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The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. Vol. XXXVII. Part B5. Beijing 2008
Figure 13. Roll angle tracked by the control system wrt. The
reference trajectory.
From this computation we achieved following results:
Variable
RMS Error
Position
X
0.435 m
y
0.702 m
z
0.252 m
Attitude
roll
0.511 deg
pitch
0.497 deg
yaw
2.850 deg
of an autonomous guidance system to be applied to a model
helicopter. This small-size UAV is a low-cost MMS designed
for the collection of directly georeferenced color digital images,
while flying at low altitude over areas of limited extent. After
photogrammetric processing, such images will be used to
produce DEMS, orthophotos and other kind of GIS data which
can be used fo several purposes related to land management.
Given the capability of surveying areas of limited access, the
proposed model helicopter can be regarded as a complementary
mapping tool of already existing and well proven ground-based
mobile mapping systems.
REFERENCES
Eck, Ch., 2001. Navigation Algorithms with applications to
unmanned helicopters. Dissertation at the Swiss federal institute
of technology Zurich.
Gelb A., 1984. Applied optimal estimation. The MIT Press.
Guamieri, A., Vettore, A., Pirotti, F., 2006. Project for an
autonomous model helicopter navigation system Proc. of
ISPRS Commission I Symposium, “From Sensors to imagery”,
Marne La Vallee, Paris, 4-6 July.
Nagai, M., Shibasaki, R., Manandhar, D., Zhao, H., 2004.
Development of digital surface and feature extraction by
integrating laser scanner and CCD sensor with IMU. Istanbul.
IAPRS, Vol. XXXV, Part B5.
Table 6. Simulation results.
5. CONCLUSIONS
In this paper we have presented the results of a control system
developed in Matlab Simulink, aimed to simulate the behaviour
Sik J. H. , Chool L. J., Sik K. M., Joon K. I., Kyum K.V., 2004.
Construction of National Cultural Heritage Management
System using Rc Helicopter Photographic Surveying System.
Istanbul, XXth ISPRS Congress.
