Development and Implementation of Automated UAV Flight Algorithms for Inertial Navigation Systems

Abstract

Unmanned aerial vehicles (UAVs), better known as drones, are one of the major technological developments of today. Applications that can be created today were just a thought ten years ago and now they are becoming a reality. In the world of truly autonomous vehicles, UAVs should react on their own through some sort of external stimuli. It is through these external stimuli that the UAVs react and adjust their goal accordingly. These stimuli can be taken from various sensors on the craft but also can be given commands by a human. Coordination and cooperation in UAV groups also increasingly permit huge numbers of aircrafts to be processed by a single user. We are proposing the real-time algorithm that works possibly under communications, constraints, and other uncertainties and failures. On the basis of the microcontroller Arduino Uno developed an intelligent self-managing intelligent decision-making system, taking into account the basic parameters of the control system of the drone. In addition, in the modeling of the Arduino Uno microcontroller, an algorithm of inertial navigation systems based on the parameters of inclination, lateral and bending angles in flight was implemented and control codes were introduced. The theory of fuzzy logic was used to control the drone. A decision-making algorithm based on fuzzy logic has been developed, which allows real-time control of the drone's flight parameters. Intelligent drone control system has been developed the main elements of drone control have been presented in this paper. The program code is implemented for the Arduino UNO debug board and tested in the Proteus environment. The developed unmanned drone has the ability to quickly maneuver and avoid obstacles. Experiments with an unmanned drone were conducted in the summer. These experiments were carried out at extreme speeds of up to 100 km/h, on a windless day. In addition, the drone was equipped with a portable camera of 3 megapixels. The images were taken at an altitude of 300 meters. Experiments have shown stable operation even in windy weather, at speeds of 10 meters per second.