Design of autonomous flight control system for small-scale UAV

Author

Shuo Wang ; Ziyang Zhen ; Fengying Zheng ; Xinhua Wang

Author_Institution

Coll. of Autom. Eng., Nanjing Univ. of Aeronaut. & Astronaut., Nanjing, China

fYear

2014

fDate

8-10 Aug. 2014

Firstpage

1885

Lastpage

1888

Abstract

The aim of this paper is to develop a design of autonomous flight control system for a small-scale unmanned aerial vehicle (UAV). The hardware of autopilot is based on ATmega 2560, which is one of the best low-power MCU. High accuracy sensors including MPU6000, HMC58831, MS5611 are integrated into the autonomous flight control system. Laser distance sensor is used in measuring the altitude in auto landing, because of the zero drift of barometer. Flight control laws of lateral and longitudinal loops are designed. Finally, flight tests are carried out to verify the designed autonomous flight control system, the results of which indicate that the aircraft can fly stable with acceptable precision.

Keywords

aircraft control; attitude control; autonomous aerial vehicles; cascade control; control system synthesis; height measurement; laser ranging; mobile robots; stability; trajectory control; ATmega 2560; HMC58831; MPU6000; MS5611; aircraft; altitude measure; attitude control; autolanding; autonomous flight control system design; autopilot hardware; barometer zero drift; cascade control; flight control law design; flight stability; high accuracy sensors; laser distance sensor; lateral loops; longitudinal loops; low-power MCU; small-scale UAV; small-scale unmanned aerial vehicle; trajectory control; Accuracy; Aerospace control; Aircraft; Educational institutions; Sensor systems; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Guidance, Navigation and Control Conference (CGNCC), 2014 IEEE Chinese

Conference_Location

Yantai

Print_ISBN

978-1-4799-4700-3

Type

conf

DOI

10.1109/CGNCC.2014.7007468

Filename

7007468