Navigation Functionalities for an Autonomous UAV Helicopter

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48 CHAPTER 4. PATH FOLLOWING CONTROL MODE around w1=0.5Vi=3.18 m/s. It can also be observed that for a descent angle smaller than 30 deg the VRS area is avoided completely. The maximum vertical velocity profile chosen for the RMAX is shown in Fig. 4.8 (dashed line) where for safety reasons w1 has been reduced to 1.5 m/s for a descent angle γ greater than 30 deg, while for γ smaller then 30 deg the descending velocity has been limited to w2 = 3 m/s. Figure 4.8: Maximum descent velocity used in the PFCM for the RMAX helicopter. The calculation of vtarg3 is then: γ = atan( τ n z τ n ) x wMAXdescent = 1.5 90 ◦ > γ ≥ 30 ◦ wMAXdescent = 3 30 ◦ > γ > 0 ◦ vtarg3 = wMAXdescent τ n z (4.22)
4.3. OUTER LOOP CONTROL EQUATIONS 49 Finally, the helicopter velocity profile is given by: 3. Calculation of the heading error δψ. The heading error is given by: vtarg = min(vtarg1, vtarg2, vtarg3) δψ = atan2(T n y , T n x ) − ψheli where ψheli is the helicopter heading given by the INS/GPS system. 4. Calculation of the feed forward control terms rff , φff . The terms rff and φff are calculated from the first and third equations in 4.13 where the component of the curvature radius R b y is calculated as follows: K b = C n b K n R b y = 1 K b y (4.23) The feed forward terms will be used in the outer control loop to enhance the tracking precision. 4.3 Outer loop control equations The PFCM control equations implemented on the RMAX are the following:
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Linköping Studies in Science and T
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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 and 20: 2.2. THE UAV HELICOPTER PLATFORM 9
Page 21 and 22: 2.2. THE UAV HELICOPTER PLATFORM 11
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
Page 31 and 32: 3.4. THE AUGMENTED RMAX DYNAMIC MOD
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
Page 53 and 54: 4.2. TRAJECTORY GENERATOR 43 Figure
Page 55 and 56: 4.2. TRAJECTORY GENERATOR 45 by the
Page 57: 4.2. TRAJECTORY GENERATOR 47 Figure
Page 61 and 62: 4.4. EXPERIMENTAL RESULTS 51 Up [m]
Page 63 and 64: 4.5. CONCLUSIONS 53 1 + s 1 C(s) =
Page 65 and 66: 4.5. CONCLUSIONS 55 Vel [m/s] 20 18
Page 67 and 68: Chapter 5 Sensor fusion for vision
Page 69 and 70: composed of three accelerometers an
Page 71 and 72: 5.1. FILTER ARCHITECTURE 61 filter
Page 73 and 74: 5.1. FILTER ARCHITECTURE 63 north,
Page 75 and 76: 5.2. EXPERIMENTAL RESULTS 65 Figure
Page 77 and 78: 5.2. EXPERIMENTAL RESULTS 67 Figure
Page 79 and 80: 5.2. EXPERIMENTAL RESULTS 69 by the
Page 81 and 82: 5.3. CONCLUSION 71 vision system st
Page 83 and 84: BIBLIOGRAPHY 73 [9] E. Frazzoli. Ro
Page 85 and 86: Appendix A 75
Page 87 and 88: A.1. PAPER I 77 is a three-dimensio
Page 89 and 90: A.1. PAPER I 79 The reference point
Page 91 and 92: A.1. PAPER I 81 Path Av Err Max Err
Page 93 and 94: A.2. PAPER II 83 From Motion Planni
Page 107 and 108: A.3. PAPER III 97 A.3 Paper III Aut
Page 109 and 110:
A.3. PAPER III 99 the projection of
Page 111 and 112:
A.3. PAPER III 101 yes Tbo > Tlim2
Page 113 and 114:
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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