| Summary: | 碩士 === 元智大學 === 機械工程學系 === 102 === We aim to come up with a flight computer system, which is capable of autonomously fixed direction hovering, course tracking, constant sideslip angle banking and circling according to the loaded flight plan with waypoint parameters for unmanned small coaxial rotor helicopters. Our research is based on the flight computer we are currently developing. Both hardware and software of the computer are upgraded to complete system integration. In order to achieve the flight modes mentioned above, we have adopted three new designs: attitude and heading reference system (AHRS), optimized waypoint parameter data structure, and guidance law designed for targeted aircraft.
After tested with HIL system, our field test was conducted with ground speed 4 knots in a square area with length of 100 meters. The tested coaxial rotor helicopter completed hovering, autonomous multi-waypoint flight, and circling test within a radius of 20 meters. All system functioned normally according to our expectation in general. However, flight control accuracy and weather resistant ability can still be improved. We expect that the modular software structure completed by this research to greatly accelerate the upcoming improvement of the flight control guidance law used.
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