Title:
Modelling and Hardware-in-the-Loop Simulation for a Small Unmanned Aerial Vehicle
Modelling and Hardware-in-the-Loop Simulation for a Small Unmanned Aerial Vehicle
Author(s)
Jung, Dongwon
Tsiotras, Panagiotis
Tsiotras, Panagiotis
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Abstract
Modeling and experimental identification results for a small unmanned aerial vehicle
(UAV) are presented. The numerical values of the aerodynamic derivatives are computed
via the Digital DATCOM software using the geometric parameters of the airplane. Flight
test data are utilized to identify the stability and control derivatives of the UAV. The
aerodynamic angles are estimated and used in conjunction with inertial measurements
in a batch parameter identification algorithm. A hardware-in-the-loop (HIL) simulation
environment is developed to support and validate the UAV autopilot hardware and software
development. The HIL simulation incorporates a high-fidelity dynamic model that includes
the sensor and actuator models, from the identified parameters from experiments. A user-friendly
graphical interface that incorporates external stick commands and 3-D visualization
of the vehicle’s motion completes the simulation environment. The hardware-in-the-loop
setup is an indispensable tool for rapid certification of both the avionics hardware and the
control software, while performing simulated flight tests with minimal cost and effort.
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Date Issued
2007-05
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Text
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Paper