AUTONOMOUS CONTROL DEVICE AND PROGRAM FOR SMALL SIZE UNMANNED HELICOPTER

摘要

PROBLEM TO BE SOLVED: To develop an autonomous control device and a program for a small size unmanned helicopter for autonomously controlling the unmanned helicopter with almost the same size and weight as those of a radio control helicopter for a hobby toward a set position and a target value in speed.;SOLUTION: The autonomous control device for the small size unmanned helicopter is provided with a sensor 2 detecting a current position, an attitude angle, a terrain altitude and the absolute orientation of a nose of the small size unmanned helicopter 1, a main calculating part 41 calculating an optimum control command value for driving respective servomotors 3 to operate five rudders of a helicopter airframe 1 based on the position or the target value in speed set at a ground station, and the current position and the attitude angle of the small size unmanned helicopter 1 detected by the sensor 2, and an sub calculating part 42 converting a calculation result as data collection from the sensor 2 and a numerical value output by a main calculating part 41 into a pulse signal acceptable to the servomotor 3.;COPYRIGHT: (C)2004,JPO&NCIPI