Navigation Functionalities for an Autonomous UAV Helicopter

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14 CHAPTER 3. SIMULATION in chapter 4. All of the currently developed flight modes use the YACS as an inner control loop which stabilizes the high frequency helicopter dynamics. Experimental tests have shown that the YACS decouples the helicopter dynamics so that the pitch, roll, yaw and vertical channels can be treated separately in the control system design. In other words the channels do not influence each other. 3.2 Hardware-in-the-loop simulation Two versions of the simulator have been developed. A non real-time version exists which is used to develop the control modes, where the purpose of the simulation in this case is the tuning and testing of the internal logic of the control modes. A real-time version also exists which is used to test the complete UAV architecture, where simulations are performed with the helicopter hardware-in-the-loop. The latter is used to test a complete helicopter mission and can be used on the flight-test field as a last minute verification for the correct functioning of hardware and software. Both simulators use the same dynamic model which will be presented in this chapter. The helicopter dynamics function is located in the PFC system and it is called every 20ms when the system is in simulation mode. Fig. 3.1 shows the hardware/software components involved in the real flight-test and in the simulation test. The components and connections represented with a dashed line are not active during the respective test modalities. The diagram shows which components can be tested in simulation. Observe that in simulation the helicopter servos are connected and can move, but there is no feedback from the servo position to the simulator. The fact that their movement can be visually checked is used as a final check that the system is operating appropriately. The YACS control system is also part of the loop, but since it is built into the helicopter, it cannot be fed with simulated sensor outputs, so it still takes the input from the YAS sensor which, obviously, does not deliver any measurement from the helicopter. This is not problematic because the simulator does not have the purpose of testing the correct functioning of the YACS.
3.2. HARDWARE-IN-THE-LOOP SIMULATION 15 Figure 3.1: Figure a) depicts the hardware/software architecture in flighttest configuration. Figure b) depicts the architecture during the hardwarein-the-loop simulation.
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
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Page 15 and 16: Chapter 2 Overview This chapter pre
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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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