DESIGN AND PERFORMANCE OF DEMONSTRATOR OF AUTONOMOUS FIXED WING UAV CATLTR

The demonstrator of fixed wing UAV is designed for visual detection, recognition, segmentation and tracking of cattle from the air. It will help veterinarian doctors with remote determination of physiology state. Some of challenges of visually tracking autonomous flying platform, that accurate trajectory control has had so far, have been in certain instances avoidable. Full simulator in SIMULINK was developed for a vehicle dynamics, sensors and its guidance algorithms. Advanced approach for determination of platform attitude is used to enhance accuracy of guidance. Novel model-based control and its algorithm for tuning are proposed and tested in the simulation and real flight. Partial flight log data is compared to that of the proposed model and it is shown that the model accurately replicates the true flight dynamics. The strapped-down seeker model passes the deflections of the target from Line-ofSight to the autopilot. The results predict that the vehicle's performance in response to excessive roll, pitch and yaw is extremely sensitive to the quality of guidance. The joint simulation model demonstrated was highly dependent on failure of the seeker used for guidance due to oscillation at some degree of the roll, pitch and yawing of the airframe.