Quadrocopter control in emergency mode

O. V. Baranov

Vestnik Sankt-Peterburgskogo universiteta. Prikladnaâ matematika, informatika, processy upravleniâ, no. 2 (2016), pp. 69-79

Résumé

In this paper the concept of quadrocopter control in emergency mode problem is introduced and considered. Emergency control mode for the autonomous UAV can be characterized primarily by the difficulty or impossibility of receiving signals from global satellite navigation systems. This can happen if the UAV falling into the electromagnetic field of various technical objects, in dense urban or high mountains, and also in arctic regions. In the military area, presence of the special regime is dictated by the possibility of using electronic warfare devices. Several different approaches to solving the problem is offered. The results of numerical simulation of the emergency landing using a quality criteria are presented. The scheme of spoofing the navigation signal by integrating inertial measurement unit without hardware modification is proposed. Refs 17. Figs 4.

Détail

Mots-clés : UAV
Keywords: quadrocopter, emergency mode, optimal control.

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