ISiMI was guided to track a figure-eight trajectory to test the LOS algorithm described in Section 4.2. The position of ISiMI was measured using the image tracking system in CPMC, and transmitted to ISiMI via the R/F link. The position of the waypoints was pre-recorded in ISiMI's memory. The threshold level po in (11) was 1 meter. The results are plotted in Fig. 15. The yaw angle in Fig. 15 was controlled by the PD controller to follow the yaw reference generated by the LOS. It was verified that waypoint tracking, the basic function of the test-bed, was successfully achieved.
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