The investigation of a decentralized radio network dedicated to unmanned aerial systems (UASs) was presented in the paper. Two frequencies (315 MHz; 434 MHz) and five different configurations of Gaussian frequency-shift keying (GFSK) were taken into account. Three different algorithms for decentralized networks were investigated and their influence on the network capacity was measured. The research was done both for static and dynamically changed unmanned aerial vehicle (UAV) positions. In order to quantify the research three different parameters were determined: RSSI, nP (number of data packets in one second), and f (frequency of data update).
The influence of the electromagnetic field of extra high voltage (EHV) line on the antennas was investigated. The tests were made 10 meters under 400 kV line. The research was focused on the measuring of the signal amplitude for an unpowered 433 MHz, 2.4 GHz and GPS antennas. Additionally, the Received Signal Strength Indicator (RSSI) parameter was measured during the flight in the EHV line area. The results show high influence of the EM filed on the investigated antennas.
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Zbadano zachowanie się bezzałogowych urządzeń latających w pobliżu dwutorowej linii najwyższego napięcia (400kV). Szczególny nacisk położono na wpływ generowanych przez linię zakłóceń elektromagnetycznych na pracę urządzeń pokładowych (czujniki, układy sterowania) oraz na jakość transmisji danych. Wykonane eksperymenty pokazały, że lot grupy dronów wzdłuż linii najwyższego napięcia jest możliwy, lecz należy uwzględnić pewne zakłócenia, które mogą zaburzać ich wzajemną komunikację.
EN
The operation of Unmanned Aerial Vehicles (UAVs) in the vicinity of the double extra high voltage (EHV) line (400kV) was investigated. We focused on the impact of the electromagnetic interference generated by the line on the operation of on-board devices (sensors, control systems) and on the quality of the data transmission. The performed experiments showed that the fly of the drones' group along the HV line is possible, but some noise of signals, which can disturb intercommunication, should be taken into account.
A design of an unmanned aerial vehicle (UAV) construction, intended for autonomous flights in a group, was presented in this article. The design assumptions, practical implementation and results of the experiments were given. Some of the frame parts were made using 3D printing technology. It not only reduces the costs but also allows for better fitting of the covers to the electronics, which additional-ly protects them against shocks and dirt. The most difficult task was to develop the proper navigation system. Owing to high costs of preci-sion positioning systems, common global positioning system (GPS) receivers were used. Their disadvantage is the floating position error. The original software was also described. It controls the device, allows performing autonomous flight along a pre-determined route, anal-yses all parameters of the drone and sends them in a real time to the operator. The tests of the system were carried out and presented in the article, as well.
W ramach badań wykonano pomiary wpływu zakłóceń występujących w pobliżu dwutorowej linii WN (400kV) na pracę urządzeń latających (dronów) oraz na zakłócenia występujące podczas ich wzajemnej komunikacji w paśmie 433 MHz. Badania pozwoliły na określenie najbardziej istotnych źródeł zakłóceń.
EN
The impact of disturbances arising in the area of a two-ways HV grid (400 kV) on the aerial vehicles (drones) work was measured. The influence of these disturbances on the communication quality between devices for a 433 MHz band was investigated, as well. The research allowed to determine the main sources of disruptions.
One of the most important elements of an unmanned aerial unit is the navigation system. A device with a positioning system can perform an autonomous flight, i.e. without a human on-board. There are many methods for determining the position of the UAV (Unmanned Aerial Vehicles). In the paper Inertial Navigation, Local Positioning System (LPS), Global Positioning System (GPS) and navigation system based on the video from cameras mounted on or outside the device have been described.
Preliminary studies of Marvelmind indoor navigation system was presented in the paper. The device based on stationary beacon can calculate the position with high accuracy. The system has been used both in unmanned aerial vehicles, mobile robots but also for positioning people in endangered areas.
W artykule przedstawiono projekt systemu nawigacji lokalnej w mieszkaniu jednopoziomowym. System jest kierowany do zastosowań monitoringu mieszkania za pomocą samochodu czterokołowego. Jego struktura pozwala także na lokalizację ludzi. Zaproponowano rozmieszczenie w każdym pomieszczeniu, pod sufitem, dwóch stacjonarnych nadajników nawigacji, będących punktem odniesienia dla odbiornika zamontowanego na pojeździe. Takie rozwiązanie daje informację o pozycji pojazdu w mieszkaniu z dokładnością do ± 2 centymetrów.
EN
A project of a local navigation system in a one-story apartment was presented in the paper. The system is dedicated to monitor an apartment using a four-wheeled car. It's structure allows to localize the people, as well. In each room, under the ceiling, two stationary navigation beacons, which are the reference point for the mobile beacons mounted on the vehicle, were proposed. Such a solution gives an exact position of the car in the apartment with an accuracy of ± 2 centimeters.
W artykule opisano projekt oraz wykonanie robota czterokołowego. Do budowy urządzenia wykorzystano klocki Lego Technic. Do sterowania wykorzystano Raspberry Pi2 wraz z dołączonymi rozszerzeniami. Urządzenie zostało zbudowane w celu zdalnego monitoringu mieszkania. Pojazd posiada kamerę, której obraz rejestrowany jest na serwerze.
EN
A project and construction of a four-wheel robot were presented in the paper. Lego Technic bricks were used to build the device. The main controller is based on the Raspberry Pi2 board with additional modules. The device was built for remote monitoring of the flat. The device | has a camera whose video is registered on an external server.
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