Abstract
This article concerns prototyping of the control algorithms for unmanned flying objects using the virtual reality. More specifically, there is discussed an integration between simulation environment and unmanned aerial vehicle (UAV) control software. This integration is based on software in the loop simulation. The control software uses PI controllers cascade, which stabilize the aircraft in the simulated air. Used simulator is Prepar3D® from Lockheed Martin corporation. Implemented algorithms that are used to control the UAV in simulation environment can be used to future prototype of vision based algorithms. All implemented algorithms are presented along with the developed software, which we are using to navigate the flying object on real map.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Mueller Eric, R.: Hardware-in-the-loop Simulation Design for Evaluation of Unmanned Aerial Vehicle Control Systems. NASA Ames Research Center, Moffett Field, CA, 94035
Gessing, R.: About Optimality of Discrete-Time LQ Observer Based Regulator, Silesian University of Technical, Institute of Automation
Johnson, E.N., Mishra, S.: Flight simulation for the development of an experimental UAV. School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, 30332-015
Jung, D., Tsiotras, P.: Modeling and Hardware-in-the-Loop Simulation for a Small Unmanned Aerial Vehicle, Georgia Institute of Technology, Atlanta, GA, 30332-0150
Sorton, E.F., Hammaker, S.: Simulated Flight Testing of an Autonomous Unmanned Aerial Vehicle Using Flight-Gear, Infotech@Aerospace, Arlington, VA, AIAA 2005-7083 (September 2005)
Johnson, E.N., Fontaine, S.: Use of Flight Simulation to Complement Flight Testing of Low-cost UAVs. In: AIAA Modeling and Simulation Technologies Conference and Exhibit, Montreal, Canada, AIAA 2001-4059 (August 2001)
Procerus Technologies: Kestrel Autopilot System, Autonomous Autopilot and Ground Control for Small Unmanned Aerial Vehicles, UAV Flight Guide, Version 1.8 (December 10, 2012), http://www.procerusuav.com/Downloads/Manuals/UAV_Flight_Guide.pdf
Mystkowski, A.: Robust control of unmanned aerial vehicle - simulation investigations, Białystok Technical University, Prace Instytutu Lotnictwa, Warsaw, pp. s.82–s.102 (2011) ISSN 0509-6669 216
Konwacji, C.: Control algorithm of micro aerial vehicle flight in streets’ canyons based on vision system 4(3), s.76–s.86 (2010)
He, Z., VenkataramanIyer, R., Chandler, P.R.: Vision based UAV flight control and obstacle avoidance. In: American Control Conference (2006)
Rathinam, S., Kim, Z., Sengupta, R.: Vision-Based Monitoring of Locally Linear Structures Using an Unmanned Aerial Vehicle1. J. Infrastruct. Syst. Special Issue: New Sensors, Instrumentation, and Signal Interpretation 14, 52–63 (2008)
Świtoński, A., Bieda, R., Wojciechowski, K.: Multispectral imaging for supporting colonoscopy and gastroscopy diagnoses. In: Hippe, Z.S., Kulikowski, J.L., Mroczek, T. (eds.) Human - Computer Systems Interaction. AISC, vol. 99, pp. 131–145. Springer, Heidelberg (2012)
Ruszewski, A.: Stabilization of discrete-time systems by PID controllers, Zeszyty Naukowe. Silesian University of Technical, Institute of Automation, z. 145, pp. 171—176 (2006)
Drake, S.P.: Converting GPS Coordinates (ϕλh) to Navigation Coordinates (ENU), Surveillance Systems Division Electronics and Surveillance Research Laboratory (December 10, 2012), http://dspace.dsto.defence.gov.au/dspace/bitstream/1947/3538/1/DSTO-TN-0432.pdf
GMap.NET – Great Maps for Windows (December 10, 2012) http://greatmaps.codeplex.com/
Iwaneczko, P., Jędrasiak, K., Daniec, K., Nawrat, A.: A prototype of unmanned aerial vehicle for image acquisition. In: Bolc, L., Tadeusiewicz, R., Chmielewski, L.J., Wojciechowski, K. (eds.) ICCVG 2012. LNCS, vol. 7594, pp. 87–94. Springer, Heidelberg (2012)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer International Publishing Switzerland
About this chapter
Cite this chapter
Daniec, K., Iwaneczko, P., Jędrasiak, K., Nawrat, A. (2013). Prototyping the Autonomous Flight Algorithms Using the Prepar3D® Simulator. In: Nawrat, A., Kuś, Z. (eds) Vision Based Systemsfor UAV Applications. Studies in Computational Intelligence, vol 481. Springer, Heidelberg. https://doi.org/10.1007/978-3-319-00369-6_14
Download citation
DOI: https://doi.org/10.1007/978-3-319-00369-6_14
Publisher Name: Springer, Heidelberg
Print ISBN: 978-3-319-00368-9
Online ISBN: 978-3-319-00369-6
eBook Packages: EngineeringEngineering (R0)