Biomedical Engineering Reference
In-Depth Information
FIGURE 9.25
A simple PID regulator using compass heading and direction of optical flow removes wind drift in flight.
FIGURE 9.26
The UAV used for the flight trials was an electric-powered model aircraft with a 2 m wingpsan. It was
fitted with an autopilot capable of conventional GPS/inertial flight and customized autonomous modes of flight. The optical-
flow sensor was configured to gaze directly downward.
velocity, and heading using the direction of
optical flow, combined with a magnetic com-
pass. The environment was a flat expanse of
desert. The ground track was maintained to
of view to provide enough optical-flow signal
when in flight.
The flight-control system was configured to
control height using optical flow and GPS
