스트랩다운 AHRS를 이용한 무인항공기(RPV) 자동조종장치의 실시간 실물 모의시험

This paper presents the configuration, HILS procedure and performance simulation reults of the RPV autopilot including a strapdown AHRS. Real time hardware-in-the-loop simulation was performed by using a 3 axis flight motion simulator alonged assumed flight trajectory of the RPV. Being compared with the result of the 6 DOF simulation, the HILS results show-ed that the performance of the autopilot was satisfactory.