Trajectory generation for an integrated mission management system

The present paper presents a trajectory generation approach for a nonlinear dynamic inversion controller using second order error dynamics. The trajectory generation module provides an approach for 3D-trajectories with speed contraints including the determination of the trajectory reference point, the relative kinematics and the determination of the first derivatives of the deviation between unmanned aerial system (UAS) and trajectory. The system is presented as part of an integrated modular mission management system, which provides the whole range from basic autopilot commands up to complex flight plan patterns.