Investigation of the Navigation and Control Algorithm for a Small UAV

The navigation and control methods which can achieve autonomous flight for UAV were investigated in this paper.The state space model of the UAV was established.The response to disturbance of the open-loop system was analyzed.A lateral direction autopilot with state observer was designed by using LQR method.Then,a navigation algorithm named Lyapunov vector field was presented.The navigation and control strategies were both simulated in time domain.The results illuminate the proposed methodologies have satisfying performance and can track arbitrary waypoint.Consequently,requirement of automatic flight was achieved.