Prometheus P450 Scientific Research & Teaching Drone - Open Source AI Orinnx SpireCV Industrial Programmable Development Platform DIY Drone Kit

Overview

The Prometheus P450 Scientific Research & Teaching Drone is a comprehensive open-source development platform designed for academic and research applications. Built on the robust F450 frame, this quadrotor drone integrates cutting-edge hardware, including the NVIDIA Jetson Orin NX onboard computer with 100 TOPS computing power, Intel RealSense depth and tracking cameras, 2D LiDAR, and a high-capacity 5000mAh battery. Supporting advanced control modes, real-time visualization, and path planning with SpireCV vision algorithms and EGO-Planner, it offers versatility for indoor and outdoor high-precision applications. Additional features include autonomous obstacle avoidance, QR code tracking, and seamless integration with the Prometheus Ground Station system, making it a powerful tool for AI development, education, and UAV programming.

Key Features

1. Robust Frame
   Built on the sturdy F450 quadrotor frame for reliable stability.

2. High-Performance Computing
   Equipped with NVIDIA Jetson Orin NX delivering 100 TOPS of AI computing power.

3. Advanced Sensors
   Includes Intel RealSense D435i and T265 cameras, 2D LiDAR, and optical flow modules.

4. Precise Positioning
   RTK, GPS, and SLAM-enabled Viobot positioning for enhanced accuracy.

5. Versatile Control Modes
   Supports 8 control modes, including position, speed, and trajectory tracking.

6. Open-Source Platform
   Based on ROS with extensive secondary development interfaces.

7. Integrated Ground Station
   Prometheus Ground Station for real-time monitoring, control, and visualization.

8. Indoor/Outdoor Applications
   Designed for high-precision use in both indoor and outdoor environments.

9. Powerful Battery
   High-capacity 5000mAh battery for extended operation.

10. Expandable and Programmable
    Supports MATLAB Simulink and SpireCV SDK for custom algorithm development.

Specifications

Hardware Parameters

Drone Specifications

Category	Details
Drone Type	Quadrotor
Takeoff Weight (approx.)	2.044kg (including battery)
Diagonal Wheelbase	410mm
Dimensions	Length: 290mm, Width: 290mm, Height: 240mm
Maximum Takeoff Weight	2.2kg
Hover Time	Approx. 10 minutes
Hover Accuracy	RTK positioning: Vertical ±0.15m, Horizontal ±0.1m
GPS Positioning	Vertical ±0.5m, Horizontal ±0.8m
T265 Accuracy	±0.05m
Operating Temperature	6°C to 40°C

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Onboard Computer - Allspark

Category	Details
Name	Allspark-Orin NX Onboard Computer
Model	IA160_V1
Weight	Approx. 188g
Dimensions	102.5mm × 62.5mm × 31mm (including fan)
Processor	NVIDIA Jetson Orin NX
Memory	16GB LPDDR5
Compute Power	100 TOPS
GPU	32 Tensor Cores, 1024-core NVIDIA Ampere architecture GPU
CPU	8-core Arm® Cortex®-A78AE v8.2 64-bit CPU (2MB L2 + 4MB L3 cache)
SSD	128GB (Built-in M.2 interface, expandable)
Ethernet	100Mbps x2 (One independent port, one switch port)
WiFi	2.4GHz

Onboard Computer - Viobot

Category	Details
Name	Viobot
Weight	94g
Dimensions	82mm × 75mm × 23mm
Processor	RK3588
Memory	4GB
Compute Power	Approx. 5 TOPS
Storage (eMMC)	16GB
Ethernet	1000Mbps (adaptive)
WiFi	2.4GHz

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Power Battery

Category	Details
Dimensions	130mm × 65mm × 40mm
Weight	470g
Charging Cutoff Voltage	16.8V
Nominal Voltage	14.8V
Rated Capacity	5000mAh

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Remote Controller

Category	Details
Model	AMOVLAB QE-2
Operating Voltage	4.5V - 9V
Channels	8
Transmission Power	<20dBm
Weight	410g
Dimensions	179mm × 81mm × 161mm

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Communication Link

Category	Details
Model	Mini Homer
Frequency	Sub 1G band
Operating Voltage	12V
Transmission Distance	1200m
Bandwidth	7MHz

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Charger

Category	Details
Input Voltage	DC 9V - 12V
Maximum Output Power	25W
Maximum Output Current	1500mA
Display Precision	±10mV
Dimensions	81mm × 50mm × 20mm
Weight	76g

Depth Camera

Category	Details
Model	Intel® RealSense™ Depth Camera D435i
Depth Technology	Active Stereo IR
Depth Imaging Technology	Global Shutter
Depth FOV (HxV)	86°×57° (±3°)
Depth Resolution & FPS	1280x720, 90 FPS (maximum)
RGB Imaging Technology	Rolling Shutter
RGB Resolution & FPS	1920x1080, 30 FPS (maximum)
RGB FOV (HxV)	69°×42° (±1°)
Minimum Depth Distance	0.105m
Maximum Range	Approx. 10m
Dimensions	Length: 90mm, Width: 25mm, Height: 25mm
Weight	72g

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Stereo Camera

Category	Details
Model	Intel® RealSense™ Tracking Camera T265
Depth Sensor	Dual Cameras (Left & Right)
Depth Resolution	848x800
Depth Range	0.2m~5m
Camera Resolution	800x848 (per camera)
Frame Rate	30 FPS
Image Format	Y8
Data Interface	USB 3.1 Gen 1 Type-C
Weight	55g
Dimensions	Length: 108mm, Width: 25mm, Height: 13mm

Optical Flow Module

Category	Details
Weight	5.0g
Dimensions	29mm × 16.5mm × 15mm
Measurement Range	0.01m - 8m
Horizontal FOV	6°
Vertical FOV	42°
Power	500mW
Operating Voltage	4.0V - 5.5V
Effective Working Distance	>80mm
Output Interface	UART

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LiDAR Sensor

Category	Details
Model	S3M1-R2 LiDAR Sensor
Application Scenarios	Suitable for indoor and outdoor environments, reliable anti-sunlight capability (≥80Klux)
Measurement Range	White objects: 0.05m~40m (70% reflectivity)
	Black objects: 0.05m~15m (10% reflectivity)
	Black objects: 0.05m~5m (2% reflectivity)
Angular Accuracy	0° ~ 1.5°
Sampling Frequency	32kHz
Scanning Frequency	Typical: 10Hz, 10~20Hz
Angular Resolution	Typical: 0.1125°, 0.1125°~0.225°
Communication Interface	TTL UART
Transmission Rate	1M
Range Accuracy	±30mm
Distance Resolution	10mm
Power Supply Voltage	5V
Weight	Approx. 115g
Operating Temperature	10°C ~ 40°C

 

Software Parameters

Onboard Computer

Category	Details
Model	Jetson Orin NX
Cuda Version	11.4.315
Operating System	Ubuntu 20.04
Realsense SDK	2.50.0
Username	amov
ROS Version	noetic
Password	amov
OpenCV Version	4.7.0
L4T Version	35.2.1
Realsense ROS Version	2.3.2
Jetpack Version	5.1

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Prometheus Software

Category	Details
Version	v2.0

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Prometheus Ground Station System

Category	Details
Version	v1.24.01.08 (based on official Wiki records)

 

Packing List

Name	Model	Quantity/Unit
Frame	MFP_V1	1
Flight Controller	Pixhawk 6C	1
Remote Controller	Amovlab QE-2	1
Communication Module	Mini Homer	2 pairs
Power Distribution Board	/	1
ESC	4-in-1 ESC	1
Optical Flow Module	MTF-01	1
Motor	2312 960kv	4
Propellers	10-inch	2 pairs
Onboard Computer	Allspark Orin NX	1
Stereo Depth Camera	Intel D435i	1
Stereo Depth Camera	Intel T265	1
LiDAR	S3M1-R2	1
Battery	FB45 4S 5000mAh	1
GPS Module	M8N GPS	1
RTK Module	Antenna RTK	1
GNSS Antenna Cable	GNSS Antenna Cable	1
Charger	PD60	1
Network Cable	1.5m	1
Safety Rope	50m	1
Data Cable	Type A to Type C	2
Certificate	/	1 sheet

 

Notes:

We also provide Viobot onboard computer models. For details, please contact customer service.

Package Name	config 2	config 3
Model Name	P450_Viobot	P450_RTK_Allspark2_T265_S3_D435i
Usage Scenarios	Indoor: √ Outdoor: √	Indoor: √ Outdoor: √
Flight Platform	F450	F450
Onboard Computer	Viobot: √ Allspark2: ×	Viobot: × Allspark2: √
Positioning Methods	RTK: × GPS: √	RTK: √ GPS: √
Depth Camera	T265: × D435i: ×	T265: √ D435i: √
LiDAR	S3M1-R2: ×	S3M1-R2: √
Recommended Use	Indoor and outdoor control use	Indoor and outdoor high-precision use
Features	UAV control applications	UAV control applications, visual tracking, visual obstacle avoidance, RTAB-Map building, Octomap building, LiDAR obstacle avoidance

 

Details

Prometheus 450 Research Drone Development Platform

F450 Frame

• Sturdy and reliable structure with high stability.

Powerful Computing

• Provides up to 100 TOPS of floating-point computational power.

Integrated Image Transmission and Control

• Combines controller signals into an integrated image transmission module, achieving a transmission distance of up to 1 km.

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Prometheus 450 (shortened as P450) is a medium-sized quadcopter designed for both indoor and outdoor applications. Based on the F450 platform, it integrates a 2D LiDAR, stereo depth cameras, and other advanced sensors. It comes with SpireCV visual algorithms and the Prometheus autonomous drone system to achieve target tracking and path planning.

With the addition of EGO-Planner route planning and Prometheus’s professional ground station capabilities, it supports real-time visualization, streamlined operations, and rapid deployment.

Drone Control Application

The drone control module acts as a "bridge" between software algorithms and drones, providing initial position hold, waypoint hold, descent, movement, and other control states. It includes six sub-control modes for position, speed, and position-speed hybrid control in an inertial and body frame, along with trajectory tracking and spiral control modes, making up a total of eight control modes.

Indoor/Outdoor QR Code Point Tracking (SpireCV Vision Library)

Utilizes the SpireCV vision library for QR code recognition programs and integrates with the Prometheus control interface. Paired with the professional ground station, it achieves indoor and outdoor QR code point tracking functionality.

Indoor/Outdoor EGO-Planner

Supports different hardware inputs, such as depth cameras or 2D LiDARs. Integrates the EGO-Planner path planning algorithm to achieve obstacle avoidance and provides the Octomap mapping algorithm. Combined with the professional ground station, it enables autonomous path planning.

Prometheus V2 Software System

The development platform is built on the ROS and Prometheus open-source framework, featuring rich functions and built-in capabilities. It provides abundant secondary development interfaces for efficient development. It supports data inputs like positional information, flight modes, battery status, IMU, and drone state detection sensors, offering data for position, speed, acceleration, and posture control. It also includes examples for secondary development interfaces.

Additionally, the system is equipped with safety features for autonomous descent and obstacle avoidance during emergencies, reducing risks and ensuring safer operations.

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SpireCV Vision Library

The SpireCV vision library is a specialized SDK designed for intelligent vision systems. Its primary features include drone/camera control, video storage, pushing, target tracking, recognition, and tracking. It provides developers of intelligent drone systems with high efficiency, precision, and seamless interfaces.

This model specifically supports YOLO-based point tracking and obstacle avoidance functionalities.

Prometheus Ground Station System

The Prometheus ground station is an interactive interface for drones, developed using Qt and based on the Prometheus system. The ground station uses TCP/UDP communication, avoiding the complex configurations of ROS1 multi-machine communication.

This ground station allows users to quickly replicate various functions of the Prometheus system, enabling real-time monitoring of drone status. It also supports operations such as one-click takeoff, landing, and position control.

Matlab Toolbox (Optional)

The Matlab toolbox is one of the submodules of the Prometheus project. This module provides multiple example programs for UAV control algorithms using Simulink. Through the Matlab ROS Toolbox, it establishes a communication link between Matlab (Simulink) and ROS.

It is mainly used for the design, testing, and secondary development of UAV control algorithms and swarm control algorithms, as well as controller designs. It supports secondary development using Matlab/Simulink programs and interfaces. It enables real-time simulation and experiments (without needing to download programs to the drone), offering abundant example algorithms.

Viobot Positioning Module

(Applicable to P450 Viobot models)

Viobot utilizes the domestic RK3588 chip from Rockchip, equipped with 6 TOPS of computing power and 70% residual performance. Viobot offers higher openness, allowing direct access to its IMU data to run custom SLAM algorithms. Its positioning performance is stable, sufficiently open, and can be considered a good domestic alternative to the T265, meeting the localization needs of customers.