Rudder Augmented Trajectory Correction for Small UAV to Minimize Lateral Image Errors

TL;DR

This paper introduces a rudder augmented trajectory correction method for small UAVs that significantly reduces lateral image errors caused by attitude deviations, improving image quality in civil applications.

Contribution

The paper proposes a novel rudder augmented control approach that outperforms traditional aileron-only autopilots in minimizing attitude errors affecting camera imagery.

Findings

Significant reduction in roll angle during trajectory correction.

Large decrease in total flight line image deviations.

Validated through simulation and flight tests.

Abstract

Civil applications for unmanned aerial vehicles (UAVs) have increased rapidly over the last few years. In the realm of civil applications, many aircraft carry cameras that are physically fixed to the airframe. While this yields a simple and robust remote sensing platform, the imagery quality diminishes with increasing attitude errors. A rudder augmented trajectory correction method for small unmanned aerial vehicles is discussed in this paper. The goal of this type of controller is to minimize the lateral image errors of body fixed non-gimbaled cameras. We present a comparison to current aileron only trajectory correction autopilots. Simulation and flight test results are presented that show significant reduction in the roll angle present during trajectory correction resulting in a large effect on total flight line image deviations.