Fully Automatic Control from Takeoff to Landing of a UAV Based on a Single-Antenna GPS Receiver

摘要

This paper deals with fully automatic control of an unmanned aerial vehicle (UAV) from takeoff to landing by using a single-antenna GPS receiver as a primary sensor. Angular rate measurements of rate gyros are used to augment stability of the aircraft without any integrating schemes, improving the responsiveness and robustness of the aircraft. DGPS is implemented to give high-accuracy position information for automatic landing on the runway. During flight tests, the aircraft takes off the runway, follows the predefined and/or real-time commanded waypoint path, and then lands on the runway along the curved approach path, all fully automatically. Based on the flight test results, we claim that a single-antenna GPS receiver can be used as a main sensor for a backup or low-cost control system of General Aviation aircraft and UAVs.