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XVII. END PRODUCT DESCRIPTION In this section the functionality and specifications for FIU-Guardian Angel UAV and any additional deliverables are described. A. End Product Description The end product of the FIU-Guardian Angel Senior Design II project consists of a modified remote-controlled model plane, a microcontroller-based control system receiving position and inertial state data from the plane, and the software that runs on the microcontroller to provide the desired functionality. That is, the control software permits the aircraft to fly stabilized in flight without human intervention other than for take-off and landing and furthermore, allows the plane to follow a course that was pre-programmed on the ground consisting of waypoints that will mark out the path that the aircraft must follow. Additionally, for reasons of safety and practicality, the UAV has a manual override that allows control to be switched from the onboard computer to that of a human pilot on the ground. This permits take-off and landing to be performed manually by a human, as well as allows for taking control of the plane should the system malfunction or otherwise put the plane or other life and property in danger. B. Functions The heart of the FIU-Guardian Angel UAV is the microcontroller-based control system responsible for manipulating the plane's controls and ultimately achieving the objective of following its planned course within 10 meters accuracy. The figure below shows a block diagram of the major components of the UAV. The input of the system consists of a series of waypoints containing position and desired velocity data. Moreover, there are sensors that provide information to the control system concerning its position, velocity, acceleration, and orientation. These include but are not limited to: a GPS receiver, accelerometers and gyroscopes. Accelerometer and gyroscope data is used by the microcontroller to calculate the direction cosine matrices (DCM) which are essential for the plane to be able to maneuver and maintain stability with respect to a fixed position. This position is provided by the GPS data, and is used as an initial reference location for the UAV. After all the navigation data is acquired and
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This note was uploaded on 11/06/2011 for the course COMPUTER ENC1230 taught by Professor Jailhwashi during the Spring '11 term at FIU.

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