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저가형 GPS/IMU를 이용한 UAV 비행 제어 시스템 개발
구원모(Wonmo Koo),천세범(Sebum Chun),원대희(Dae Hee Won),강태삼(Taesam Kang),이영재(Young Jae Lee),성상경(Sangkyung Sung) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.5
UAVs(Unmanned Aerial Vehicles) have many applications in military and commercial areas. The flight control system of UAVs is more important than manned aircraft"s because the mission of UAVs must be operated without a human pilot. But very heavy and expensive navigation system makes it difficult to develop UAV flight control system. In this research, GPS/IMU integrated navigation filter was developed for light weight/low cost flight control system of small UAVs. With this navigation filter, full flight control system which has real time operating capability has been developed. The performance of the flight control system is basically checked by HILSIM (Hardware In the Loop SIMulation). Finally, the flight control system is verified by showing performance test result under real flight environment.