protegir per a ajudar a pal·liar els seus efectes. La idea d’un UAS per a la detecció i vigilància d’incendis, neix després de veure durant els estius, l’esforç en la patrulla constant que duu a terme l’IBANAT mitjançant avions especialitzats en aquesta tasca per a prevenir la crema de massa forestal. Amb aquest treball es vol posar en pràctica tant els coneixements i habilitats adquirides en el grau d’enginyeria de Disseny Indústria i Desenvolupament de producte, com les que he après durant anys en la meva afició tant per l’aviació com l’aeromodelisme. El projecte tracta d'abordar les limitacions actuals en la detecció i vigilància d'incendis forestals. La detecció primerenca és crucial per a la intervenció ràpida i efectiva dels serveis d'extinció d'incendis, reduint els danys mediambientals i econòmics. L'estudi s'enfoca en la utilització de tecnologies emergents per millorar aquests processos. En el treball desenvolupa seqüencialment l’estructura d’una aeronau per a dur a terme la tasca de vigilància forestal de forma autònoma. Començant per un estudi previ que reflecteix la situació actual i les necessitats existents, passant per a un disseny general per a posar solució al problema, i acabant amb un disseny detallat de l’aeronau., Dado el problema cada vez más alarmante que es el cambio climático, los bosques deben protegerse para ayudar a paliar sus efectos. La idea de un UAS para la detección y vigilancia de incendios surge después de observar durante los veranos el esfuerzo en la patrulla constante que lleva a cabo el IBANAT mediante aviones especializados en esta tarea para prevenir la quema de masa forestal. Con este trabajo se quiere poner en práctica tanto los conocimientos y habilidades adquiridos en el grado de ingeniería de Diseño Industrial y Desarrollo de Producto, como los que he aprendido durante años en mi afición tanto por la aviación como el aeromodelismo. El proyecto trata de abordar las limitaciones actuales en la detección y vigilancia de incendios forestales. La detección temprana es crucial para la intervención rápida y efectiva de los servicios de extinción de incendios, reduciendo los daños medioambientales y económicos. El estudio se enfoca en la utilización de tecnologías emergentes para mejorar estos procesos. En el trabajo se desarrolla secuencialmente la estructura de una aeronave para llevar a cabo la tarea de vigilancia forestal de forma autónoma. Comenzando por un estudio previo que refleja la situación actual y las necesidades existentes, pasando por un diseño general para poner solución al problema, y terminando con un diseño detallado de la aeronave., Given the increasingly alarming issue of climate change, forests must be protected to help mitigate its effects. The idea of a UAS (Unmanned Aerial System) for fire detection and surveillance originated after observing the continuous patrol efforts carried out by IBANAT (Balearic Institute of Nature) with specialized aircraft during the summer to prevent forest fires. This project aims to apply both the knowledge and skills acquired in the Industrial Design Engineering and Product Development degree and those I have learned over the years through my interest in aviation and aeromodelling. The project addresses the current limitations in forest fire detection and surveillance. Early detection is crucial for the rapid and effective intervention of firefighting services, reducing environmental and economic damage. The study focuses on utilizing emerging technologies to improve these processes. The work sequentially develops the structure of an aircraft to autonomously perform forest surveillance. It starts with a preliminary study that reflects the current situation and existing needs, moves on to a general design to solve the problem, and concludes with a detailed design of the aircraft.

An Uncrewed Aerial Vehicle (UAV) is an airborne vehicle that has no people onboard and thus is either controlled remotely via radio signals or by autonomous capability. This thesis highlights the feasibility of using a bio-inspired miniature lighter than air UAV for indoor applications. While multicopters are the most used type of UAV, the smaller multicopter UAVs used in indoor applications have short flight times and are fragile making them vulnerable to collisions. For tasks such as gas source localisation where the agent would be deployed to detect a gas plume, the amount of air disturbance they create is a disadvantage. Miniature blimps are another type of UAV that are more suited to indoor applications due to their significantly higher collision tolerance. This thesis focuses on the development of a bio-inspired miniature blimp, called FishBlimp. A blimp generally creates significantly less disturbance to the airflow as it doesn’t have to support its own weight. This also usually enables much longer flight times. Using fins instead of propellers for propulsion further reduces the air disturbance as the air velocity is lower. FishBlimp has four fins attached in different orientations along the perimeter of a helium filled spherical envelope to enable it to move along the cardinal axes and yaw. Support for this new vehicle-type was added to the open-source flight control firmware called ArduPilot. Manual control and autonomous functions were developed for this platform to enable position hold and velocity control mode, implemented using a cascaded PID controller. Flight tests revealed that FishBlimp displayed position control with maximum overshoot of about 0.28m and has a maximum flight speed of 0.3m/s. FishBlimp was then applied to source localisation, firstly as a single agent seeking to identify a plume source using a modified Cast & Surge algorithm. FishBlimp was also developed in simulation to perform source localisation with multiple blimps, using a Parti

The usage of unmanned aerial vehicles in applications such as terrain mapping and surveillance is proliferating in the modern world. This project aims to investigate the feasibility, in terms of payload capacity and stability, of small scale winged aircraft that have the ability to lift and land vertically, while also being able to transition to normal forward flight using wings for primary lift. The prototype aircraft was built with the limitation of using only one lift-producing motor that would be responsible for both vertical take-off and landing, and the horizontal propulsion in forward flight. The prototype was built primarily using 3D-printed plastic with an electric ducted fan as the method of propulsion. Internal ducting was used to redirect airflow downwards, from the only propulsion source to achieve vertical lift at a standstill. The final iteration of the aircraft successfully performed multiple hovers over 30 seconds long but did not have wings to test a transition to forward flight. Lifting capacity was low but the concept proposed in this thesis holds promise for further development and optimization., Användningen av obemannade luftfarkoster för tillämpningar såsom terrängkartläggning och övervakning ökar i den moderna världen. Detta projekt syftar till att undersöka lämpligheten, i termer av lastkapacitet och stabilitet, för småskaliga vingade luftfarkoster som har förmågan att lyfta och landa vertikalt, samtidigt som de kan övergå till normal framåtflygning med vingar för primär lyftkraft. Prototypen av luftfarkosten byggdes med begränsningen att endast en lyftproducerande motor skulle användas, som skulle vara ansvarig för både vertikal lyftning och horisontell framdrivning vid framåtflygning. Prototypen byggdes främst med 3D-utskrivna plastkomponenter med en elektrisk innesluten fläkt som källa för dragkraft. Interna luftkanaler användes för att omdirigera luftflödet nedåt, från den enda lyftproducerande motorn, för att uppnå vertikal lyftkraft vid ett stillastående. Den slutliga versionen av luftfarkosten utförde flera svävningar i över 30 sekunder, men farkosten hade inga vingar för att testa övergången till framåtflygning. Lastkapaciteten var låg, men konceptet som föreslogs i denna avhandling är lovande för vidare utveckling och optimering.

Med målet att landa fastvingedrönare på en liten yta utfördes ett projekt som implementerade en ballistisk landning i simulation. Projektet utfördes på initiativ av Sjöräddningssällskapet som har utvecklat en fastvingedrönare som behöver kunna landa på en båt. Projektet var en del av ett kandidatarbete inom ämnet programvaruteknik med syfte attbesvara hur landningen kunde skapa värde för kunden, vilka erfarenheter för framtidensom projektgruppen kunde dokumentera och vilket stöd projektgruppen fick från att använda en systemanatomi. För att besvara frågeställningarna utarbetade projektgruppen en kravspecifikation och ensystemanatomi samt utförde projektet med kontinuerliga utvärderingar under projektetsgång. Vid utvecklingen användes en variant av Scrum. Som resultat implementerades engrundläggande version av en ballistisk landning. Dokument skapades för utvecklingenoch gemensamma erfarenheter samlades in genom utvärderingar och möten. Projektgruppen fick många lärdomar om att arbeta i och planera större projekt vilket diskuteras i rapporten. Projektet och den utvecklade landningens hållbarhetsaspekter utvärderades.

This document presents the report corresponding to the contributions to the Drone Engineering Ecosystem (DEE) that I have developed as part of my Bachelor¿s degree thesis. The DEE is a collaborative project carried out at the EETAC to which students can contribute with their Bachelor¿s degree theses. This ecosystem consists of a series of components that enable the control and monitoring of drones. These modules are primarily hybrid, desktop, and web applications, as well as backend modules. After a preliminary analysis of the state of the ecosystem, it was determined that there was a significant area that had not been explored, which involved developing native applications for mobile devices. Therefore, it was decided to develop a native application for Android devices, given the flexibility offered by that ecosystem. Subsequently, a lack of independence was found for mobile devices, as they always required an onboard microcontroller on the drone to run the ecosystem¿s modules. Since this did not affect the desktop applications, where direct drone connection was possible, the idea of developing a native Android application was reinforced. This application would allow the basic functionalities of the DEE to be performed in both the existing indirect connection modes (local and global) and the new direct connection mode that was set as an objective. Since this new connection mode has been developed using a new framework in the DEE, a tutorial has been created to replicate it in future projects. In order to explore part of the potential of Android devices and contribute new functionalities to the DEE, the use of the device's gyroscope was also investigated. This has resulted in two new drone control modes: one that allows the drone to move in the direction of the cardinal points based on the tilt of the device, and the other is the steering wheel mode, where the drone can rotate around itself, and the displacement is relative to the direction that the drone is pointin

The objective of this thesis has been to improve the camera controls of a fixed-wing drone to be used in maritime search-and-rescue operations by the Swedish Sea Rescue Society (SSRS). A gimbal control interface (GCI) has been implemented that displays the video feed of the drone camera while taking control inputs from a joystick that moves its view in real-time. In the thesis, the GCI has been used to conduct two experiments. The first was in a lab setting using a Quality of Experience framework, where the effects of latency on a camera operator given a specific task were studied. The results from this experiment show that higher latency worsens both the operator's ability to perform the task as well as their subjective experience with the system. Comparing the rates at which they worsen, the data suggests that task performance decreases exponentially while the subjective experience decreases linearly, although more trials are required to establish their exact relationships. In the second experiment, the GCI was integrated with the pre-existing systems of the SSRS and used in a test flight over the Gothenburg archipelago. During the flight, joystick control was deemed most suitable when flying in a straight line, either for surveying or following a moving object. In conclusion, a versatile test bed allowing for manual control of a drone-mounted camera-gimbal was developed. For the SSRS, the GCI will serve as a starting point for controlling the drone's camera. Additionally, the GCI and the test bed developed in the thesis could be used in further research to better understand the relationship between different network parameters and an operator's quality of experience., Sjöräddningssällskapet (SSRS) driver idag ett projekt där man utforskar möjligheten att använda drönare vid uttryckning till havs. I detta examensarbete har en mjukvara för att styra en drönarkamera implementerats. Den har sedan utvärderats i labb och under en riktig flygning i Göteborgs skärgård.

This document presents the key results and contributions of a project aimed at enhancing the DEE (Drone Engineering Ecosystem) environment developed by our school's community. The project focuses on three main areas of improvement and development within DEE. 1. Repository Updates and Enhancements: Significant updates were made to the repositories hosting the DEE environment. These updates not only improved the overall stability and efficiency of the system but also made it more accessible and collaborative for the user community. The repository updates provide a solid foundation for future innovations and contributions. 2. Implementation of Swarm Operations: One of the project's standout contributions was the successful implementation of swarm operations within one of the existing services in DEE. This addition allowed for effective coordination and real-time collaboration among multiple drones, being the first service in the environment to do so. 3. Development of a Drone Racing Game: The third pillar of the project involved the development of a multiplayer drone racing game in the style of pursuit. The premise of the game is to offer users the opportunity to engage in thrilling races with two or more players, providing an interactive and entertaining experience within the DEE environment. However, unfortunately, this contribution could not be completed within the project's timeframe due to time constraints. In summary, this work represents a significant advancement in expanding and improving the DEE environment. Repository updates, the implementation of swarm operations, and the development of the drone racing game enrich the platform, opening up new opportunities for research and experimentation in the field of autonomous systems and robotics, although the third contribution could not be finished at this stage of the project.

Although Unmanned Aerial Vehicles (UAV) have been developed since the early 20th century, it is only over the last two decades that they have gained prominence in the civilian market. This has opened the doors to a whole new world of possibilities where the UAVs are offering a cheaper, faster and most effective solution. In this project, the first prototype of a fixed wing autonomous UAV is developed to act as a relaying node between a ground station and an other UAV, which is operating Beyond Visual Line Of Sight (BVLOS); thus ensuring connectivity between the two ends of the chain without the use of satellite communications or other complex ground infrastructure. The resulting UAV system is composed of two main parts: the airframe and the avionics. Three sub-systems can also be distinguished in the avionics group, being those the propulsion plant, the autopilot and the communications system; whose common feature is to be 100% Open Source. A functional prototype of the described UAV is built, and both the design parameters of the vehicle and configuration of the autopilot is validated through flight tests. All the design decisions, configuration parameters and building steps are documented in this report. The developed prototype aims demonstrate the viability of an aerial system built out of affordable materials, simple building techniques, and low-cost accessible open source hardware and software; that provides a solution for the rapid and efficient deployment of an airborne system capable of operating BVLOS.

Drones have been used by the military since mid-1970 but the development of autonomous systems from the turn of the millennium and onward has opened the area of UAV to civil service and the public immensely. Today UAV technology saves lives in Search And Rescue operations, complements and supports full scale vehicles at the Police force and assists in surveys and documentation of ground and forests. UAS contributes in areas where manned aircraft can’t reach, is too expensive and where the noise from full scale crafts would drown the scream in a search operation. From an environmental point of view UAS is far ahead of manned flight in electrification and its smaller size and lower maintenance saves scarce resources. The development of drones covers a wide area of expertise from traditional aeronautics, electronics, control theory, software development, air law and Artificial Intelligence. There are a few organizations and companies that dominate the field but as a new science UAS is not established such as computer science and has few research authorities among universities. This paper is an explorative research of UAS use within Swedish civil service. Interviews based on a selection of authorities, picked from an expert group at Lund University, have made the foundation of this qualitative study. This research covers: How UAS is implemented, legal aspects, collaboration and vision. To ensure a structured and systematic analysis, established organizational theory with Value-chain, Power–Interest-matrix and Strategic Capability have been used. Key factors of UAS history & development, open control systems and aeronautic culture are also covered. With added support from UAS-lawyer and Transportstyrelsen an introduction of drone law finalize the chapter of theory. Workshops at Ljungbyhed have been held during a week in spring 2022, covering Human Factors and SAR UAS. Numerous presentations from leading Swedish UAS authorities contributed with additional views to ensure

The goal of this bachelor thesis has been to evaluate and test the available open source software and commercial hardwarefor potential later use as the electrical system in the ALPHAUAV. ALPHA is a student project, with the goal of building an autonomous drone capable of high altitude, long-endurance missions to gather data from electromagnetic phenomena in the atmosphere. Data later to be used in research at the facility ofSpace and Plasma physics at KTH. The evaluation has been done by constructing of an MVP, to prove that the open source softwareand commercial hardware can be used to build an autonomousUAV., Målet med denna kandidatuppsats har varit att evaluera och testa öppen källkod tillsammans med kommersiell hårdvara för att potentiellt kunna nyttjas som elektriskt system i ALPHA UAV. ALPHA UAV är ett studentprojekt, med målet att bygga en autonom drönare kapabel att genomföra höghöjdsflygningar med lång uthållighet för att kunna samla in data från elektromagnetiska fenomen i atmosfären. Data som senare kan nyttjas i forskningssyfte på institutionen för rymd-och plasmafysik på KTH. Evalueringen har gjorts genom att konstruera en MVP, för att bevsia att öppen källkod och kommersiell hårdvara kan nyttjas för att bygga en autonom UAV., Kandidatexjobb i elektroteknik 2022, KTH, Stockholm

This article presents an adaptive method for ArduPilot-based autopilots of fixed-wing unmanned aerial vehicles (UAVs). ArduPilot is a popular open-source unmanned vehicle software suite. We explore how to augment the PID loops embedded inside ArduPilot with a model-free adaptive control method. The adaptive augmentation, adopted for both attitude and total energy control, uses input/output data without requiring an explicit model of the UAV. The augmented architecture is tested in a software-in-The-loop UAV platform in the presence of several uncertainties (unmodeled low-level dynamics, different payloads, time-varying wind, and changing mass). The performance is measured in terms of tracking errors and control efforts of the attitude and total energy control loops. Extensive experiments with the original ArduPilot, the proposed augmentation, and alternative autopilot strategies show that the augmentation can significantly improve the performance for all payloads and wind conditions: The UAV is less affected by wind and exhibits more than 70% improved tracking, with more than 7% reduced control effort., Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public., Team Bart De Schutter

Actualment hi ha una gran diversitat de vehicles aeris no tripulats, també coneguts com "drones". Pràcticament tots els "Drones" avançats que s'ofereixen al mercat són del tipus "cuadricópter". Això té molts inconvenients. En aquest projecte ens desviarem d'aquesta tendència per construir un prototip d'ala fixa que soluciona moltíssims dels inconvenients i limitacions que tenen les plataformes actuals. Tampoc requerirà input humà per al seu funcionament., Actualmente existe una gran diversidad de vehículos aéreos no tripulados, también conocidos como “drones”. Prácticamente todos los “Drones” avanzados que se ofrecen en el mercado son del tipo “cuadricóptero”. Esto tiene muchos inconvenientes. En este proyecto nos desviaremos de esta tendencia para construir un prototipo de ala fija que soluciona muchísimos de los inconvenientes y limitaciones que tienen las plataformas actuales. Tampoco requerirá input humano para su funcionamiento., Currently there is a great diversity of unmanned aerial vehicles, also known as “drones”. Virtually all advanced “Drones” offered on the market are of the “quadcopter” type. This has many drawbacks. In this project we will deviate from this trend to build a fixed wing prototype that solves many of the drawbacks and limitations of current platforms. Nor will it require human input for its operation., Actualmente existe una gran diversidad de vehículos aéreos no tripulados, también conocidos como “drones”. Prácticamente todos los “Drones” avanzados que se ofrecen en el mercado son del tipo “cuadricóptero”. Esto presenta una serie de limitaciones. En este proyecto exploraremos e intentaremos solventar muchas de estas limitaciones mediante la construcción de un prototipo de tipo “ala fija”. En el primer apartado realizamos una introducción y definición de la aeronave, y otros conceptos relacionados que harán de cimiento para entender con claridad la tesis completa .En los apartados 3 y 4 analizamos cual es el estado actual de la aeronáutica científica. En el apartado 4 nos centramos en el tipo de aeronave al cual queremos desarrollar una alternativa. Estudiando con detalle su funcionamiento, partes puntos fuertes y debilidades .A partir del apartado 5 en adelante empezamos a tratar la propuesta de la tesis. La aeronave de ala fija como alternativa a la de vuelo vertical existente. Tratamos desde los métodos geográficos que vamos a utilizar como el diseño construcción y análisis del vehículo.

In current literature, Unmanned Aerial Vehicles (UAVs), especially quadrotors, is one of the hot topics of study which has numerous applications. This paper focuses on modeling the quadrotor in order to improve the empirical results. The procedure consists of four stages: 1) Experimental determination of controller coefficients, 2) Data collection, 3) System identification, 4) Controller redesign. After these stages, it is observed that the system is capable of stabilize on the roll, pitch and yaw axes. Coefficient tuning on the identified model noticeably improves the settling time and steady state oscillation amplitude.

[ES] Este proyecto trata el desarrollo y puesta en marcha de un sistema aeronáutico de alta tecnología basado en un vehículo quadrotor, que integra un hardware comercial de control llamado ArduPilot, y una plataforma terrestre llamada Mission Planner, desde la cual se controlan todos los parámetros y misiones de vuelo. Estas tres partes, vehículo quadrotor, hardware y software, componen lo que actualmente se conoce como RPAS, Remote Piloted Aircraft System, esto es, un sistema de aeronave no tripulada,de forma autónoma o semiautónoma,controlada desde una posición concreta en tierra. Como síntesis del trabajo realizado, en primer lugar, tras un estudio detallado del entorno, se ha abordado el diseño y construcción de la estructura del vehículo quadrotor, a través de unas especificaciones e imposiciones de partida, seguido de la integración y acomodación del hardware de control y el sistema de vídeo, así como de un estudio profundo de sus características y funcionamiento. Posteriormente, se ha empezado la fase de puesta en marcha trabajando paralelamente en tres aspectos.Por un lado, los protocolos de seguridad y calibración del sistema en espacios interiores. Por otro lado,el estudio del código de programación y parámetros de control a través del software, y en tercer lugar, los primeros ensayos de vuelo de prueba en interiores. Una vez optimizado el vuelo en interiores, se ha trasladado lo anterior al vuelo en exteriores, numerando las principales tareas reales a las que el sistema va dirigido. Finalmente, se ha completado el trabajo con las especificaciones y condiciones de fabricación y utilización que debe cumplir el sistema y el presupuesto que cuantifica y define el proyecto.

Recently, there is an interest over unmanned aerial vehicles (UAVs) that prevent possible military personel dead in accident in military field and the interest is going to increase gradually by adding new features to UAVs. Because of that, the absence of human factor in UAV systems, a control mechanism requirement becomes a necessity. Furthermore, even in some cases under human control, because of the human limitations that physiological features such as tolerance to high pressure and extreme forces, an auxiliary control structure is required. At this point, in the literature there are many control theories and these have superiotries among themselves around some point. The system that we work on aims at having robust system structure under possible parameter and environmental changes. These factors necesitates a control system structure requirement with sliding mode control that is a member of the robust controller family. Conventional sliding mode controller design has some restrictions in terms of system type and requires all state variables of the system to be measurable. In this study, to overcome these limitations and generation the control signals by using only the output signals of the system instead of measuring all of the state variables of the system, Dynamic Output Feedback Sliding Mode Controller is designed. The controller is designed in Matlab/SIMULINK environment. Obtained controller performance is tested both software in loop simulations in Xplane flight simulator which is a detailed flight simulator to test the extreme flight conditions and in real flight tests designed for Apprentice-S model aircraft with Ardupilot controller board., Son zamanlarda insansız hava araçları özellikle askeri alanda olası kazalar sonucunda personel kaybının önüne geçtiği için yoğun bir ilgi mevcuttur ve bu ilgi günden günden artarak insansız hava araçlarına yeni özellikler katmaktadır. Araç içerisinde insan olmayışından dolayı bir kontrol mekanizmasının ihitiyacı ortaya çıkmaktadır. Ayrıca bazı durumlarda insan kontrolü altında bile insanların fizyoljik yapılarının ortaya çıkarmış olduğu kısıtlardan dolayı yardımcı bir kontrol unsuruna ihtiyaç vardır. Bu noktada literatürde birçok kontrol teorisi bulunmaktadır ve bunlar birbirlerine göre bazı noktalar etrafında üstünlüklere sahiptir. Üzerinde çalışmış olduğumuz sistem olası çevre koşullarına ve parametre değişimlerine karşı bir gürbüz sistem yapısı istemektedir. Bu fikirler gürbüz kontrol ailesinin bir üyesi olan kayan kipli kontrollü sistem yapısı ihtiyacını ortaya çıkarmaktadır. Geleneksel kayan kipli kontrolcü tasarımı sistem tipi açısından belli kısıtlara sahip olup sistemin tüm durumlarını bilmesine ihtiyaç vardır. Bu çalışmada hem bu kısıtların önüne geçmek hem de durum bilgileri yerine sistemin çıkışlarına ihtiyaç duyan bir kontrolcü olan dinamik çıkış geri beslemeli kayan kipli kontrolcü tasaelanmaktadır. Kontrolcü Matlab/SIMULINK ortamında tasarlanmaktadır. Elde edilen kontrolcünün performansı zorlu uçuş koşullarını sağlayan Xplane uçuş simülatörü kullanılarak yazılım ortamını testi ve ve Ardupilot kontrol kartı ile Apprentice-S model uçağının gerçek uçuş testi yapılmaktadır.

This paper contains the guidelines on the development of an Automatic Dependent Surveillance - Broadcast (ADS-B) information receiver for commercial unmanned aerial systems (UAS) autopilots. The obtained system is low cost thanks to the use of a software-defined radio (SDR) device and a single-board computer (SBC). The industry's leading brand for UAS is DJI, which works with closed-source autopilots and will begin to incorporate ADS-B reception into its high-end UAS. For the rest of UAS, the PX4 and ArduPilot autopilots stand out, which are open source and use the MAVLink protocol. Compatible with MAVLink, on the market only the pingRX component of uAvionix can receive ADS-B information, but it is not low cost. Therefore, a market niche is expected, which is what motivates the development of the system. The received ADS-B information is compiled, processed, and sent from the SBC, using a self-developed program. This is the differentiating element of this work, since it manages to integrate the two fields: ADS-B, coming from conventional aviation; and MAVLink, designed for UAS. The reception is achieved using the SDR device with the incorporation of specific theory about ADS B decoding. Contributions from radio amateurs, who often use this type of information for air traffic monitoring applications, are also included. On the other hand, stable communication between the SBC and the autopilot in MAVLink protocol is achieved. For this, libraries in Python previously provided by the MAVLink developer community are implemented. The correct operation of the proposed system is checked by viewing the transmitted air traffic information at an autopilot¿s ground control station (GCS). A translation of the rest of the document can be requested from the author.

This research project contains a comparison between serveral autopilot systems for un-manned vehicles, focusing on the most relevant open hardware and open-source softwareplatforms. The main subjects studied are the controller boards created by Pixhawk andthe software developing organizations Dronecode and Ardupilot. Specifically, the boardsPixhawk 4 and Pixhawk 2.1 Cube are analized, toghether with the firmwares PX4 (byDronecode) and Ardupilot, nowadays some of the most common options among researchunmanned system projects. The main goal is to provide useful information related to all ofthis components and to determine which ones are more convenient based on the kind ofvehicle and its usage.The project is composed by both a theoretical and an experimental part. First of all, anin-depth research is performed related to the chosen controller boards and software plat-forms, concluding which are the benefits and drawbacks of each one. Secondly, multiplefield tests are done with two different unmanned systems, one of them aerial and the otherone ground-based. The tests are basically autonomous missions that have to be followedby those vehicles and they are repeated in the same conditions with each one of the Pix-hawk controller boards loaded with both PX4 and Ardupilot firmwares. Finally, a Matlabanallysis is done with the data extracted in the tests., Los sistemas no tripulados de uso civil han experimentado un gran crecimiento y evoluci ´on tecnol ´ogica en los ´ultimos a˜nos, especialmente desde la popularizaci ´on de los drones. Una de las piezas fundamentales de estos sistemas son los mecanismos de pilotaje autom´ atico, que tienen la capacidad de dirigir el veh´ıculo siguiendo rutas y planes preestablecidos mediante el uso de sensores y elementos de detecci´on del entorno. En general, est ´an compuestos por un computador conocido como placa controladora y por un software con el que gestiona cualquier tipo de tarea para la que est´e programado. En este proyecto se lleva a cabo una comparativa entre autopilotos para veh´ıculos no tripulados, centr ´andose en las plataformas de hardware y software de c´odigo abierto m´as relevantes. Se estudian los est ´andares de placas controladoras creados por la organizaci ´on Pixhawk, as´ı como los dos desarrolladores de software libre Dronecode y Ardupilot. En concreto se eval ´uan las diferencias entre las placas Pixhawk 4 y Pixhawk 2.1 Cube, adem´as de los dos firmwares PX4 (de Dronecode) y Ardupilot, que son algunas de las opciones m´as comunes en sistemas no tripulados dentro del ´ambito de la investigaci ´on. El objetivo principal es proporcionar informaci´on ´ util sobre todos estos elementos y determinar cuales conviene m´as usar dependiendo del tipo de veh´ıculo y de las aplicaciones que se les quiera dar. El estudio consta de una parte te ´ orica y otra pr ´ actica. En primer lugar se investigan en profundidad las placas controladoras y las plataformas de software mencionadas, concluyendo cuales son las ventajas y desventajas que tienen entre si. Por otro lado, la parte experimental consiste en pruebas realizadas con diferentes tipos de sistemas no tripulados, uno a´ereo y otro terrestre. Dichas pruebas son recorridos que cada veh´ıculo tiene que seguir autom´aticamente y que se repiten con las dos placas de Pixhawk junto a los firmwares de PX4 y Ardupilot en igu