Mini Autonomous Flying Vehicle

•CASDE is part of the National effort to develop a Micro Air Vehicle.

•CASDE has chosen a Mini Vehicle, in the short term, keeping in mind the autonomous mission.

•CASDE feels that ~500 Gms. of Avionics is bare minimum to make a mission autonomous.

•A 2 Kg. Aircraft, with 500-600 Gms. payload, needs to be demonstrated.

Mini Flying Vehicle Scenario

CASDE’s Approach

• Instrumented Flying Platform

•Aircraft Fabrication and Instrumentation

•Correlation of Mission with Flight data

•Videography Platform, Solar Powered Aircraft

• SE Approach to Design & Development

• Mission Realization

•Avionics Development & Integration Studies

•Autonomous Mission Implementation

Instrumented Flying Platform

Span - 1.7 m Chord - 29.5 cm

Fuselage length - 1.07 m

Weight - 3800 gm (fuel) Weight of Inst. - 500 gmEngine Disp. - 7.5 cc Power - 1.6 BHP

Parameters:

Nx Ny Nz

q h v

e

Instrumented Flying Platform

Recorded Flight Data for a Loop

• Design & Build an Aerial Vehicle Capable of Carrying a Video Camera/ Transmitter.

• A circle & Two Rectangles as Targets for Videography

• Maximum Dimension 24” & All-Up-Weight Less Than 1 kg.

Distance 500m

TargetLaunch

Videography Platform

• Wing Airfoil - Selig 3021 - 095 -84• Wing Span - 24” (both wings)• Wing Chord - 6”• Wing Gap - 4.25”• Wing Area - 288 sq. in (2 sq. ft)• Fuselage - 23.5”• Tail span - 14”• Tail Chord - 4.5”• Tail Arm - 12.25”• Max AUW - 860 gm (30.27 oz)• Wing loading - 15.14 oz/sq. ft

Videography Platform

Solar Powered AircraftSpan : 90 cm

Aspect ratio : 8

Power requirement : 4 watts

Solar Panel weight : 70 grams

Total weight : 140 grams

Avionics Development & Integration•Components off the Shelf

• Selection and Integration

•Weight, Size & Performance as Criterion

CASDE MAV Configuration

•Fixed Wing with Speed of 10-35 Metres/Sec.

•Avionics Payload of ~ 500-700 Grams

•Autonomous Flight Capability

•Way Point (with Mission) Based Navigation

•Range of ~ 5 km & Endurance of 30 Minutes

•Video Surveillance & Live Transmission

• Stabilized Platform for Good Picture Quality

Aircraft

SARIKA-II of IISc OR

Instrumented Flying Aircraft of CASDE

Navigation, Guidance and Control Strategy

NGC Developed by ADE for Nishant to be used

Avionics

Package to be Developed by CASDE

Simulations

Ground Based Off-line, OILS, AILS & Mission

CASDE MAV Development Strategy

Avionics & Videography Packages

Sensor/Payload Weight (grams)

Controller / Data Logger 65

3-axis Accelerometer 30

2-axis Rate Sensor 25

Pressure Based Altimeter 15

Pressure Based Airspeed 15

Heading Sensor 10

GPS Receiver 100

GPS Antenna 50

Angle Of Attack Sensor 15

9V Batteries for One Hour 100

Total Components’ Weight 425

15-20 % for filters, wiring 75

Total weight 500

Equipment Weight (grams)

TV Quality Camera

20

5 km range Transmitter

20 *

1 Hour duration Battery

50

Total weight 90

* It is an estimate, as transmitter for 300 m weighs 10 Gms.

Autonomous Flight Payload Estimate Video. Mission Payload Estimate

FLIGHT DYNAMICS SIMULATOR

GPS SIMULATOR

SENSOR MODEL

D/A RS232

A/D

NAVIGATION GUIDANCE AND CONTROL SYSTEM

A/D RS232

ACTUATING COMMANDS

ACTUATORS AND POTENTIOMETERS

DESKTOP

COMPUTER

ONBOARD

SYSTEM

HARDWARE IN LOOP

SCHEMATIC OF HILS FACILITY