The development and validation of an indoor experimental platform for UAV control system
Shu Shi, Fei Hu, Jian Li, Jianguo Yao · 2011
The development and research of the unmanned helicopter control system is more and more popular all over the world. The outdoor experimental platform for the control system has several disadvantages compared to an indoor experimental platform. In this paper, a visual tracking system is brought to provide speed, angle and angular rate information of the helicopter. This visual tracking system is based on camera calibration and binocular imaging principle. We also proposed a new approach to validate the flight data. A 4thorder transfer function has been identified to simulate the longitude input to angular rate response. We developed our indoor flight control system based on this visual tracking system and achieved the hovering flight of the helicopter.