WAYPOINT NAVIGATION

With the waypoint navigation guidance our drones can be operated fully autonomous including auto start and auto landing.

To archive a customizable waypoint control we have developed a specialized WNSL (Waypoint Navigation Script Language). This script language implements also system and payload control.

A WNSL file can be generated online or offline. Our online software is based on Google Earth™. Once a waypoint file is created it can be transferred to a memory card and plugged into the drone.

A waypoint type can be a "Fly Through Waypoint" (go to the next), or an "Action Waypoint". Every waypoint may have different properties like: Position tolerance, Cruise speed, Yaw angle, Payload options. Action waypoints are able to perform absolute time synchronizations, delays and payload operations.

A typical waypoint sequence expressed in human language would be something like this:

• Start motors
• Set actual GPS position as home position
• Set cruise speed (e.g. 5m/s)
• Set waypoint position tolerance (e.g.+-3m)
• Set relative start altitude (e.g. 3m)
• Perform auto start
• Fly to absolute position (coordinate [ECEF or LLH])
• Turn 30 degrees North (or wherever)
• Set camera tilt angle (e.g. 45 degrees)
• Trigger camera (to take a photo or start/stop video)
• Delay (e.g. for 3s)
• Fly to relative position (x, y, z [m])
• Perform IO action (e.g. drop a ground marker)
• Delay (e.g. for 3s)
• Execute other commands...
• Return to home position
• Perform auto landing
• Turn off motors

Special macro functions like "POI" (Point of Interest) provide unique capabilities:

If this POI is set then all following waypoints will keep the actual view point (yaw angle and camera tilt).

By setting the POI to the center of a tower you can fly around the tower always looking at the center - automatically!

Typical waypoint performance with about 2m position tolerance:

GPS Position Hold:

GPS / INS Implementation:

Future Improvements / Extensions:

• Integration of WNSL editor and simulator into our basic software package "mdCockpit".
• Support of CAN 2.0B protocol, integration of CAN based customized payload control.
• Support of customized swarm communication.
• Support of object tracking.