The Proportional Integral Derivate (PID) Lab Analysis
The Proportional Integral Derivate (PID) unit is the software core of most flight controllers.
Its purpose is to minimize the error of a system by adjusting the process through the use of manipulated variables. The first PID controller was introduced as early as in 1939. As of yet, it is still the prevalent controller in process control [33][34][35]. Figure 9 shows the underlying control loop.
Figure 9: Block diagram of a basic PID control loop. At first, the difference between the desired set point and a measured process variable is calculated. This difference is referred to as the error value. Subsequently, the error value drives the proportional, integral, and derivative elements. Then, the resulting terms are added up and used to drive …show more content…
Requirements are either a laptop or a phone/tablet, a telemetry radio, and a corresponding ground station.
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2.3 Previous project specific development
The development of the vision-based landing system is accomplished as an extension of a pre-existing code, which was created prior to this work. The code enables the drone to fly autonomous reconnaissance flights with always the same pattern. Figure 10 clarifies the sequence of such a flight.
Figure 10: Autonomous reconnaissance flight scenario. [A] At first, the drone takes off from the payload tray of the WAM-V surface vehicle. Once it reaches a safe altitude
(approx. 20m), it heads for the GPS position of the target of interest. [B]
When reaching the target, the drone performs a region of interest (ROI) flight.
That means it circles the ROI while constantly pointing an on-board camera in the direction of the target. [C] In the meantime, the USV has continued its course (orange arrows) and is now at a different position. Next, the exact
GPS coordinates of that position are sent to the drone. Then again, the drone heads for those coordinates and attempts to land there. Now, this is where the vision-based landing system becomes relevant. As illustrated, the UAV
Its purpose is to minimize the error of a system by adjusting the process through the use of manipulated variables. The first PID controller was introduced as early as in 1939. As of yet, it is still the prevalent controller in process control [33][34][35]. Figure 9 shows the underlying control loop.
Figure 9: Block diagram of a basic PID control loop. At first, the difference between the desired set point and a measured process variable is calculated. This difference is referred to as the error value. Subsequently, the error value drives the proportional, integral, and derivative elements. Then, the resulting terms are added up and used to drive …show more content…
Requirements are either a laptop or a phone/tablet, a telemetry radio, and a corresponding ground station.
13
2.3 Previous project specific development
The development of the vision-based landing system is accomplished as an extension of a pre-existing code, which was created prior to this work. The code enables the drone to fly autonomous reconnaissance flights with always the same pattern. Figure 10 clarifies the sequence of such a flight.
Figure 10: Autonomous reconnaissance flight scenario. [A] At first, the drone takes off from the payload tray of the WAM-V surface vehicle. Once it reaches a safe altitude
(approx. 20m), it heads for the GPS position of the target of interest. [B]
When reaching the target, the drone performs a region of interest (ROI) flight.
That means it circles the ROI while constantly pointing an on-board camera in the direction of the target. [C] In the meantime, the USV has continued its course (orange arrows) and is now at a different position. Next, the exact
GPS coordinates of that position are sent to the drone. Then again, the drone heads for those coordinates and attempts to land there. Now, this is where the vision-based landing system becomes relevant. As illustrated, the UAV