Methodology
Design and Building of the aerial platform:
We are working on a small aerial platform using computers for simulation
and design. composite-fiber is used for the construction of the
platform.
Modeling and Simulation:
A mathematical model allows us to design reliable controllers and
perform tests without putting the vehicle in risk. This particular item
has been divided into three sections:
Obtaining the mathematical model for our aerial platform.
Software in the Loop Simulation (SILS): Running the mathematical model
and the controller in the same computer.
Hardware in the Loop Simulation (HILS): Running the model on a desktop
computer and the controller on the flight computer.
Navigation, Control and Avionics:
This area is divided in three basic tasks: Implementation and
integration of the sensor suite and the flight computer as well as the
power system.
Navigation Algorithm: there are more states on our systems than there
are sensors on board the aircraft. A good solution for this problem is
to employ an estimation filter such as an Extended Kalman filter (in
most cases). This Kalman filter is able to give the control system the
variables that it needs to operate.
Attitude controller: This is the base controller and it guarantees the
stability of the airplane in the three main axes (roll, pitch, and yaw).
Navigation Controller: It has to calculate the trajectory and send those
points to the attitude controller.
Flight Testing:
Ground station: It is like a flight deck for the pilot. The ground
station could be as simple as a laptop computer with all the instruments
displayed on the screen.
Telemetry and data logging: Saves data for analysis and post processing
in the laboratory.
Laser data ranging: This is a powerful capability that justifies the use
of the UAV in areas like topography, city planning and development.
All four areas together form our current research in UAV technologies.
The scope is widespread in terms of contents and science disciplines.
