3/27/2023 0 Comments Quadcopter geometry x vs h![]() in-depth description of the perception system of ANAFI Ai.This chapter details the sensors, hardware and algorithms used by ANAFI Ai to provide autonomous flight capabilities. Autonomous obstacle detection and avoidance at speed up to 8m/s (29 km/h - 18mph).Occupancy grid representation of the environment.Surrounding environment depth extraction from stereo matching and depth from motion.Rotating, wide field of view perception system.The LED lights power adapts automatically, depending on the algorithms’ needs. These allow the drone to keep stability, especially when flying indoors or in a GPS-denied environment, below 5 m over the ground. Vertical camera algorithms are still able to run in low light conditions thanks to the fact ANAFI Ai is equipped with a pair of LED lights, located next to the vertical camera. keypoint detection and matching for position estimation:.Vertical camera measures are given by two main algorithms: In the absence of GPS signal, ANAFI Ai relies mostly on the vertical camera measures for velocity and position estimation. These algorithms compute and send to the motors the commands needed for ANAFI Ai to reach the desired trajectories. Quadrotors are by nature unstable when the flight controller is in open loop to pilot them easily, let alone to operate them autonomously, it is necessary to stabilize them by closed loop control algorithms. State estimation is essential for the proper functioning of drones. Sensor fusion algorithms combine the data from all sensors to estimate the attitude, altitude, position and velocity of ANAFI Ai. It allows the automation of many flight modes (Flight Plan, Cameraman, Hand take-off, Smart RTH). The ANAFI Ai flight controller offers an easy and intuitive piloting: no training is required to fly it. Hardware synchronization with the vertical camera, accuracy: 1 µs. ![]() Bias/accuracy: ± 2.0 mg (X-Y) ± 5.0 mg (Z) – after dynamic calibration.Bias/accuracy: ± 0.1 °/s (after dynamic calibration). ![]() Point of interest calculation for accurate hovering at 15 Hz and accurate landing at 5 Hz.Optical flow ground speed measures at 60 Hz.FOV: horizontal viewing angle: 53.7° / vertical viewing angle: 41.5°.Bias/accuracy: Position (standard deviation 1.4 m), Speed (standard deviation 0.5 m/s).Sensitivity: cold start -148 dBm / tracking & navigation: -167 dBm.Ceramic patch antenna of 25x25x4mm allowing a +2dB gain improvement compared to ANAFI 1.Temperature regulation: controlled heating system in relation to the ambient temperature, stabilized within: ± 0.2 ° C.Bias/accuracy: ± 15 mG (after compensation, at maximum motor speed).Temperature regulation: controlled heating system in relation to the ambient temperature, stabilized within: ± 0.15 ° C.Bias/accuracy: ± 0.5 mg (X-Y) ± 1 mg (Z) (after thermal and dynamic calibration).Bias/accuracy: ± 0.05°/s (after thermal and dynamic calibration).Sensors’ characteristics Flight IMU: ICM-40609-D Overall, performance wise, both designs can fly well.To ensure its safe flight, ANAFI Ai is equipped with:ĪNAFI Ai is also equipped with a multidirectional depth sensing system (stereo vision) described in the “Autonomous Flight” section. This frame handles like a true X, while having a little more room to build, with more of the H style looks. My current favourite frame is the Armattan Armadillo, which is sort of a hybrid H meets X frame with a compact pod. If you want a true X design, with some room, the Armattan SCX200 has a little more room than most X frames. I would recommend an H, or X with elongated pod, like the Alien, for ease of build, vs a compact true X design. I personally prefer to hang my batteries from the bottom of the frame, and X frames tend to be more designed with this in mind. In practice, I believe you will see a bigger difference from where a battery is mounted over the geometry of the frame. ![]() Adverse roll from yaw is a little more pronounced on H frames as well. H frames tend to have a less stable roll vs an X frame, while being more stable in pitch, whereas an X frame is similar in both roll and pitch. There are handling differences between X and H frames, in particular in how they roll. H frames have more room, but tend to balance a lot differently Vs an X frame. H frames on the other hand all use an elongated pod with arms coming off the front and rear, or closer to the front and rear, on a lesser angle. Many frames however have a nearly symmetrical X configuration of the arms, with an elongated pod similar to a H frame for example the Alien Frame or Armattan F1 series. A true X frame is 100% symmetrical, with a small central platform or pod. ![]()
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