23rd Congress of International Council of the Aeronautical Sciences, 8-13 September, 2002, Toronto, Canada
Paper ICAS 2002-5.5.2

MODELING OF THE NONLINEAR DYNAMIC BEHAVIOR OF A MICRO-AERIAL-VEHICLE (MAV) IN AN ENVIRONMENT OF A TURBULENT ATMOSPHERE

T. Kordes, M. Buschmann, P. Vörsmann
Technical University of Braunschweig, Germany

Keywords: micro aerial vehicle, nonlinear simulation, actuator dynamics, turbulence

This paper describes the nonlinear modeling of the six degrees of freedom motion of a Micro Aerial Vehicle (MAV) in a turbulent atmosphere, and presents the results. The Institute of Aerospace Systems of the Technical University of Braunschweig (Germany) is currently developing a Micro Aerial Vehicle (MAV). The goal of this research project named 'CAROLO' is the manufacturing of a completely autonomous microplane with a wingspan of approximately 40 cm. For this purpose, a set of nonlinear differential equations has been derived that takes the highly nonlinear dynamic behavior and special MAV-related effects into account. The resulting simulation tool is a basis for a later design of the flight control system (FCS), and the development of navigation filters using GPS and INS.

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