LABORATORY TEST RESULTS OF A HELICOPTER MICRO-UAV WITH INTEGRATED NAVIGATION AND CONTROL SYSTEM

摘要

Laboratory test results of a 4 motor helicopter micro unmanned air vehicle (micro-UAV) with integrated autonomous navigation and control system (IANCS) are presented. LANCS contains a strapdown MEMS inertial navigation unit. GPS receiver, baro-altimeter, power amplifier PCB and electric motors. IANCS is developed to be easily extended by an ultrasonic range meters, Doppler sensors and a wind speed sensor. This paper discussed: - mathematical model of wind distribution that is obtained based on a vast number of observations over different altitudes in different climate zones; - methodology for micro-UAV testing including static and dynamic calibration of its inertia moments, damping: - factors and aerodynamic characteristics; - methodology for the control system synthesis. Experimental flight results are shown to agree well with the results of flight and control system computer modeling. Also, experimental flight results are discussed for the following modes: vertical take-off, landing, steady hovering and horizontal flight in various trajectories.