Abstract
The object of research is a helicopter-type copter. For the test flight of the prototype, high level of noise in the Wi-Fi block channel was noticed. To solve the problem Kalman filter was installed to the system between the antenna and microprocessor, for noise cancellation. A technical model that takes into consideration the time variation of the interference/signal ratio at the input of the UAV receiver for given trajectories and speeds of movement of objects and the source of interference has been developed that allows the delivery of medications up to 2 kg with a flight range of 5 km when exposed to interference from a moving source. This article provides a prototype of the hexacopter design for small carriage delivery, used for medicinal transportation. During the test usage of the prototype UAV, such problems as shaking and unstable fixation of the lock mechanism holding the delivered cargo are observed and noted. The article underlines the cause of said problems as electromagnetic compatibility considerations, the methodology of debugging was to measure signals with oscilloscope and servotest, and provides the solution as application of Kalman filter for antennas. The results of the oscilloscope and spectrum analyzer during the debugging process before and after optimization by Kalman filter usage for noise filtering are shown. Signal noise can cause malfunctions of components, during signal decoding. The UAV prototype showed delayed response during test flight for approximately 0.2 s, which can be critical for flight and delivery precision. Telemetry, navigation, control, data, power supply, engine design, and software considerations are given. The results are not yet sufficient for urban usage, where EMI density is much higher, but the current developments make the suburban usage of UAVs for long range transportation