A prototype of unmanned aerial vehicle for image acquisition

Authors:
Paweł Iwaneczko;Karol Jędrasiak;Krzysztof Daniec;Aleksander Nawrat
Affiliations:
Institute of Automatic Control, Silesian University of Technology, Gliwice, Poland;Institute of Automatic Control, Silesian University of Technology, Gliwice, Poland;Institute of Automatic Control, Silesian University of Technology, Gliwice, Poland;Institute of Automatic Control, Silesian University of Technology, Gliwice, Poland
Venue:
ICCVG'12 Proceedings of the 2012 international conference on Computer Vision and Graphics
Year:
2012

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Abstract

We present the prototype of unmanned aerial vehicle (UAV) as a platform for multispectral acquisition. We are connecting the real-world simulation environment and control software to perform flight tests in SIL simulation. The full control system is based on the cascade of PI controllers with Anti-Windup mechanism, which stabilize the aircraft in the virtual reality. Stabilization of angular speed reduces problems connected with video disruptions. In this article we are presenting all implemented autonomous algorithms, which are based on ENU coordinate system (commonly used in aviation). Simulations are performed in Prepar3D® from Lockheed Martin which also allows to perform visual and thermal images processing. The prototype successfully completed all the test flights and is ready for various applications.