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    Flight Control Systems For A Station Keeping Hovering UAV: Bill Pisano March 16, 2005

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    lgrome73
    This document discusses flight control systems for a station keeping hovering UAV. It describes the project goals of holding position in xyz coordinates and calibrating antenna arrays by sensing transmitted power from known UAV locations. The UAV uses commercial off-the-shelf components including an avionics board, DGPS, communications hardware, and an inertial measurement unit. Sensors provide attitude and position data to control the helicopter's pitch, roll, yaw and thrust and keep it within 0.5 meters of its starting position. Future plans include a user interface to command position changes and other potential uses like pilot training and aerial photography.

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    Flight Control Systems For A Station Keeping Hovering UAV: Bill Pisano March 16, 2005

    Uploaded by

    lgrome73
    6 views9 pages
    This document discusses flight control systems for a station keeping hovering UAV. It describes the project goals of holding position in xyz coordinates and calibrating antenna arrays by sensing transmitted power from known UAV locations. The UAV uses commercial off-the-shelf components including an avionics board, DGPS, communications hardware, and an inertial measurement unit. Sensors provide attitude and position data to control the helicopter's pitch, roll, yaw and thrust and keep it within 0.5 meters of its starting position. Future plans include a user interface to command position changes and other potential uses like pilot training and aerial photography.

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    Radar Heli

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    This document discusses flight control systems for a station keeping hovering UAV. It describes the project goals of holding position in xyz coordinates and calibrating antenna arrays by sensing transmitted power from known UAV locations. The UAV uses commercial off-the-shelf components including an avionics board, DGPS, communications hardware, and an inertial measurement unit. Sensors provide attitude and position data to control the helicopter's pitch, roll, yaw and thrust and keep it within 0.5 meters of its starting position. Future plans include a user interface to command position changes and other potential uses like pilot training and aerial photography.

    Copyright:

    © All Rights Reserved
    Download as PPT, PDF, TXT or read online from Scribd
    Download as ppt, pdf, or txt
    6 views9 pages

    Flight Control Systems For A Station Keeping Hovering UAV: Bill Pisano March 16, 2005

    Uploaded by

    lgrome73
    This document discusses flight control systems for a station keeping hovering UAV. It describes the project goals of holding position in xyz coordinates and calibrating antenna arrays by sensing transmitted power from known UAV locations. The UAV uses commercial off-the-shelf components including an avionics board, DGPS, communications hardware, and an inertial measurement unit. Sensors provide attitude and position data to control the helicopter's pitch, roll, yaw and thrust and keep it within 0.5 meters of its starting position. Future plans include a user interface to command position changes and other potential uses like pilot training and aerial photography.

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    © All Rights Reserved
    Download as PPT, PDF, TXT or read online from Scribd
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    Flight Control Systems for a station keeping hovering UAV

    Bill Pisano March 16, 2005

    Project Overview
    Station Keeping

    Hold position in xyz coordinates

    Array calibration

    Sense power transmitted from known UAV location with ground antenna Several data points make complete antenna pattern

    UAV Overview
    Aircraft is a commercial off the shelf

    (COTS) kit Avionics board developed specifically for this project, but can be used in many applications DGPS is low-cost COTS Communications hardware COTS Inertial measurement unit developed for this project to work with avionics board

    General RC Helicopters
    Control is three axis rotation and one axis

    translation (pitch, roll, yaw, thrust)

    Sensors
    Three axis rate gyro and accelerometer data

    (IMU) provides attitude information at ~500Hz DGPS provides xyz position information at 1Hz Drift rate of IMU puts helicopter outside of design requirements (2 meters away from starting position) in about 7-10 seconds due to sensor drift DGPS is able to correct for sensor drift once every second Combination provides station keeping to within ~0.5 meters

    Avionics board
    The avionics board is

    based on a PIC18F8680 8-bit microcontroller IMU commands are read into the processor using onboard 10-bit analog to digital converter

    Future Plans
    Console based user interface

    The radio modem for the DGPS can also be used to transmit position commands from a laptop to the avionics board. This would allow a user to enter coordinates of desired position. When calibration at that position was done, new coordinates could be entered and the helicopter would fly there then hold position.

    Other Uses
    Pilot Training The avionics board can be configured to provide augmented stability which makes training much easier. The helicopter acts like a flight-simulated helicopter in that any gusts or other transients are handled automatically, allowing the pilot to fly a simplified aircraft. Aerial Photography The helicopter can be commanded to a specified set of coordinates to take a picture. The helicopter could also be programmed with a pre-determined set of waypoints, allowing it to take a motion picture with camera angles that would be difficult or impossible otherwise.

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