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1、AALBORGUNIVERSITYDepartmentofControlEngineeringcFredrikBajersVej7-9220AalborgØst-Telephone96358080TITLE:DevelopmentandNavigationofanAutonomousUAVPROJECTPERIOD:September5th-June1stSYNOPSIS:Thisthesisconcernsdevelop-mentandnavigationofanau-PROJECTGROUP:tonomousU
2、AVplatform,able1034Btocompletethelevels1and2ofIARC06.Afterade-signoftheUAVhardwareandsoftwareplatform,theapplica-GROUPMEMBERS:tionsneededtocompletetheJacobT.Holmgaardlevelsaredefined.ToguideChristianS.JensentheUAVthroughthelevels1StefanLænnerand2,anavigationsys
3、temwasdeveloped.Amapovertheareainwhichthemissionsaretobeexecutedhasbeende-SUPERVISORS:rived.FromthismaptheGPSAnderslaCour-Harbocoordinatesfortheflightpathhasbeenextracted,andthroughoptimizationalgorithmsanearoptimalflightpathhasbeenNUMBERSPRINTED:8found.Throughg
4、roundedteststhenavigationsystemquali-tivelyprovedtobeabletocom-REPORTPAGENUMBER:135pletelevels.TOTALPAGENUMBER:225PrefaceThisthesisismadebygroup1034BattheDepartmentofControlEn-gineeringatAalborgUniversityintheperiodbetweenSeptember5th2005andJune1st2006.Thethes
5、ishasbeendoneasapartofthedevelopmentofanautonomoushelicopterbasedUAVin-progressatthecontroldepartmentatAalborgUniversity.Thereportconsistsoffourparts:"MissionDescriptionandProblemFormulation","PlatformDesign","MissionApplications",and"ConclusionandPerspective"
6、.Thefourpartsallbeginwithanintroductionandconsistofseveralchap-terseachcontainingadescriptionofthecontentand,ifnecessary,ashortsummary.SupplementarysubjectsareplacedinappendicesinthebackofthereportandarenumberedA,Bandsoforth.Enclosedontheinsideofthebackpageist
7、heprojectCD,containingMATLABcode,SIMULINKmodels,Ccode,andapdfcopyofthisreport.ReadingInstructionsTohelpguidethereaderthroughthereport,areadingguideispre-sented.throughoutthethesisdifferenttextsyntaxesareused.Whenwrit-ingthenameofavariable,thetextisemphasizedan
8、dwhenwritingthenameofaninterprocesscommunicationmessage,thetextiscapi-talized.Anexampleofavariableisvariableandanexampleofames-sageisMESSAGE.Figuresandtablesarenumberedconsecutivel
