Application of NDI in UAV flight control

Now that we know the working principle of NDI, we should apply it to control aircraft. We will discuss how it works here. Although we will not show the derivation of this technology, we will explain how to find the control aircraft needed for control surface deflection. This requires six steps. We now have the expected speed of the plane. Similarly, using PID controller, we can find the required rotational acceleration of the aircraft. Therefore, the aircraft position control-derivation equation.

Using the controller in the previous paragraph, we can only control the direction of the plane. Then how can we travel around the world? To do this, we need several equations, which we will discuss in this paragraph. We will use them in the next paragraph. ) We will start with the equation of motion. They are made up of

Here, the subscript c represents the reference system of a fixed earth centered on the earth. We assume that this frame of reference is inertial. However, we will use the finite element in the equation reference frame. The $Z$ axis of this reference system points upward (away from the center of the earth), the X axis points to the east and the Y axis points to the north. The origin is at the center of the earth. The position of the aircraft now depends on the flight path angle and heading angle by derivative.