[Studies in Computational Intelligence 481] Artur Babiarz, Robert Bieda, Karol Jędrasiak, Aleksander Nawrat (auth.), Aleksander Nawrat, Zygmunt Kuś (eds.) - Vision Based Systemsfor UAV Applications (2013, Sprin

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224 K. Daniec et al. In the control algorithm was implemented 4 basic and 2 master PI controllers. The basic regulators are responsible for the calculation of the control values, while the master regulators are responsible for elaborate the setpoints for the basic PI controllers. PI controllers cascade used in the stabilization algorithm are described in the fig. 5. Fig. 5. PI controllers cascade Basic controllers visible in the schema (fig. 5) are: airspeed controller – throttle control based on speed error ( ), pitch controller – elevator control based on pitch error ( ), roll controller – ailerons control based on roll error ( ) and yaw controller – ruder control based on yaw error ( ). Master controllers are: height controller – elaborate pitch setpoint value based on height error ( ), heading controller – elaborate roll setpoint value based on yaw error ( ). Basic controllers are active all the time, but the heading regulator has a variable parameters depending on the operation mode. In the case of object angular stabilization the master regulators are inactive because setpoints are given by the operator. During the automatic flight, which means a flight on a given height, with predefined velocity, and on the set azimuth, there are active all of the six controllers. It should also be mentioned that the error of all rotation angles
Prototyping the Autonomous Flight Algorithms Using the Prepar3D® Simulator 225 (α , , ) is calculated relative to the object, not to the earth, and it is presented in fig. 5 in a block "Relative Rotate". The mechanism of functioning of the block "Relative Rotate" is also described by the equation (2). (2) where: – rotate matrix created from actual values of Euler angles α,β,, – rotate matrix created from setpoint values of Euler angles α ,β , , – rotate matrix with Euler angles error α ,β , . The angles error can be calculated from three trigonometric formulas (3). α atan2 , β asin atan2 , (3) where: – roll angle, – pitch angle, – yaw angle. 6 Autonomous Flight Algorithm To get a fully autonomous object, PI controllers are not enough. They are responsible only for the stabilization, what means that the plane can fly at the required height and setpoint orientation relative to the ground. Flying object should store in the memory the planned route with the takeoff and landing positions. The route consists of a sequence of points, described as a geographic coordinates LLA, the Latitude (), Longitude () and Altitude (height above sea level, ). Each of the commands performed during the flight must be properly interpreted and converted to setpoints for the PI controllers. To navigate an unmanned object, algorithm uses the transformation from the geodetic position (LLA) to ENU coordinates (East, North, Up) [13], which are formed from a plane tangent to the Earth's surface fixed to a specific location. Units are converted to meters. The presented autonomous flight algorithm consists of four partial algorithms responsible for taking-off, landing, taking waypoints and circling. 6.1 Taking-Off and Landing Algorithm The basic requirement for the autonomous take-off are accurate measurements of geographical coordinates and the altitude, of start and end of the runway. Take-off algorithm consists of only a few simple instructions. After launching the engine algorithm maintain the orientation of the runway and it accelerate the aircraft to the desired speed. Next, the algorithm change the setpoint pitch angle of the aircraft, and then there are determined the ENU coordinates for the destination
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Studies in Computational Intelligen
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Aleksander Nawrat · Zygmunt Kuś E
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“In God We Trust, All others we o
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VIII Preface valuable information i
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Contents Part I: Design of Object D
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Contents XIII Technology Developmen
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XVI List of Contributors Adam Czorn
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XVIII List of Contributors Henryk M
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XX List of Contributors Józef Wron
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2 Design of Object Detection, Recog
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4 A. Babiarz et al. 1 Introduction
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6 A. Babiarz et al. The description
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8 A. Babiarz et al. a) b) Fig. 5. T
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10 A. Babiarz et al. o o o “micvo
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12 A. Babiarz et al. a) b) Fig. 7.
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14 A. Babiarz et al. • The camera
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16 A. Babiarz et al. the camera ser
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18 A. Babiarz et al. a) b) Fig. 11.
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Recognition and Location of Objects
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48 P. Demski et al. Fig. 1. Automat
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52 P. Demski et al. 4 Automatic Tar
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54 P. Demski et al. implementing su
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94 Construction of Image Acquisitio
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96 G. Bieszczad et al. effectivenes
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114 G. Bieszczad et al. [11] Krupi
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116 D. Bereska et al. Presented in
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118 D. Bereska et al. Fig. 2. Image
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Omnidirectional Video Acquisition D
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Part III Design of Vision Based Con
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Vision System for Group of Mobile R
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A Distributed Control Group of Mobi
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286 A. Nawrat et al. P3 P3 P3 71101
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288 A. Nawrat et al. S, VA 4,510 4,
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290 A. Nawrat et al. Comparison dif
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Technology Development of Military
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344 Conclusions Control algorithms
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[Studies in Computational Intelligence 481] Artur Babiarz, Robert Bieda, Karol Jędrasiak, Aleksander Nawrat (auth.), Aleksander Nawrat, Zygmunt Kuś (eds.) - Vision Based Systemsfor UAV Applications (2013, Sprin

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