Development and experimental Verification of a Guidance for a Planetary Landing Vehicle using a Quadro-Copter

Abstract

The objective of this thesis is to enable the testing of guidance algorithms for spacecraft applications with low effort. The German Aerospace Center in Bremen has acquired an experimental Android based quadro-copter for this purpose. This copter serves as the basis for all implementations in the frame of this thesis. All interfaces required for copter flight operations in a controlled laboratory environment have been implemented as a prerequisite. The on-board attitude controller of the copter was further enhanced. This improved both, the accuracy and responsiveness of the copter to reference attitude angle inputs. Overlaid control loops for credible position and trajectory following were developed and realized in MATLAB/Simulink. A polynomial guidance algorithm was implemented and successfully tested in various test missions for the copter. This all together proved the viability of the concept. As the implementations are realised inMATLAB/Simulink, exchanging or expanding of functionalities is easily made possible. This subsequently provides the German Aerospace Center in Bremen with the possibility to test future developments of guidance and control systems in an easy and cost-effective way.