Navigation Functionalities for an Autonomous UAV Helicopter
Navigation Functionalities for an Autonomous UAV Helicopter
Navigation Functionalities for an Autonomous UAV Helicopter
You also want an ePaper? Increase the reach of your titles
YUMPU automatically turns print PDFs into web optimized ePapers that Google loves.
Contents<br />
1 Introduction 1<br />
2 Overview 5<br />
2.1 <strong>UAV</strong> software architecture . . . . . . . . . . . . . . . . . . . 5<br />
2.2 The <strong>UAV</strong> helicopter plat<strong>for</strong>m . . . . . . . . . . . . . . . . . 8<br />
3 Simulation 13<br />
3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . 13<br />
3.2 Hardware-in-the-loop simulation . . . . . . . . . . . . . . . 14<br />
3.3 Reference frames . . . . . . . . . . . . . . . . . . . . . . . . 17<br />
3.4 The augmented RMAX dynamic model . . . . . . . . . . . 19<br />
3.4.1 Augmented helicopter attitude dynamics . . . . . . . 19<br />
3.4.2 <strong>Helicopter</strong> equations of motion . . . . . . . . . . . . 20<br />
3.5 Simulation results . . . . . . . . . . . . . . . . . . . . . . . 23<br />
3.6 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . 28<br />
4 Path Following Control Mode 29<br />
4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . 29<br />
4.2 Trajectory generator . . . . . . . . . . . . . . . . . . . . . . 31<br />
4.2.1 Calculation of the path geometry . . . . . . . . . . . 32<br />
4.2.2 Feedback method . . . . . . . . . . . . . . . . . . . . 35<br />
4.2.3 Outer loop reference inputs . . . . . . . . . . . . . . 37<br />
PFCM kinematic constraints . . . . . . . . . . . . . 37<br />
Calculation of the outer loop inputs . . . . . . . . . 41<br />
ix