I

II

III

IV

Team of work

Ahmed saeed abd_alhamed

Adel magdy adly fakhry
Marco karam safawt youssef
Hassan gamal abd_alatef
Muhammed sayed muhammed gouseph

V
List of Abbreviations

UAV

Unmanned Ariel Vehicles .

BLDC

Brushless DC Motor .

EMF

Electronic Force .

ESC

Electronic Speed Control .

MOSFET

Metal Oxide Silicon Filed Effect Transistor

MCU

Micro Control Unit .

MEMS

Micro Electro Mechanical System .

GPS

Global Positioning System .

BEC

Battery Eliminator Circuit .

LVC

Low Voltage Cutoff .

OSC

Oscillator

VI
List of contents
List of Table

List of Figures

XI

Summary

XV

Chapter 1 : interdicting quad copter

1.1 History

1.2 Concept Exploration

1.3 Flight platform

1.4 Payload Components

1.5 Applications

1.6 Project components

1.7 Brushless Motor

1.8 Introduction to the Multiwii

1.9 Global Positioning System (GPS)

10

1.10 LM 35 TEMPERATURE SENSOR

11

1.11 Lithium Polymer (Lipo) batteries

11

1.12 Wireless communication

12

1.13 Video System

12

Chapter 2 : Quadcopter Work Theory

2.1 Work Theory

14

2.1.1 What are Roll, Pitch, and Yaw?

16

2.1.2 Maintaining Control

16

2.2 Frame configuration

17

2.3 Flight Configurations

19

2.4 Propellers

19

2.4.1 Constant Speed Propellers

20

2.4.2 Propeller theory

21

VII
2.5 How to build Quad copter mechanical

24

2.6 Flight control

25

2.7 Quad Copter Dynamics and Theory

26

Chapter 3 : Mechanical & Electronic Design

3.1 Motor

27

3.1.1 Motor Control Design

32

3.1.2 DC motors

34

3.1.3 Components of a DC Motor

38

3.1.4 Comparison between Major Types of DC Motor

39

3.1.5 Comparing Between BLDC To Motors Types

44

3.1.6 Final Choice

45

3.2 Speed Controller for Quadcopter

46

3.3 MultiWii SE v2.0 Control Board Set-Up For Quadcopter

48

Chapter 4 : SoftWear
4.1 Microcontroller

58

4.1.1 BIT

59

4.1.2 BYTE

59

4.1.3 SFR REGISTERS

60

4.1.4 Input / Output Ports

61

4.1.5 Memory Unit

63

4.1.6 External Oscillator in EC Mode

66

4.1.7 External Oscillator in LP, XT or HS Mode

67

4.1.8 External Oscillator in RC and RCIO Mode

68

4.2 Lab View

70

4.2.1 Getting Started with Lab VIEW

71

4.2.2 Building a Virtual Instrument:

72

4.2.3 The Block Diagram

72

VIII
4.2.4 Clarification

73

4.2.5 Finally the Layout of Lap View

74

Chapter 5 : sensor
5.1 Global Positioning System

75

5.1.1 History of GPS

76

5.1.2 What is GPS?

76

5.1.3 How it Works

78

5.1.4 The GPS Satellite System

79

5.1.5 What's a GPS Signal?

80

5.1.6 Sources of GPS Signal Error

81

5.1.7 Determining GPS Position

83

5.1.8 The Parts of GPS

86

5.1.9 SkyNav SKM53 Series

89

5.1.10 Application

91

5.2 LM-35 Temperature Sensors

94

5.2.1 Features

97

5.2.2 How does LM-35 Work?

97

5.3 Power source

98

5.3.1 Battery types

100

5.3.2 LiPo Battery

102

5.3.3 Battery charger

103

Chapter 6 : Wireless Communications

6.1 Wireless Communications

106

6.1.1 Wireless Module Serial UART (200M Range-433 Mhz)

107

6.1.2 Description

108

6.1.3 Features

108

6.1.4 Pin Definition

109

IX
6.1.5 AT Command mode (readjusting module settings)

109

6.1.6 Default

110

6.1.7 The comparison of Wi-Fi, Bluetooth and Wireless Module

111

6.2 Joystick Wireless Controller

113

6.2.1 Product Features

114

6.2.2 Package Includes

115

6.2.3 Specification

115

6.2.4 Changing the Control Mode

115

6.2.5 Transmitter Calibration

116

6.3 Wireless Infra - Red SpyCam

117

6.3.1 Video system

118

6.3.2 Wireless Mini Camera 208C

120

Chapter 7 : conclusion & future work

7.1 Conclusion

123

7.2 FUTURE WORK & Risks

124

Reference

127

X
List of Table
Chapter 3
Table 3.1 : Comparison between a BLDC motor to a brushed DC motor

44

Table 3.2 : Comparison between a BLDC motor to an induction motor

44

Chapter 5
Table 5.1 : Satellite Error

83

Table 5.2 : Pin Assignment

91

Table 5.3 : Pin Of LM 35

95

Chapter 6
Table 6.1 : Specification Wireless Mini Camera 208C

122

XI
List of Figures
Chapter 1
Fig. 1.1 : First Quadcopter

Fig. 1.2 : final Product Of Our Quadcopter System

Fig. 1.3 : Remote Control

Chapter 2
Fig. 2.1 : Yaw Roll & Pitch

14

Fig. 2:2 : Multicopter Yaw Roll & Pitch

14

Fig. 2.3 : X Configuration & + Configuration

15

Fig. 2.4 : Maintaing control

17

Fig. 2.5 : Quadcopter X configuration

18

Fig. 2.6 : Quadcopter + configuration

18

Fig. 6.7: Cross Section Of a Propeller . An a(alpha) Denotes Angle Of Attack

Of Airfoil Sections

19

Fig. 2.8 : Speed Propellers

20

Fig. 2.9 : Angular Propellers

21

Fig. 2.10 :Propellers

22

Fig. 2.11 : Frame

24

Fig. 2.12 : Flight Control

25

Fig. 2.13 : Tbrough Flaying Quadcopter

26

Chapter 3
Fig. 3.1 : Simple DC Motor

35

Fig. 3.2 : Torque Generated In DC Motor

36

Fig. 3.3 : Rotor In DC Motor

37

Fig. 3.4 : Rotor Brushed Motor

39

Fig. 3.6 : Rotor Brushless Motor

40

Fig. 3.7 : Transverse Section Of a BLDC Motor

41

XII
Fig. 3.8 : Brush - Less Motor Work

42

Fig. 3.9 : Brush - Less Motor

45

Fig. 3.10 : Speed Controller for Quadcopter

46

Fig. 3.11 : the connection in the ESC Battery Pack Black Red White Motor

47

Fig. 3.12 : Electronic Speed Control ESC

48

Fig. 3.13 : MultiWii SE v2.0 Control

48

Fig. 3.14 : Trough Flaying Quadcopter

49

Fig. 3.15 : Connect each ESC to its appropriate position as illustrated below

50

Fig. 3.16 : cable consist of three JR plugs with one wire each

50

Fig. 3.17 : previous ESC connections are not illustrated in the photo for sake
of clarity

51

Fig. 3.18 : previous ESC connections are not illustrated in the photo for sake
of clarity

51

Fig. 3.19 : connect the cables for your directional controls

52

Fig. 3. 20 : the ESC connections are not shown in this photo

52

Fig. 3.21 : Each pigtail (roll, pitch, yaw) connects to the appropriate
channel on your receiver (rudder, elevator, ailerons)

53

Fig. 3.22 : the completed control board, with all connections in place,
including the connection to the receiver

53

Fig. 3.23 : the arrow at the top of the drawing indicates the forward ,

55

Chapter 4
Fig. 4.1 : Microcontrol Unit

58

Fig. 4.2 : BYTE

60

Fig. 4.3 : SFR Register

61

Fig. 4.4 : Input / Output Ports

62

Fig. 4.5 : Memory Unit

63

Fig. 4.6 : Oscillator in EC Mode

60

Fig. 4.7 : external oscillator

67

Fig. 4.8 : external oscillator in LP, XT or HS Mode

67

XIII
Fig. 4.9 : quartz crystal

68

Fig. 4.10 : OSC IN RC

69

Fig. 4.11 : OSC IN RCIO

70

Fig. 4.12 : Lab View

70

Fig. 4.13 : Network Communication

71

Fig. 4.14 : Front Panel Of The Acquiring a Signal VI

72

Fig. 4.15 : Block Diagram Lab View

72

Fig. 4.16 : terminal in the block diagram

73

Fig. 4.17 : Layout of Lap View

74

Chapter 5
Fig. 5.1 : Global Positioning System (GPS)

75

Fig. 5.2 : Satellite Around Earth

77

Fig. 5.3 : GPS Satellite System

79

Fig. 5.4 : Sources of GPS Signal Error

81

Fig. 5.5 : Satellite Shading

82

Fig. 5.6 : D Trilateration

84

Fig. 5.7 : Estimate Black Point

84

Fig. 5.8 : Space Segment GPS

86

Fig. 5.9 : Control Segment Of GPS

87

Fig. 5.10 : User Segment Of GPS

88

Fig. 5.11 : Three Elements Of GPS

88

Fig. 5.12: SkyNav SKM53 Series Top View

89

Fig. 5.13: Pin Assignment

90

Fig. 5.14: LM 35 Temperature

95

Fig. 5.15: Circuit LM 35 Temperature

96

Fig. 5.16 : Alkaline Battery

100

Fig. 5.17 : NiMH Battery

101

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Fig. 5.18 : NiCad Battery

101

Fig. 5.19 : NiZn Battery

101

Fig. 5.20 : LiPo Battery

102

Fig. 5.21 : Balance Charger

104

Chapter 6
Fig. 6.1 : Wireless Module Serial UART (200M Range-433 Mhz)

107

Fig. 6.2 : Pin Definition

109

Fig. 6.3 : AT Command mode (readjusting module settings)

109

Fig. 6.4 : Joystick Module

114

Fig. 6.5 : Joystick Module Sample

116

Fig. 6.6 : Joystick Module Parts

117

Fig. 6.7 : Wireless System

118

Fig. 6.8 : Wireless Mini Camera 208C

120

XV
Summary
The military use of unmanned aerial vehicles (UAVs) has grown because of their ability
to operate in dangerous locations while keeping their human operators at a safe
distance. The larger UAVs also provide a reliable long duration, cost effective, platform
for reconnaissance as well as weapons. They have grown to become an indispensable tool
for the military. The question we posed for our project was whether small UAVs also
had utility in military and commercial/industrial applications. We postulated that
smaller UAVs can serve more tactical operations such as searching a village or a
building for enemy positions. Smaller UAVs, on the order of a couple feet to a meter in
size, should be able to handle military tactical operations as well as the emerging
commercial and industrial applications and our project is attempting to validate this
assumption.
To validate this assumption, my team considered many different UAV designs before we
settled on creating a Quad-Copter. The payload of our Quad-Copter design includes a
camera and telemetry that will allow us to watch live video from the Quad-Copter on a
laptop that is located up to 2 miles away. We are presently in the final stages of building
the Quad-Copter but we still improving our design to allow us to have longer flight
times and better maneuverability. We are currently experimenting with new software so
that we will not have to control the Quad-Copter with an RC controller but will instead
operate by sending commands from a remote laptop.
Our project has verified that it is possible to build a small-scale Quad-Copter that could
be used for both commercial use. Our most significant problems to date have been an
ambitious development schedule coupled with very limited funds. These constraints

XVI
have forced compromise in components selected and methods used for prototype
development.
Our teams Quad-Copter prototype is a very limited version of what could be created in
a production facility using more advanced technology. Currently our Quad-Copter has
achieved only tethered flight because it cannot maintain a stable position when flying.
Our next step is to fix the software so that we can achieve controllable unmetered flight.
We are also working on integrating our own Graphical User Interface (GUI) which will
allow us to have direct control over all systems. Although there are many enhancements
that we could do to the design, we have proven that it is possible to produce a small scale
UAV that performs functions of interest to the commercial as well as industrial
applications.