Development of an Autonomous Blimp A Major Qualifying Project submitted to the faculty of Worcester Polytechnic Institute in partial fulfillment of the requirements for the Degree of Bachelor of Science April 26, 2011 Submitted by: Daniel Lanier (ME/RBE) Daniel Sarafconn (RBE) Marcus Menghini (RBE) Advised by: Professor Fred Looft Professor Stephen Nestigner Advisor Code: FJL Project Code: BLMP Abstract The purpose of this project was to design and fabricate an autonomous dirigible-based platform that could be used to enable development of navigational controllers and provide multi-mission capability through modularity. The platform was designed to carry and interface with a variety of mission specific hardware through a standard interface. A customized hardware platform was designed including a propulsion system and integrated sensor suite. Multiple ground level tests were undertaken to determine sensor performance and the capabilities of the navigational programs. Acknowledgements The team would like to thank our advisors, Professors Looft and Nestinger, for their continued support throughout this project. The team would also like to thank the following individuals for their help with the project: Richard Gammon Amy Morton Torbjorn Bergstrom Adam Sears Joe St. Germain Professor John Hall Don Pellegrino Tracy Coetzee ii Table of Contents Abstract ......................................................................................................................................................... ii Acknowledgements ....................................................................................................................................... ii 1. Introduction .......................................................................................................................................... 1 1.1. Introduction ...................................................................................................................................... 1 1.2. Project Statement ............................................................................................................................. 2 1.3. Summary ........................................................................................................................................... 2 2. Background ........................................................................................................................................... 3 2.1. Introduction .................................................................................................................................. 3 2.2. Blimp History ................................................................................................................................. 3 2.3. Unmanned Aerial Vehicle History and Technologies ............................................................... 8 2.4. UAV Control ................................................................................................................................ 11 2.5. Benefits of a UAV Blimp ............................................................................................................ 13 2.6. Current Autonomous Blimp Technology ................................................................................. 16 2.7. Summary ..................................................................................................................................... 19 3. Goals and Requirements ..................................................................................................................... 20 3.1. Introduction ................................................................................................................................ 20 3.2. System Goals ............................................................................................................................... 20 3.2.1. Outdoor Operation ............................................................................................................. 20 3.2.2. Autonomous Operation ...................................................................................................... 20 3.2.3. Performing Multiple Roles .................................................................................................. 21 3.2.4. Endurance Flights ................................................................................................................ 21 3.2.5. Two-Way Communication with a Base Station ................................................................... 21 3.3. System Requirements ................................................................................................................. 22 3.4. Summary ..................................................................................................................................... 22 4. System Design ..................................................................................................................................... 23 4.1. Introduction ................................................................................................................................ 23 4.2. Sub-system Divisions ................................................................................................................... 23 4.3. Sub-system Responsibilities ........................................................................................................ 23 4.4. Sub-system Design ...................................................................................................................... 24 4.4.1. Drive System ....................................................................................................................... 25 4.4.2. Sensor System ..................................................................................................................... 25 iii 4.4.3. Control System .................................................................................................................... 25 4.5. Summary ..................................................................................................................................... 26 5. Shell selection ..................................................................................................................................... 27 5.1. Introduction ................................................................................................................................ 27 5.2. Shell Purchasing Rational ............................................................................................................ 27 5.3. Material and Manufacturer Selection ......................................................................................... 27 5.4. Shell Shape Selection .................................................................................................................. 28 5.5. Summary ..................................................................................................................................... 29 6. Drive System Design and Construction ............................................................................................... 30 6.1. Introduction ................................................................................................................................ 30 6.2. Drive System Requirements ........................................................................................................ 30 6.3. Tilt-able Motor Design ................................................................................................................ 30 6.4. Ballast and Control Surface System ............................................................................................ 32 6.5. Tail Rotor Drive System ............................................................................................................... 34 6.6. System Selection ......................................................................................................................... 34 6.7. Axle Material Selection ............................................................................................................... 36 6.8. Motor and Propeller Selection .................................................................................................... 39 6.9. RC Override ................................................................................................................................. 45 6.10. Phase One Testing and Resulting Modifications ..................................................................... 46 6.11. Phase Two Testing and Resulting Modifications .................................................................... 48 6.12. Summary ................................................................................................................................. 49 7. Electronics Design ............................................................................................................................... 50 7.1. Introduction ................................................................................................................................ 50 7.2. Processor Requirements ............................................................................................................. 50 7.3. Processor Selection ..................................................................................................................... 51 7.4. Sensor Requirements and Selection ..........................................................................................