Title :
Net recovery of UAV with single-frequency RTK GPS
Author :
Skulstad, Robert ; Syversen, Christoffer Lie ; Merz, Mariann ; Sokolova, Nadezda ; Fossen, Thor I. ; Johansen, Tor A.
Author_Institution :
Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway
Abstract :
A system for autonomous precision recovery of fixedwing unmanned aerial vehicles (UAVs) using low-cost GPS L1 C/A based RTK (Real-Time Kinematic) solution utilizing locally generated corrections is described and field tested. We present a system architecture which includes the setup of the hardware and software for the onboard GPS receiver, base-station, differential link, computers running open-source carrier-phase positioning software, roll-stabilized GPS-antenna, dedicated flight control algorithms for the final approach, and their integration with the ArduPilot open-source autopilot in the small X8 UAV (flying-wing). Experimental results show proof-of-concept field tests where the prototype implementation has been used for recovery in a stationary recovery net.
Keywords :
Global Positioning System; aerospace control; autonomous aerial vehicles; radio receivers; ArduPilot open-source autopilot; GPS L1 C/A based RTK; GPS receiver; X8 UAV; autonomous precision recovery; carrier-phase positioning software; fixedwing unmanned aerial vehicles; flight control algorithms; flying-wing; net recovery; real-time kinematic; roll-stabilized GPS-antenna; Accuracy; Global Positioning System; Open source software; Receivers; Satellites; Standards;
Conference_Titel :
Aerospace Conference, 2015 IEEE
Print_ISBN :
978-1-4799-5379-0
DOI :
10.1109/AERO.2015.7119205
