[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

Prototyping the Autonomous
Flight Algorithms Using the Prepar3D® Simulator 229
The next test is similar
to previous, but it describes the stabilization of the air-
plot B shows the setpointt value of the altitude (h ) and current value of altitude
(h). In this case value of the setpoint height variable h was changed two times
by steps by the operator. The settling time and the magnitude of the overregulation
depends on the height error value. Overregulation reaches a higher value when the
airplane is reducing altitude. Overregulation is much lower when airplane has to
craft altitude above sea level (fig. 9). Plot A shows the elevator control and the
increase its altitude. Reduction of the altitude of the aircraft with a value of 100 m
takes about 20 seconds.
A
B
Fig. 9. Height stabilization charts
Waypoints flight, which is one of the commands described in section 6.2, was
presented in the fig. 10. It
shows an example of a flight along the sequence of two
geographic coordinates. Presented figure has two elements, a visualization from
the Prepar3D® simulation
environment (fig. 10a), and the control application (fig.
10b). Map [14], that is included in the control application is a real representation
of the object's position in
the simulator. The buildings, which are located behind