Rudder Augmented Trajectory Correction for Small Unmanned Aerial Vehicles and the Effects on Fixed Camera Imagery

Document Type

Conference Paper


Aerospace Research Central

Publication Date



In this paper, we develop a rudder augmented trajectory correction method for small unmanned aerial vehicles. The goal of this type of controller is to minimize the lateral image errors of body fixed non-gimbaled cameras when aiding remote-sensing missions. A comparison to current aileron only trajectory correction autopilots and the analytical derivation of the rudder augmented trajectory correction controller is presented. Effects of rudder control input on roll/bank angle is also investigated. Simulation results are presented that show significant reduction in the roll angle present during trajectory correction. This in turn has a large effect on total flight line image deviations. Error reductions of over 1000% are achievable.