Guidance and control strategy for a mini-UAV by data-fusion

of low-cost sensors


MM.Huynh Huu Thanh(*) & Nguyen Thien Tong (**)


(*) Aidev: Association Internationale pour le développement de l’Enseignement au Viet-Nam- France

(**) HCMUT :HoChiMinh Ville University of Technology – Viet Nam




In recent years, thanks to the availability of commercial single antenna for Global Positioning System (GPS), several studies are performed using GPS as a primary sensor for the navigation and control of low cost uninhabited air vehicle (UAV). However, using GPS as an unique sensor could only be applied as a back-up flight control guidance for these UAV, due to the following reasons: low-frequency of the update rates of one Hertz, significant latency, lack of robustness (redondancy) in case of failure.

The paper describes a solution which removes these gaps by taking into account firstly other avionic equipments and micro-controllers, with high capacity of computation, but still low-cost, and secondly more sophisticated guidance algorithms. The whole architecture of the guidance and control system is then composed with :

- an observer technique is obtained by data-fusion from GPS and accelerometers output with high frequency update rates in order to provide the best estimation of the attitude of the aircraft;

-a dual level of guidance and flight control, which is well known and has been used with success for aerospace vehicles. This control architecture allows thus to fulfill both the requirements of performance and robustness for control system design:

   -the first level provides a model of the aircraft trajectory which meets the constraints of the vehicle capabilities ( angle of attack, roll angle, airspeed);

   -the second level takes into account the model errors and the perturbations through a robust linear quadratic control design technique.

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