Navigation Functionalities for an Autonomous UAV Helicopter

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10 CHAPTER 2. OVERVIEW The RMAX helicopter has a built-in attitude sensor called YAS (Yamaha Attitude Sensor) composed of three accelerometers and three rate gyros. The output of the YAS are acceleration and angular rate on the three helicopter body axes (see section 3.3 for a definition of body axis). The YAS also computes the helicopter attitude angles. Acceleration and angular rate from the YAS will be used as inertial measurement data for the sensor fusion process which will be described in chapter 5. The RMAX also has a built-in digital attitude control system called YACS (Yamaha Attitude Control System). The YACS stabilizes the helicopter attitude dynamics and the vertical channel dynamics. The YACS is used in all the helicopter control modes as an attitude stabilization system. The hardware platform developed during the WITAS UAV Project is integrated with the Yamaha platform as shown in Fig. 2.4. It is based on three PC104 embedded computers. DRC - 1.4 GHz P-M - 1GB RAM - 512 MB flash IPC - 700 MHz PIII - 256MB RAM - 512 MB flash sensor suite RS232C Ethernet Other media ethernet switch PFC - 700 MHz PIII - 256MB RAM - 512 MB flash sensor suite Yamaha RMAX (YAS, YACS) Figure 2.4: On-board hardware schematic.
2.2. THE UAV HELICOPTER PLATFORM 11 The PFC is implemented on a 700Mhz Pentium III and includes a wireless Ethernet bridge, a GPS receiver and a barometric altitude sensor. An earlier version of the system included a compass as a heading sensor source. The compass has been removed from the latest version since the Kalman filter which fuses the inertial sensors and GPS provides sufficiently stable heading information. The PFC communicates with the helicopter through a serial line RS232C, where the inertial sensor data from the YAS is passed to the PFC. The PFC can also send control inputs to the YACS for helicopter control. The IPC runs on a second PC104 embedded computer (PIII 700MHz), and includes a color CCD camera mounted on a pan/tilt unit, a video transmitter and a video recorder (miniDV). The DRC system runs on the third PC104 embedded computer (Pentium-M 1.4GHz) and executes all high-end autonomous functionality. Network communication between computers is physically realized with serial line RS232C and Ethernet. Ethernet is mainly used for CORBA applications, remote login and file transfer, while serial lines are used for hard real-time networking.
Page 1: Linköping Studies in Science and T
Page 5: Acknowledgements This work would ha
Page 9 and 10: Contents 1 Introduction 1 2 Overvie
Page 11 and 12: Chapter 1 Introduction An Unmanned
Page 13 and 14: of the environment in order to avoi
Page 15 and 16: Chapter 2 Overview This chapter pre
Page 17 and 18: 2.1. UAV SOFTWARE ARCHITECTURE 7 wh
Page 19: 2.2. THE UAV HELICOPTER PLATFORM 9
Page 23 and 24: Chapter 3 Simulation 3.1 Introducti
Page 25 and 26: 3.2. HARDWARE-IN-THE-LOOP SIMULATIO
Page 27 and 28: 3.3. REFERENCE FRAMES 17 3.3 Refere
Page 29 and 30: 3.4. THE AUGMENTED RMAX DYNAMIC MOD
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Page 33 and 34: 3.5. SIMULATION RESULTS 23 3.5 Simu
Page 35 and 36: 3.5. SIMULATION RESULTS 25 Figure 3
Page 37 and 38: 3.5. SIMULATION RESULTS 27 Figure 3
Page 39 and 40: Chapter 4 Path Following Control Mo
Page 41 and 42: 4.2. TRAJECTORY GENERATOR 31 Figure
Page 43 and 44: 4.2. TRAJECTORY GENERATOR 33 Fig. 4
Page 45 and 46: 4.2. TRAJECTORY GENERATOR 35 be use
Page 47 and 48: 4.2. TRAJECTORY GENERATOR 37 4.2.3
Page 49 and 50: 4.2. TRAJECTORY GENERATOR 39 radius
Page 51 and 52: 4.2. TRAJECTORY GENERATOR 41 Calcul
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Page 61 and 62: 4.4. EXPERIMENTAL RESULTS 51 Up [m]
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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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