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Drone Architecture Complete

The document outlines the architecture of a drone system, detailing both external systems like Python scripts, MQTT, and ROS server, as well as onboard components such as the IMU and EKF. It describes the workflow of communication and processing for autonomous navigation and object tracking. The architecture ensures efficient real-time processing and obstacle avoidance for the drone's operation.

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budhanbaskey02
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275 views3 pages

Drone Architecture Complete

The document outlines the architecture of a drone system, detailing both external systems like Python scripts, MQTT, and ROS server, as well as onboard components such as the IMU and EKF. It describes the workflow of communication and processing for autonomous navigation and object tracking. The architecture ensures efficient real-time processing and obstacle avoidance for the drone's operation.

Uploaded by

budhanbaskey02
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Drone System Architecture (Detailed Explanation)

This architecture diagram represents a drone system integrating external and onboard components

for autonomous operation and control.

1. External Systems:

- Python Scripts: Used for processing, control logic, or external computations.

- MQTT (Message Queuing Telemetry Transport): A lightweight communication protocol for

exchanging data between systems.

- ROS Server (Robotic Operating System): Manages drone operations and communication.

- Object Tracker: Uses point-cloud data to track objects in the environment.

- Point-cloud Data: Sensor-generated data used for 3D mapping and tracking.

- Radio Link (2.4 GHz): Wireless communication channel to send position and trajectory data to

the drone.

2. Onboard MCU (Microcontroller Unit):

- IMU (Inertial Measurement Unit): Provides orientation and movement data.

- EKF (Extended Kalman Filter): Processes IMU data to estimate the drone's state.

- Planner: Generates movement setpoints based on trajectories.

- Controller: Sends motor control commands to navigate the drone.

3. Workflow:

1. The ROS server communicates with the drone using MQTT.

2. The object tracker processes point-cloud data to identify obstacles.

3. The radio link transmits positional and trajectory data.

4. The IMU collects movement data and sends it to the EKF, which estimates the drone's current
state.

5. The planner sets movement objectives, and the controller executes them by controlling the

motors.

This architecture ensures efficient communication and real-time processing for drone navigation and

object tracking.
Drone System Architecture (Simplified Explanation)

This diagram shows how a drone system works by connecting different components inside and

outside the drone.

1. External Systems (Outside the Drone):

- Python Scripts - These run extra programs to help control the drone.

- MQTT - A way for different parts to send messages to each other.

- ROS Server (Drones) - A system that helps control the drone.

- Object Tracker - Tracks objects using sensor data (point-cloud).

- Radio Link (2.4 GHz) - A wireless connection to send drone position and movement plans.

2. Onboard MCU (Inside the Drone):

- IMU (Inertial Measurement Unit) - Measures movement and direction.

- EKF (Extended Kalman Filter) - Uses IMU data to estimate where the drone is.

- Planner - Decides where the drone should go next.

- Controller - Sends signals to the motors to move the drone.

3. How It Works:

1. The drone gets information from sensors and external systems.

2. The object tracker detects things around the drone.

3. The radio link sends movement instructions to the drone.

4. The IMU collects movement data and sends it to the EKF for position tracking.

5. The planner decides the next movement, and the controller moves the drone accordingly.

This setup helps the drone navigate and avoid obstacles smoothly.

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