MISSION PLANNING AND ORIENTATION MEASUREMENT FOR UAVS

Sridurga Kasukurthi, P. Krishna Chaitanya

Abstract: The focus of this paper is to describe the orientation measurement of the multirotors using the raw data generated by the copter after Autonomous Flight. At first basic properties of multicopter is described. To attain the orientation measurement and attitude control of a copter, rotation matrices and body fixed frame position in earth frame are required. According to the requirements for orientation measurement of UAVs, the paper mainly concentrates on automated mission planning and processing as well as mission analysis. Here the following aspects are described in detail. (i) Mission requirements (ii) The automated mission generation and automated mission profile for the on board system (iii) Mission accomplishment on the field and the onboard recorded flight data analysis. Using the raw data generated by UAVs during the automated mission implementation, the orientation in the form of angular acceleration and angular velocity of a rigid body which is subjected to external forces like Gravity, Air Friction, Thrust, Torque has implemented in simulink. The flight Dynamics of a copter is described in detail to measure the Angular acceleration and Angular Velocity of the copter. Automated Mission implementation plays a major roll where the behaviour of the copter can be observed at each and every point of the flight.

Keywords: Orientation Measurement, Rotation Matrices, Automated Mission Planning, Mission Planner, Aurdu Pilot Mega2.6 Controller, Automation, Unmanned Aerial Vehicles

DOI: https://doi.org/10.15623/ijret.2016.0507075