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Autonomous Helicopter Navigation System 20101

1AHNS Project AimThe Autonomous Helicopter Navigation System 2010 is focused on developing a helicopter system capable of autonomous control, navigation and localising within a GPS denied environment.

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2Ground Control StationFlight conTrolTim Molloy3Ground Control Station406332064 Tim MolloyGCS Design (Architecture)5

06332064 Tim MolloyGCS Implementation (User Interface)6

06332064 Tim MolloyDocumented in AHNS-2010-GC-TR-001GCS Acceptance Testing706332064 Tim Molloy

Flight Control806332064 Tim MolloyFlight Computer and Mode Control Unit906332064 Tim MolloyFlight Control Acceptance Testing1006332064 Tim MolloyQuadrotor Control11Thrust Altitude Control Forces

Thrust Roll Control Forces

Thrust Pitch Control Forces

Drag Yaw Control Forces

Tim Molloy

Static Angle Based Attitude Control12

Developed in simulator Implemented and Tested in Test RigDid not afford attitude control and removed safety pilot from loop

Dynamic Angle Based Attitude Control13

Dynamic Rate Based Attitude Control14

15Lessons Learnt16First Lesson LearntSecond Lesson Learnt

06332064 Tim MolloySystem DEMONSTRATION AND QUESTIONS17

17Michael HAMILTON - 06219314 MICHAEL KINCEL - 06219322 Tim MOLLOY - 06332064 Liam OSullivan - 0630862718

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