Problem Statement
Implement a guidance, navigation, and control algorithm in a Simulink quadcopter model to intercept four randomly generated moving targets.
Overview
The Simulink model uses a simulated GPS and IMU to give the quadcopter positional data. This information is filtered and passed to the guidance algorithm to calculate the position the quadcopter must fly to. Using this position, the outer and inner control loops guide the quadcopter to the targets.
Guidance Law
The chosen guidance law was Delta Guidance. This algorithm computes a corrective change in order to alter the trajectory of the quadcopter. Delta Guidance was chosen due to its simplicity and robustness.
Filtering / Noise
A Multi-Stage Adaptive Complementary Filter was used for this simulation.This filter blends GPS position with velocity-derived position and uses a complementary filter to merge with the IMU velocity.
Results / Lessons Learned
The simulation was able to run and intercept a variety of targets with velocity. With the introduction of sensor noise, the quadcopter had more trouble intercepting the target. If I had to do the project over again, a more robust filtering method like the extended Kalman filter would be used.