Abstract
The need to conduct warfare in urban environments presents a new frontier for navigation and control of UAV's in locations where GPS may be degraded or denied. This paper addresses the first step in the development of a robust, non-GPS guidance, navigation, and targeting system for small indoor air vehicles: to design and validate a flight control system for micro aerial vehicles using an externally-mounted optical tracking system. The controller is designed using a modified linear quadratic Gaussian (LQG) technique which leverages the unscented Kalman filter (UKF) for state estimation. The controller is evaluated using a combination of simulation and flight test approaches conducted in the Air Force Research Laboratory's Micro Air Vehicle (MAV) Indoor Flight Facility. The results of the flight testing will be used to optimize the control design, which will pave the way for future research efforts, including incorporation of automated image processing techniques for vehicle stabilization.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
