Navigation Functionalities for an Autonomous UAV Helicopter

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4 CHAPTER 1. INTRODUCTION of external position signals. The UAV platform used for the experimentation is an RMAX unmanned helicopter manufactured by Yamaha Motor Company. The hardware and software necessary for autonomous flight have been developed during the WITAS UAV Project using off-the-shelf hardware components. Flight missions are performed in a training area of approximately one square kilometer in the south of Sweden, called Revinge (Fig.1.1). The area is used mainly for fire fighter training and includes a number of building structures and road network. An accurate 3D model of the area is available on board the helicopter in a GIS (Geographic Information System), which is used for mission planning purposes. Figure 1.1: Orthophoto of the flight-test area in Revinge (south of Sweden).
Chapter 2 Overview This chapter presents an overview of the UAV architecture developed during the WITAS UAV Project. The components which have been developed and are part of this thesis will be considered in this context. A description of the UAV helicopter platform used for the experimental tests will also be presented. Details of the platform which are relevant to this thesis will also be considered in order to gain a better understanding of the components developed. 2.1 UAV software architecture The software architecture developed during the WITAS UAV Project is a complex distributed architecture for high level autonomous missions. The architecture enables the UAV to perform so-called push button mission. This is intended to mean that a UAV is capable of planning and executing a mission from take-off to landing with limited, or no human intervention. An example of such a mission demonstrated in an actual flight experiment is a photogrammetry scenario. In such a scenario a UAV helicopter is given the task of taking pictures of each of the facades of a selected set of buildings input by a ground operator. The details of this mission are described in Paper II. To accomplish this kind of mission, an architecture 5
Page 1: Linköping Studies in Science and T
Page 5: Acknowledgements This work would ha
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4.5. CONCLUSIONS 55 Vel [m/s] 20 18
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Chapter 5 Sensor fusion for vision
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composed of three accelerometers an
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5.1. FILTER ARCHITECTURE 61 filter
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5.1. FILTER ARCHITECTURE 63 north,
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5.2. EXPERIMENTAL RESULTS 65 Figure
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5.2. EXPERIMENTAL RESULTS 67 Figure
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5.2. EXPERIMENTAL RESULTS 69 by the
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5.3. CONCLUSION 71 vision system st
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BIBLIOGRAPHY 73 [9] E. Frazzoli. Ro
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Appendix A 75
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A.1. PAPER I 77 is a three-dimensio
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A.1. PAPER I 79 The reference point
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A.1. PAPER I 81 Path Av Err Max Err
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A.2. PAPER II 83 From Motion Planni
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A.3. PAPER III 97 A.3 Paper III Aut
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A.3. PAPER III 99 the projection of
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A.3. PAPER III 101 yes Tbo > Tlim2
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A.3. PAPER III 103 immediately afte
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A.3. PAPER III 105 altitude [m] 20
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A.3. PAPER III 107 Fig. 10. Flight
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Department of Computer and Informat
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No 598 Rego Granlund: C 3 Fire - A
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No 1024 Aleksandra Tešanovic: Towa
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Navigation Functionalities for an Autonomous UAV Helicopter

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