Computationally efficient control methods and hardware for autonomous antenna calibration

This paper discusses the implications of using low-cost avionics for autonomous unmanned aerial vehicles (UAV's). An application in field calibration of antennas is described, where a small helicopter is equipped with a custom transmitter and flight computer package for stabilizing hover at desired positions. General helicopter dynamics as they relate to the problem of interest are described, as well as simplifications made to the dynamic equations to reduce computational complexity. The PICuB microcontroller board designed and fabricated by the author is described in detail. The designed interfaces to the PICuB; GPS, telemetry connection, operator command connection, and helicopter actuation; are described in detail. The hardware and software design is presented, as well as verification and test results of the performance of all constituents. The hardware and software of the inertial motion sensing components used; accelerometers, rate gyros, and magnetometers; are described in detail. The software designed and implemented for this project is described. (Abstract shortened by UMI.)...