This paper is focused on the design of a navigation and guidance system for an Unmanned Aerial Helicopter (UAH) which is based on a Raptor 90 RC helicopter for auto hovering and target tracking mission. Considering the nonlinear model of a RC helicopter, its navigation and guidance system will be with higher bandwidth than that of a fix-wing airplane to meet the mission requirements. The contribution of this research is the design of a navigation and guidance system for an UAH which uses a loosely-coupled architecture to integrate a Micro-Electro-Micro-Systems (MEMS) Inertial Measurement Unit (IMU) and Real-Time Kinematic (RTK) Global Positioning System (GPS) with an Extended Kalman Filter (EKF). This paper conducts several experiments including static test, ground test, and flight test to validate this navigation and guidance system design, and the results show that this navigation and guidance system can provide better performance than either GPS or IMU works alone.
|Number of pages||6|
|Journal||Hangkong Taikong ji Minhang Xuekan/Journal of Aeronautics, Astronautics and Aviation|
|Publication status||Published - 2008 Mar|
All Science Journal Classification (ASJC) codes
- Aerospace Engineering