Laboratorio para el desarrollo de sistemas de navegación y control para UAVS multirrotor

Résumé

This work presents the development of a laboratory for research on navigation and control systems of multirotor Unmanned Aerial Vehicles (UAV). The laboratory is composed of an enclosure in which flight tests are carried out with safety, a capture system that allows determining the position and orientation of the vehicle, the aircraft with their flight controllers, and a ground station where the information is centralized. The configuration and programming of all system elements is done using Matlab-Simulink. The laboratory allows to significantly reduce the development time of new estimation and control algorithms. In addition, it simplifies the analysis of flight tests with more accurate and centralized information in a single team. The document presents the design of the hardware and software infrastructures that make up the laboratory. Finally, results obtained in a flight test and an application example for the validation of This work presents the development of a laboratory for research on navigation and control systems of multirotor Unmanned Aerial Vehicles (UAV). The laboratory is composed of an enclosure in which flight tests are carried out with safety, a capture system that allows determining the position and orientation of the vehicle, the aircraft with their flight controllers, and a ground station where the information is centralized. The configuration and programming of all system elements is done using Matlab-Simulink. The laboratory allows to significantly reduce the development time of new estimation and control algorithms. In addition, it simplifies the analysis of flight tests with more accurate and centralized information in a single team. The document presents the design of the hardware and software infrastructures that make up the laboratory. Finally, results obtained in a flight test and an application example for the validation of attitude estimators are shown.attitude estimators are shown.