Authors:
Ju-Hyeon Hong
1
;
Chang-Kyung Ryoo
2
;
Hyo-Sang Shin
1
and
Antonios Tsourdos
1
Affiliations:
1
School of Aerospace, Transportation, and Manufacturing, Cranfield University, College Road, MK43 0AL, Cranfield and U.K.
;
2
Aerospace Engineering, Inha University, 100 Inharo, Namgu, 22212, Incheon and Republic of Korea
Keyword(s):
GPS Denied Environment, Indoor Flight, Integrated Guidance Navigation and Control System, Visual Guidance and Control.
Related
Ontology
Subjects/Areas/Topics:
Autonomous Agents
;
Informatics in Control, Automation and Robotics
;
Robotics and Automation
;
Vehicle Control Applications
Abstract:
This paper proposes an integrated guidance, navigation, and control system for operations of a UAV in GPS denied environments. The proposed system uses a sensor combination, which consists of an image sensor and a range sensor. The main idea of the system developed is that it replaces the conventional navigation information with the measurement from the image processing. For example, it is possible to substitute the look angle and look angle rate from the image sensor for the conventional navigation information like the relative target position and the body angular rate. As the preliminary study, the integrated guidance and control system is designed with a nonlinear back-stepping approach to investigate the possibility of the proposed system. And the proposed integrated guidance and control system is verified by the numerical simulation.