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Estación De Tierra Autónoma Para La Gestión De Telemetría En Vehículos Aéreos No Tripulados (Uavs)

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Estación De Tierra Autónoma Para La Gestión De Telemetría En Vehículos Aéreos No Tripulados (Uavs) Estación de tierra autónoma para la gestión de telemetría en Vehículos Aéreos no Tripulados (UAVs) PROYECTO FIN DE CARRERA Ingeniería Industrial, especialidad en Automática y Electrónica Realizado en Universitat Politècnica de València Departamento de Ingeniería de Sistemas y Automática Autor: Juan Enrique López Carcelén Director: Javier Sanchis Sáez Sergio García-Nieto Rodríguez Co-director: Basam Musleh Lancis Valencia, Junio de 2013 PFC – Estación de tierra autónoma para la gestión de telemetría en Vehículos Aéreos no Tripulados Este libro contiene los siguientes documentos: Memoria – pág. 8 Manual de Programación – pág.96 Manual de Usuario – pág. 127 2 PFC – Estación de tierra autónoma para la gestión de telemetría en Vehículos Aéreos no Tripulados AGRADECIMIENTOS En primer lugar, agradecer a mi director de proyecto Javier la posibilidad de trabajar en este proyecto que me ha aportado mucho tanto en lo académico como en lo personal. Durante la realización de mi trabajo, he de agradecer a mi supervisor Sergio toda su paciencia y apoyo continuo desde el primer día. Además, agradecer a Jesús por todo su tiempo y desearle mucha suerte en su futuro como doctorando. Quiero agradecer también el apoyo recibido por la gente que he conocido en mi Séneca y que ha estado muy cerca de mí este año, especialmente a Celia, Pedro, Laura, Pepe, María, Sandra y Joaquín, sin los cuales este último año de mis estudios de ingeniería no se hubiese convertido en uno de los mejores. Por último y lo más importante, agradecer el calor durante todos estos años de mi familia. Especialmente a mi tía María Elena, a mi tío Quique al cual considero un padre, a la persona que me ha ayudado a alcanzar lo que soy hoy, mi madre. Y sobre todo dedicarle este pequeño logró en mi carrera a mi abuela Carmen, que siempre estará con nosotros. 3 PFC – Estación de tierra autónoma para la gestión de telemetría en Vehículos Aéreos no Tripulados ÍNDICE GENERAL ÍNDICE DE FIGURAS ....................................................................................................................... 6 ÍNDICE DE TABLAS ......................................................................................................................... 7 1. INTRODUCCIÓN Y OBJETIVOS ............................................................................................... 8 1.1. Introducción .................................................................................................................. 8 1.1.1. Infraestructura previa al proyecto ........................................................................ 8 1.2. Objetivos del proyecto .................................................................................................. 9 1.2.1. Orientar de permanentemente la antena hacia el UAV ....................................... 9 1.2.2. Independizar la antena del sistema de monitorización ........................................ 9 1.2.3. Interfaz gráfica con el usuario ............................................................................. 10 1.2.4. Sistema de rastreo............................................................................................... 10 1.2.5. Monitorización de la telemetría desde más de un punto ................................... 11 1.2.6. Orientación de la antena en el mapa de vuelo ................................................... 11 1.3. Metodología para el desarrollo experimental ............................................................ 12 1.4. Estructura del documento........................................................................................... 13 2. ESTADO DEL ARTE ............................................................................................................... 15 2.1. Introducción a los UAVs .............................................................................................. 15 2.2. Introducción a la telemetría ........................................................................................ 26 2.2.1. Diseño general de un sistema de telemetría ...................................................... 26 2.2.2. Historia de la telemetría ...................................................................................... 28 2.3. Introducción a los sistemas embebidos ...................................................................... 31 2.4. Introducción a la tecnología Wifi. ............................................................................... 34 2.4.1. Historia de las primeras aplicaciones sin cables. ................................................ 34 2.4.2. Historia de la comunicación Wifi. ........................................................................ 35 3. ALTERNATIVAS SOFTWARE UTILIZADAS ............................................................................. 38 3.1. Ventajas de la programación en C .............................................................................. 38 3.1.1. Introducción histórica del lenguaje C .................................................................. 38 3.1.2. Criterios más significativos de comparación ....................................................... 39 3.2. Otros lenguajes utilizados ........................................................................................... 42 3.2.1. Lenguaje Python .................................................................................................. 42 3.2.2. Lenguaje HTML .................................................................................................... 44 4. DESCRIPCIÓN DE LA SOLUCIÓN HARDWARE IMPLEMENTADA .......................................... 47 4.1. Introducción ................................................................................................................ 47 4.2. Componentes de la estación de tierra autónoma ...................................................... 48 4 PFC – Estación de tierra autónoma para la gestión de telemetría en Vehículos Aéreos no Tripulados 4.2.1. Sistema embebido ............................................................................................... 48 4.2.2. Comunicación por radio con el UAV ................................................................... 49 4.2.3. Transmisión por wifi ............................................................................................ 51 4.2.4. Control del movimiento de la antena ................................................................. 52 4.2.5. Componentes del UAV relevantes en el desarrollo ............................................ 54 4.3. Interconexiones entre componentes .......................................................................... 60 5. DESCRIPCIÓN DE LA SOLUCIÓN SOFTWARE IMPLEMENTADA ........................................... 63 5.1. Introducción a la solución general adoptada .............................................................. 63 5.1.1. Disposición del software por aplicaciones .......................................................... 63 5.1.2. Estructura de los ficheros creados ...................................................................... 65 5.2. Función principal e hilos de ejecución ........................................................................ 66 5.2.1. Funcionalidad de cada hilo independiente ......................................................... 67 5.2.2. Descripción de la sincronización de hilos ............................................................ 70 5.2.3. Gestión de los tiempos de ejecución de cada hilo .............................................. 72 5.2.4. Solución para el interbloqueo de los hilos: Estrategia MUTEX ........................... 72 5.3. Librería desarrollada ................................................................................................... 74 5.4. Servidor Web ............................................................................................................... 75 5.4.1. Justificación del la solución de partida ................................................................ 75 5.4.2. Apariencia gráfica y descripción de los parámetros ........................................... 75 5.4.3. Estructura y descripción de los ficheros implementados ................................... 79 6. PRUEBAS Y MEJORAS REALIZADAS ..................................................................................... 81 6.1. Primer programa ......................................................................................................... 81 6.2. Primer test ................................................................................................................... 82 6.3. Segundo test ................................................................................................................ 83 6.4. Tercer test ................................................................................................................... 85 7. MEJORAS EN FUTUROS PROYECTOS .................................................................................. 87 7.1. Mejoras en el software ............................................................................................... 87 7.2. Mejoras en el hardware .............................................................................................. 89 8. CONCLUSIONES .................................................................................................................. 91 Bibliografía .................................................................................................................................. 93 5 PFC – Estación de tierra autónoma
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