Project files

GEARdrones

GEARdrones is a quadrotor unmanned aerial vehicle (UAV) system developed specifically for low-cost drone formation control, integrating a flight controller, UWB relative positioning algorithm, and ground control station software.

Demo video: Self-developed drone swarm? A university life of engineering students can also be exciting! (opens in a new tab)

This project mainly includes the following components:

1. Embedded software projects for two versions of flight controllers based on STM32F1 and STM32F4
2. Embedded software project for a remote controller based on STM32F1
3. Drone PCB projects (being organized) and shell models
4. MATLAB simulation files for the relative positioning algorithm
5. Ground control station software developed using PYQT5 and MQTT

Reference Development Environment:

​ Embedded software development environment: Keil MDK5 5.29

​ Compiler: Arm Compiler V5.06 build750

​ MQTT server: mosquito/EMQX

​ MATLAB 2022B

​ Python 3.8

References:

[1] Guo K, Xie L. INFRASTRUCTURE-FREE COOPERATIVE RELATIVE LOCALIZATION FOR UAVS IN GPS-DENIED ENVIRONMENTS[J]. International Journal of Robotics and Automation, 2021, 36(6).

[2] Nguyen T M, Zaini A H, Guo K, et al. An ultra-wideband-based multi-UAV localization system in GPS-denied environments[C]//2016 International Micro Air Vehicles Conference. 2016, 6: 1-15.

[3] Guo K, Qiu Z, Miao C, et al. Ultra-wideband-based localization for quadcopter navigation[J]. Unmanned Systems, 2016, 4(01): 23-34.

[4] Guo K, Li X, Xie L. Ultra-wideband and odometry-based cooperative relative localization with application to multi-UAV formation control[J]. IEEE transactions on cybernetics, 2019, 50(6): 2590-2603.

Reference Open Source Libraries:

SRML: SCUT Tiger Embedded Software Middleware Layer Library (opens in a new tab)