UAV

Introduction

This platform, as a flying platform, has the characteristics of high vibration and high aggressiveness. However, due to the limited payload capacity of the drone, we only carried a small number of sensors. Due to the need to install specific sensors and control the overall weight and wheelbase, the platform was designed, processed, and built by the author himself. The UAV platform adopts a quadcopter structure, and the rack design is shown in Figure 2. The platform adopts four 2806 brushless motors and can provide a total lift of 8.4kg at 24V voltage using a 6-inch three bladed propeller. The flight control adopts the Nora model flight control from Lei Xun Innovation Company, and the electrical adjustment adopts the 45A four in one electrical adjustment of the V45 model T-motor.

Sensor list

(1)Solid-state LiDAR (Livox Mid-360)

Frequency:	10Hz
FOV:	360°(Horizontal),59°(Vertical)
Distance:	up to 70m

(2)RGB-D Camera (D435)

Frequency:	30Hz
Resolution:	1280*720 pixel
FOV:	87°(Horizontal),58°(Vertical)

(3)IMU (CUAV Nora)

Frequency:

160Hz

(4)GNSS/INS-RTK (Hipnuc CH310S)

Frequency:

400Hz

(5)Event Camera

Inivation DAVIS346-color:	Quantity:	X2
	Frequency:	1000Hz
	Resolution:	346×260 pixel
	IMU:	MPU6150, 6-axis

Sensor setups

CAD drawings

Calibration rosbag and Our calibration result

title1	title2	title3	title4
Calibration：rosbag	Calibration：rosbag	Calibration：rosbag	Calibration：rosbag

Our calibration result：txt

Data

MCR_loop_light			MCR_loop_dark
Data： rosbag	Groud-Truth： txt		Data： rosbag	Groud-Truth： txt

MCR_eight_loop_light			MCR_eight_loop_dark
Data： rosbag	Groud-Truth： rosbag		Data： rosbag	Groud-Truth： rosbag