HIL investigations of extended UAV on-board controller

• Autorzy: Słowik M. , Gosiewski Z. , Ołdziej D.
• Języki publikacji: EN

Abstrakty

EN

The paper presents the testing process dedicated to the unmanned aerial vehicle flight controller. The quality of performance of stabilization and navigation tasks has been investigated not during standard in-flight tests, but in the hardware in the loop (HIL) simulation environment. The virtual flight was controlled by the real autopilot. The artificial flight parameters were generated and autopilot uses them as in real flight conditions. Such approach saves time and is economically justified, because of the lack of hardware losses during the failed flight tests.

Słowa kluczowe

EN

unmanned aerial vehicles; hardware-in-the-loop; flight controller

• Wydawca: Systems Research Institute, Polish Academy of Sciences
• Czasopismo: Control and Cybernetics
• Rocznik: 2016
• Tom: Vol. 45, no. 3
• Strony: 329--337
• Opis fizyczny: Bibliogr. 18 poz., rys.

Twórcy

autor

Słowik M.

• Bialystok University of Technology, Faculty of Mechanical Engineering, ul. Wiejska 45C, 15-351 Bialystok, Poland

autor

Gosiewski Z.

• Bialystok University of Technology, Faculty of Mechanical Engineering, ul. Wiejska 45C, 15-351 Bialystok, Poland

autor

Ołdziej D.

• Bialystok University of Technology, Faculty of Mechanical Engineering, ul. Wiejska 45C, 15-351 Bialystok, Poland

Bibliografia

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• [2] Barros dos Santos, S. R. (2011) Longitudinal autopilot controllers test platform hardware in the loop. In: Proceedings of the IEEE International Systems Conference, SysCon, April 4-7, Montreal, 379-386.
• [3] Crespo, G. (2014) Setup of a communication and control systems of a quadrotor type Unmanned Aerial Vehicle. In: Proceedings of Design of Circuits and Integrated Circuits, DCIS Conference, November 26-28, Madrid, 1-6.
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• [7] Github Firmware, https://github.com/PX4/Firmware, access date: June 2, 2016.
• [8] Github Hardware, https://github.com/PX4/Hardware, access date: June 2, 2016.
• [9] Irawan, A. (2013) Three-loop autopilot for attitude control system on hardware in loop simulation. In: Proceedings of the 3rd International Conference on Instrumentation, Communications, Information Technology, and Biomedical Engineering ICICI-BME, November 7-8, Bandung, 286-291.
• [10] Kang, Y. (2009) Linear tracking for a fixed-wing UAV using nonlinear model predictive control. IEEE Transactions on Control Systems Technology 17(5), 1063-6536.
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• [12] Masselli, A. (2013) A cross-platform comparison of visual marker based approaches for autonomous flight of quadrocopters. In: Proceedings of the International Conference on Unmanned Aircraft Systems ICUAS, May 28-31, Atlanta, 685-693.
• [13] Mavlink: http://qgroundcontrol.org/mavlink/start,access date: June 2, 2016.
• [14] Meier, L. (2011) Pixhawk: a system for autonomous flight using onboard computer vision. In: Proceedings of the IEEE International Conference on Robotics and Automation ICRA, May 9-13, Shanghai, 2992-2997.
• [15] Pixhawk: https://pixhawk.org/modules/pixhawk, access date: June 2, 2016.
• [16] Prabowo, Y. A. (2015) Hardware in-the-loop simulation for visual servoing of fixed wing UAV. In: Proceedings of the IEEE International Conference on Electrical Engineering and Informatics ICEEI, August 10-11, Bali, 247252.
• [17] Sawicki, A., Walendziuk, W. and Idzkowski, A. (2015) Estimation of the object orientation and location with the use of MEMS sensors. Proceedings of SPIE 9662, 1-8.
• [18] Wang, X. (2015) UAV formation: from numerical simulation to actual flight. In: Proceedings of the IEEE International Conference on Information and Automation, August 8-10, Lijiang, 475-480.

Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę (zadania 2017).