Avionics Systems Development for Small Unmanned Aircraft

The avionics systems for two small unmanned aerial vehicles (UAVs) are considered from the point of view of hardware selection, navigation and control algorithm design, and software development. Some common challenges for many small UAV systems are addressed, including gust disturbance rejection at low speeds, control power, and systems integration. A rapid prototyping simulation framework which grew out of these efforts is described. A number of navigation, attitude determination and control algorithms are suggested for use in specific applications. Thesis Supervisor: John J. Deyst Title: Professor of Aeronautics and Astronautics Acknowledgments The work described in this thesis was a result of team effort. Here I would like to thank people who contributed to both projects described in the thesis, and otherwise provided support during my two years at MIT. I would like to thank my advisor Professor John J. Deyst for giving me the opportunity to work on an open-ended, challenging and rewarding project. Under his guidance I was able to get real world engineering experience. Professor Mark Drela greatly contributed to the aerodynamic modeling and analysis of the WASP flyer. Professor James Paduano helped with the analysis and design of the control augmentation system. I greatly appreciate Professor David L. Trumper's help with the vibration isolation problem. The value of the knowledge I acquired from all the above members of MIT faculty through classes and consultations is very hard to overestimate. Draper Lab engineers Brent Appleby and John Plump provided simulation framework for the WASP project. Studying the experience of the DSAAV team, lead by Paul DeBitetto, provided an excellent source of empirical data and design guidelines. I would like to thank Tan Trinh, Torrey Radcliffe, Jean-Marc Hauss, Cory Hallam, Josh Bernstein and other students who worked on the WASP team in 1996-98. My thanks to MIT Aerial Robotics team. Confidence and expertise of Scott Rasmussen and Jeremy Brown made this very complicated project a reality. I would like to thank graduate students at the MIT IC&E lab. Stimulating discussions with Jerry, Emilio, Eric and Arkadiy frequently helped me find a way to solve a problem. Sergei, Jim and Akan were very supportive friends and roommates during my two years at MIT. My special thanks to my family in Bishkek, Kyrgyzstan, for their caring letters, and sincere support in my endeavours.