INTEGRATED TARGETING, GUIDANCE, NAVIGATION, AND CONTROL FOR UNMANNED AERIAL VEHICLES

This study aims to develop targeting, guidance, navigation, and control functions and their integration for applications. Due to its simplicity and accessibility, the INAV software has been selected as a framework for the proposed integration. It is shown that the proposed study changes the current PID control laws and the utility of new nonlinear control schemes allow us to leverage the flight autonomy thereby paving the way for creating an autonomous control technology with real-time target-relative guidance capabilities. An illustrative example is considered to demonstrate the utility of guidance, navigation, and control functions in INAV to perform a rolling maneuver.