TeKnol

UAV Flight Control System with INS/GPS


	TeKFCS Flihgt Test


	TeKFCS Software


	Automatic UAV aerial photography


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The TeKnol Flight Control System is a unique software and hardware product designed as total solution for guidance and navigation of commercial and civil Unmanned Aerial Vehicles (UAV).

The TeKnol Flight Control System (TeKFCS) is intended for the Unmanned Aerial Vehicle (UAV) autonomous stabilized flight provision along the preprogrammed flight path and manual remote UAV flight control by means of conventional PCM data link. The TeKFCS is designed to meet the requirements of easy installation and operation for wide range of fixed wings unmanned aircrafts. Though the special target group is a light aircraft (3 kg takeoff weight and higher), the system can equally operate the bigger size UAVs. The TeKFCS is maximally adapted to interoperate with most common UAV equipment – remote controls, servos, power supplies etc.

The TeKFCS assures the truly automatic flight with minimal human interference, thus providing high functionality and fault tolerance of unmanned aerial systems.

UAV FCS Functionality

Determination of attitude angles, coordinates and motion parameters (angular rates, accelerations)
UAV guidance and flight control when performing programmed automatic flight;
Pitch and roll angles stabilizing ;
Navigation and attitude telemetry data output;
Programmed payload control

The genuine TeKnol proprietary inertial system derived from CompaNav-2 provides the good flight stability, accurate waypoints navigation and exclusive results repeatability (see UAV FCS Tests). The use of real INS also guarantees the light airplane quick recovery if gust wind.

Types of UAVs operating with TeKnol UAV autopilots:


Gaz engine UAV 7 kg takeoff weight	MALE UAV 25 kg takeoff weight	Electrical reconnaissance UAV 5 kg takeoff weight

10 kg electrical UAV	Electrical mini UAV (3,5 kg)	Experimental unmanned seaplane

UAV FCS Performance

3-Dimensional Navigation (latitude, longitude, altitude, time/speed)
255 Pre-programmed Waypoints
Plan Downloaded via a Serial Interface
Automatic Altitude Hold (geo or baro)
GPS loss tolerant
Adaptable to multiple flight platforms
Control gains adjustable by operator
Onboard data logging (option)
Automatic takeoff and landing (option)
Air Data System (option)

UAV FCS Architecture

TeKnol supplies three parts for the airborne segment:

Inertial navigation system (INS)
Autopilot
GPS receiver/antenna
Flight Data Recorder (optional)

All parts were designed to meet state-of-the-art electrical and mechanical requirements for hi-tech electronics and manufactured at ISO9001-certified facilities.

	GPS receiver is an integrated receiver/antenna modulus (SiRF StarII/LP chipset) provides inertial system with coordinates information
	Autopilot board Acquires inertial system data, elaborates the control signals according with the control laws and provides the standard PWM signals to servos. 12 channels are available. The Autopilot Board is compatible with manual remote control and can be engaged/disengaged upon the command.
	Integrated Inertial System derived from CompaNav-2. It contains the MEMS sensors (accelerometers and rate sensors) combined into full performance inertial navigation system (INS) aided by GPS receiver and built-in barometric altimeter. The system outputs the attitude and position data and transmits it to the autopilot board.

Mini UAV autopilot (light enclosure)	Tactical UAV autopilot (hard box with vibration absorbers)

UAV FCS General Specification

Including in default configuration:
Weight, g	< 350
Dimension, mm	~ 120x90x50 (without GPS antenna)
Voltage, V	10…28 DC
Power, W	5 (on 12 V)
PWM Control Channels	12
Throttle	1
Elevator	1
Rudder	1
Ailerons	2(1)
Autopilot ON/OFF	1
Interface
RS232	2
RS422	4

Specification

Electrical

Input voltage VDC	10...30
Power W (max)	2
Servos voltage VDC	5

Environmental

Temperature deg F(deg C)	-40...+160(-40...+70)
Vibration/Shok g(survival)	20

INS/GPS system performance

Angular rates (max) deg/sec	150
Accelerations (max) g	10
Altitude (max calibrated) ft(km)	15,000 (5)

Dynamic Ranges

		Range	Resolution
Roll, Pitch	deg	±180, ±90	0,05
Accelerations	g	±10	10-4
Heading	deg	0...360	0,1
Angular rate	deg/sec	±150	10-3
Max. calibrated altitude	m	6,000	0,2
(for barometric altimeter)	ft	18,000	1

Ground Station allows remote control of UAV, receives and processes navigation data from UAV via the datalink, supports flight planning and communicates with the autopilot board on ground via RS232 intefrace (flight plan upload, system configuration and control laws adjustment). Conventional Remote Control is responsible for Autopilot engagement and disangagement as well as allows manual / remote controlled flight operations during visual contact with UAV. If Data Link is installed, Ground Station can support flight control without visual contact with UAV through proprietary software application with predictive flight quidance and synthetic vision capability.