dc.contributor |
Santamaria Barnadas, Eduard |
dc.contributor |
Prats Menéndez, Xavier |
dc.contributor.author |
Jaime Hileno, Àlvar |
dc.date |
2011-09-05 |
dc.identifier.uri |
http://hdl.handle.net/2099.1/12945 |
dc.language.iso |
eng |
dc.publisher |
Universitat Politècnica de Catalunya |
dc.rights |
Attribution-NonCommercial-ShareAlike 3.0 Spain |
dc.rights |
info:eu-repo/semantics/openAccess |
dc.rights |
http://creativecommons.org/licenses/by-nc-sa/3.0/es/ |
dc.subject |
Àrees temàtiques de la UPC::Aeronàutica i espai::Aviònica |
dc.subject |
Àrees temàtiques de la UPC::Aeronàutica i espai::Aeronaus::Avions |
dc.subject |
Drone aircraft |
dc.subject |
Automatic pilot (Airplanes) |
dc.subject |
Rnav |
dc.subject |
Uas |
dc.subject |
Avions no tripulats |
dc.subject |
Aavegacio |
dc.subject |
Avionica |
dc.subject |
Avions no tripulats |
dc.subject |
Pilot automàtic (Avions) |
dc.title |
Enhancing a RNAV guidance system for UAS with fly over waypoints and track to a fix path terminators |
dc.type |
info:eu-repo/semantics/bachelorThesis |
dc.description.abstract |
The ICARUS research group is developing an UAS (Unmanned Aerial System) architecture
so as to take advantage of them in civil applications, such as fire detection. Such
architecture is based on different services, which include the flight service. The flight service
is responsible for flying the UAS according to a flight plan.
The aim of this project is to emulate a control loop so as to enable the UAS on-board autopilot
perform FO+TF (Fly Over + Track to a Fix) transitions, taking into account RNAV
legs and WPs (Waypoints). Regarding this autopilot capability, then new WPs are computed
to deceive this autopilot so as to fly other types of WPs and transitions such as
FO+DF (Fly Over + Direct to a Fix), FO+RF (Fly Over + Radius to a Fix) and FB+TF (Fly
by + Track to a Fix).
The work has been divided in four main blocks. Firstly, there is a brief introduction to
the ICARUS UAS Architecture and the basic RNAV parameters. Next, the second block
defines the main characteristics of the FO+TF control loop. Next to that, by using several
equations, the position of otherWPs is defined, in order to fly other types of transitions. The
third chapter includes the implementation of the first two chapters in the code. Finally, the
experimental part includes the testing with the aid of FGFS (Flight Gear Flight Simulator)
and Google Earth.
One of the main limitations of our system is the effect of wind and that is referred in the
last sections of this project. It is important to understand the limitations and to be aware of
them. However, the result of the project is completely satisfying. |