Mini Unmanned Aerial Vehicle Software (Advisor: Assoc. Prof. Atilla Ergüzen)

1.1. Abbreviations

• ANSI: American National Standards Institute
• ESC: Electronic Speed Controller
• GPS: Global Positioning System
• ISO: International Organization for Standardization
• UAV: Unmanned Aerial Vehicle
• KAB: Köker Vehicle Computer
• KYB: Köker Management Computer
• MISRA: Motor Industry Software Reliability Association

1.2. Purpose

The project aimed to develop an unmanned aerial vehicle capable of autonomous takeoff, cruise and landing; remaining airborne for extended periods; transferring information concurrently; and being managed through interface software.

1.3. Definition

An unmanned aerial vehicle is an aircraft that can fly without a pilot on board by using aerodynamic flow and propulsion forces.

1.4. Scope

The project covers the UAV body design, implementation of the electronic circuit and communication system, development of the related embedded and interface software, and addition of further functions to the vehicle.

1.6. Components

1.6.1. KAB: A microcomputer that receives data from the KYB and sensors and controls the hardware components on the UAV.

1.6.2. KYB: The management computer that provides the interface between the user and the UAV.

1.6.3. Body: The structure designed according to basic flight principles and used to house the hardware components.

1.6.4. Brushless Motor: A motor that converts electrical energy into mechanical energy and rotates the propellers at the required speed. Unlike brushed motors, commutation is electronic. These motors are lightweight and operate with low noise and vibration. The Kv value expresses revolutions per minute per volt. The Kt value expresses torque per ampere in ounce-inches and is inversely related to Kv. A brushless motor cannot be operated by applying voltage directly without an ESC.

1.6.5. ESC: The hardware component that drives the motors with electrical energy from the battery according to signals received from the KAB.

1.6.6. Lithium Polymer Battery: The rechargeable battery that supplies energy to the vehicle. The number of cells and voltage must be compatible with the ESC.

1.6.7. Propeller: A rotating blade that produces lift through motion. Multicopters use propellers rotating clockwise and counterclockwise.

1.6.8. Joystick: A device that sends signals to the KYB according to the user’s movement.

1.6.9. Accelerometer: A component that measures acceleration.

1.6.10. Gyroscope: A component that supplies axis information and helps maintain angular balance.

1.6.11. Barometer: A component that measures pressure.

1.6.12. Thermometer: A component that measures temperature.

1.6.13. Compass: A component that supplies direction information.

1.6.14. GPS: The global positioning system, which provides latitude, longitude and related data through satellites.

1.6.15. RF Transceiver: The component that enables radio-frequency communication between the KAB and KYB.

2.1. Process Model

The waterfall model was selected for the development process. According to this model, definition, design, implementation and testing are carried out sequentially.

2.2. Category

The system is categorized as critical in terms of scope and risk.

2.3. Standards Compliance

Development considers standards from independent organizations such as MISRA, ISO and ANSI, together with standards used by companies working on UAVs in Türkiye. Software source code is checked with a control application previously developed during an internship.

2.4. Reliability

Software and hardware components are developed to identify possible faults and produce responses to them. Communication packets are checked for errors, inconsistencies and delays, with the goal of obtaining the intended system result consistently. For software faults, exceptions are grouped by risk level and handled accordingly.

2.5. Maintainability

The system is developed as independent subsystems. In the event of a problem, sensors and software support identification of the damaged hardware. Terminal blocks are used in cable connections to improve repairability.

2.6. Endurance

The system is designed to operate at the same efficiency for long periods, and motor and hardware temperatures are monitored in real time. Low-energy components are selected to increase flight duration. The later use of solar cells was considered as a means of improving endurance.

2.7. Performance

The software uses high-performance algorithms and hardware with corresponding performance characteristics.

2.8. Availability

Continuous data communication is maintained between the KAB and KYB, and tasks on both computers are configured according to priority. This prevents the system from spending excessive time on low-priority work. Special antennas and components are used to extend communication range.

2.9. Safety and Risk Analysis

Measures are considered against hazards such as lithium-polymer battery explosion, propeller fragments being thrown after breakage and loss of the aircraft.

2.10. Structural Strength

The UAV body uses materials that are lightweight while providing high structural strength.