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  • Open Daily: 10am - 10pm
    Alley-side Pickup: 10am - 7pm

    3038 Hennepin Ave Minneapolis, MN
    612-822-4611

Open Daily: 10am - 10pm | Alley-side Pickup: 10am - 7pm
3038 Hennepin Ave Minneapolis, MN
612-822-4611
Waypoint Generation Based on Sensor Aimpoint

Waypoint Generation Based on Sensor Aimpoint

Farrell, Shannon M.

Paperback

Technology & EngineeringGeneral Education

ISBN10: 1288306288
ISBN13: 9781288306282
Publisher: Biblioscholar
Published: Nov 16 2012
Pages: 174
Weight: 0.56
Height: 0.37 Width: 6.14 Depth: 9.21
Language: English

This research develops waypoint generation algorithms required to keep a point of interest (POI) in the field of view (FOV) of a fixed sensor on a micro air vehicle (MAV), in the presence of a constant wind. The waypoint generation algorithms establish waypoints such that a fixed sensor on a MAV at that waypoint and assumed attitude would be pointed directly at the POI. Two scenarios are explored: one where the MAV orbits the POI, and the second where the MAV flies to align the sensor at the POI along a preferred look angle. The first scenario relies on a sensor aimed out the side of the MAV, while the second considers both a side-viewing sensor and a forward-viewing sensor. The research explored each scenario through hardware-in-the-loop testing as well as flight testing. The results indicate the algorithms keep the POI in the FOV at least two-thirds of the time as long as the wind speed was less than one-quarter of the cruise speed; at higher winds, the MAV has a difficult time keeping to the flight path generated by the sensor aimpoint algorithm.

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