Principles of Guidance, Navigation, and Control of UAVs

  • Gabriel Hugh Elkaim
  • Fidelis Adhika Pradipta Lie
  • Demoz Gebre-Egziabher
Reference work entry


Two complete system architectures for a guidance, navigation, and control solution of small UAVs are presented. These systems (developed at the University of California Santa Cruz and the University of Minnesota) are easily reconfigurable and are intended to support test beds used in navigation, guidance, and control research. The systems described both integrate a low-cost inertial measurement unit, a GPS receiver, and a triad of magnetometers to generate a navigation solution (position, velocity, and attitude estimation) which, in turn, is used in the guidance and control algorithms. The navigation solution described is a 15-state extended Kalman filter which integrates the inertial sensor and GPS measurement to generate a high-bandwidth estimate of a UAV’s state. Guidance algorithms for generating a flight trajectory based on waypoint definitions are also described. A PID controller which uses the navigation filter estimate and guidance algorithm to track a flight trajectory is detailed. The full system architecture – the hardware, software, and algorithms – is included for completeness. Hardware in the loop simulation and flight test results documenting the performance of these two systems is given.


Global Position System Inertial Measurement Unit Inertial Sensor Global Position System Receiver Sideslip Angle 
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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Copyright information

© Springer Science+Business Media Dordrecht 2015

Authors and Affiliations

  1. 1.Computer Engineering DepartmentUniversity of California Santa CruzSanta CruzUSA
  2. 2.Aerospace Engineering and MechanicsUniversity of MinnesotaMinneapolisUSA

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