Autonomous flight test using angle of UAV’s velocity vector

This paper describes the result of the guidance using the heading angle from the magnetic heading vector and velocity vector when autonomous flight is performed by the point navigation guidance. The guidance logic makes difference between the line of sight angle and UAVpsilas heading angle as an error using PD controller. In fixed-wing, the accuracy of convergence is influenced by perturbation like the crosswind, and the flight path to the next waypoint affected also by the states of approach. Therefore, the robust guidance is needed at autonomous flight. When flight using magnetic heading vector, the result is shown that the vehicle does not follow a expected path even though heading vector of UAV is pointing at waypoint. Moreover, the vehicle does not pass the waypoint but the UAV has circular flight path sometimes. When flight using velocity vector, from the result of flight, the flight performed with smaller radius at waypoint, even if side slip was occurred. Considering the UAVpsilas usage and ability, the flight path is significantly influenced by perturbation in windy area or closed to each waypoint. It causes a lot of losses in mission performance or operation of UAV, so autonomous flight needed using guidance performed by velocity vector based on flight path in UAV.