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Real-Time Navigation, Guidance, and Control of a UAV Using Low-Cost Sensors

  • Jong-Hyuk Kim
  • Salah Sukkarieh
  • Stuart Wishart
Part 7 - Helicopters and Air Vehicles
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 24)

Abstract

Applying low-cost sensors for the Guidance, Navigation and Control (GNC) of an autonomous Uninhibited Aerial Vehicle (UAV) is an extremely challenging area. This paper presents the real-time results of applying a low-cost Inertial Measurement Unit (IMU) and Global Positioning System (GPS) receiver for the GNC. The INS/GPS navigation loop provides continuous and reliable navigation solutions to the guidance and flight control loop for autonomous flight. With additional air data and engine thrust data, the guidance loop computes the guidance demands to follow way-point scenarios. The flight control loop generates actuator signals for the control surfaces and thrust vector. The whole GNC algorithm was implemented within an embedded flight control computer. The real-time flight test results show that the vehicle can perform the autonomous flight reliably even under high maneuvering scenarios.

Keywords

Global Position System Inertial Measurement Unit Inertial Navigation System Global Position System Receiver Autonomous Mode 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Authors and Affiliations

  • Jong-Hyuk Kim
    • 1
  • Salah Sukkarieh
    • 1
  • Stuart Wishart
    • 2
  1. 1.Australian Centre for Field Robotics, School of Aerospace, Mechanical and Mechatronic Engineering, University of Sydney, NSW 2006Australia
  2. 2.BAESystemsAustralia

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