Rudder Augmented Trajectory Correction for Small UAV to Minimize Lateral Image Errors
For small UAV operators using fixed cameras, this method improves image quality by reducing lateral errors during trajectory correction.
The paper presents a rudder augmented trajectory correction method for small UAVs to minimize lateral image errors from body-fixed cameras. Simulation and flight tests show significant reduction in roll angle during trajectory correction, leading to large reduction in total flight line image deviations compared to aileron-only autopilots.
Civil applications for unmanned aerial vehicles (UAVs) have increased rapidly over the last few years. In the realm of civil applications, many aircraft carry cameras that are physically fixed to the airframe. While this yields a simple and robust remote sensing platform, the imagery quality diminishes with increasing attitude errors. A rudder augmented trajectory correction method for small unmanned aerial vehicles is discussed in this paper. The goal of this type of controller is to minimize the lateral image errors of body fixed non-gimbaled cameras. We present a comparison to current aileron only trajectory correction autopilots. Simulation and flight test results are presented that show significant reduction in the roll angle present during trajectory correction resulting in a large effect on total flight line image deviations.