Autonomous take-off and landing of a fixed wing unmanned aerial vehicle

Roos, Jan-Cor (Jan Corver) (2007-03)

Thesis (MScIng) -- University of Stellenbosch, 2007.

Thesis

ENGLISH ABSTRACT: The successful design and practical demonstration of controllers required for autonomous take-off and landing of a fixed wing unmanned aerial vehicle is presented. The project serves as an extension to the autonomous navigation autopilot developed in [1] 1 • All aspects of the controller design are presented, from modelling to practical testing and evaluation. A non-linear model for the aircraft dynamics on the runway, a fixed pitch propeller model, a piston engine model and a wind gust model were developed. The conventional flight controllers were extended and improved to remove the single trim condition constraint. The avionics used for autonomous navigation were redesigned and extended to form a small, robust, reliable and professional hardware platform that includes hardware in the loop (HIL) simulation capabilities. Together with the non-linear models developed and the HIL capabilities from [22] a full non-linear hardware in the loop simulator was formed. Throughout the development of the project the system was subjected to and verified through practical testing. The project saw the successful autonomous take-off and landing of the Reliance 0.46 size model aircraft.

AFRIKAANSE OPSOMMING: Die suksesvolle ontwerp en praktiese demonstrasie van terugvoerbeheerders vir die outonome opstyg en land van 'n onbemande vastevlerkvliegtuig word aangebied. Die projek <lien as 'n opvolg en uitbreiding van die vliegstuuroutomaat wat in [1] 2 ontwikkel is. Alie aspekte van die beheerderontwerp word aangebied, insluitend modulering, praktiese toetse en evaluering. 'n Nie-lineere model van die vliegtuigdinamika op die aanloopbaan, 'n vaste-hellingpropellermodel, 'n klep enjinmodel en 'n windvlaagmodel is ontwikkel. Die konvensionele vlugbeheerders is uitgebrei en verbeter om die enkele ewewigkondisiebeperking te verwyder. Die avionika wat gebruik is vir outonome navigasie is herontwerp om 'n klein, robuus, betroubare en professionele hardewareplatform te skep wat hardeware-in-dielus simulasies kan uit voer. Die avionika, saam met die nie-lineere modelle wat ontwikkel is en die hardewarein-die-lus vennoe uit [22], word gekombineer om 'n volle nie-lineere hardeware-in-die-lus simulator te vonn. Met die ontwikkeling van die projek is die stelsel deurentyd blootgestel aan en geverifieer deur praktiese toetse. Die projek demostreer die suksesvolle outonome opstyg en land van die 0.46 skaal Reliance modelvliegtuig.

Please refer to this item in SUNScholar by using the following persistent URL: http://hdl.handle.net/10019.1/50689
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