Fig. 1 Structure of Lateral controller
Fig. 3 Course Control Result under Wind (state)
Fig. 4 Course Control result under Wind (trajectory)
Fig. 5 Course Control Result under Wind with Controller Switch Algorithm (state)
Fig. 12 Hold (Stationary Loiter Circles) Algorithm
Fig. 13 Vector Field for Stationary Loiter Circles
Fig. 14 Guidance Simulation Result(Trajectory)
Fig. 15 Guidance Simulation Result (Course Control)
Fig. 16 Flight Test Result under Wind with Controller Switch Algorithm (State)
Fig. 17 Flight Test Result under Wind with Controller Switch Algorithm (Trajectory)
Fig. 18 Autonomous Flight Test Result (Trajectory)
Fig. 19 Autonomous Flight Test Result during Fly-over, Fly-by (Course Control)
Fig. 20 Autonomous Flight Test Result during Hold (Course Control)
Fig. 2 Structure of Heading and Course controller
Fig. 7 Structure of Guidance Algorithm
Fig. 6 Course Control Result under Wind with Controller Switch Algorithm (trajectory)
Fig. 8 Geometry between NED Frame and Navigation Frame
Fig. 9 Fly-over Guidance Algorithm
Fig. 10 Fly-over Arrival decision Algorithm
Fig. 11 Fly-by Arrival decision Algorithm
참고문헌
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