Title :
A Real-Time Linux system for autonomous navigation and flight attitude control of an uninhabited aerial vehicle
Author :
Hall, Charles E., Jr.
Author_Institution :
Mech. & Aerosp. Eng., North Carolina State Univ., Raleigh, NC, USA
Abstract :
A Commercial-Off-The-Shelf PC-104 system using the Real Time Linux operating system is used for flight attitude control and navigation for autonomous flight testing of the Stingray UAV. The fast, time critical tasks of attitude control of the aircraft are placed in real time tasks in kernel space. The slower navigation routines, based on GPS data, is a user space task that provides attitude commands to the real time tasks. Data from the GPS, and attitude controllers are stored on board the aircraft for post-flight analysis. For these flight tests, the take-off and landing of the Stingray UAV will be by an external pilot
Keywords :
Global Positioning System; aircraft computers; aircraft control; aircraft navigation; aircraft testing; attitude control; computerised navigation; operating systems (computers); real-time systems; remotely operated vehicles; COTS PC-104 system; GPS; Real Time Linux operating system; Stingray UAV; aircraft; autonomous flight testing; autonomous navigation; flight attitude control; time critical task; uninhabited aerial vehicle; Aerospace control; Aircraft navigation; Attitude control; Global Positioning System; Kernel; Linux; Operating systems; Real time systems; System testing; Unmanned aerial vehicles;
Conference_Titel :
Digital Avionics Systems, 2001. DASC. 20th Conference
Conference_Location :
Daytona Beach, FL
Print_ISBN :
0-7803-7034-1
DOI :
10.1109/DASC.2001.963300
