Improvements of a flying-wing Micro-Air-Vehicle by closing the control-loop on ground

Micro Air Vehicles (MAVs) are a very small Unmanned Vehicles which provide interesting indoor implementations due to its reduced size. Therefore, onboard payload is very restricted, so GPS use is very limited too. The most common payload is video-network and it works independently of vehicle control system. In this context, the autopilot addition in a given MAV platform results in a significant changes that could raise the process and, in the worst case, could be too expensive because of the weight limitation. A proposed solution is to design an autopilot that close the control loop of the System "on ground" and links by the remote control channel. Consequently, the orders are sent from ground station as an emulation of the remote control. To close the control loop of the system would be necessary the telemetry acquisition and send it through audio channel from video-network onboard in the platform. In addition it would be necessary to process the images on ground station to know the attitude and relative position at real time. This is an only indoor solution which is the main MAV actuation environment. Finally, a quad-rotor platform gyro-stabilized as a power plant simplifies immensely the closing of the control loop (in the ground station) implementation since we can divide the MAV control in different subsystems. Such the autopilot is on ground, it does not contribute to raise the weight restrictions, so the MAV's thrust is not compromised. It will be implemented a height stabilization subsystem in a MAV. Los Micro Air Vehicle (MAV) son pequeños vehículos volantes que debido a su reducido tamaño son muy útiles en aplicaciones " indoor " donde el uso de GPS está muy limitado. Una de las cargas de pago más us adas es el vídeo-enlace que, fáciles de embarcar independientemente del sis tema de control del vehículo. Dada una plataforma de vuelo MAV, el poner un pilot o automático dentro de ella supone unas modificaciones importantes que enc arecen el proceso y en algunos casos son prohibitivos debido a la fuerte l imitación de peso. Una solución, en vez de embarcar un piloto automático, sería cerrar el lazo de control en el suelo usando el canal del control man ual remoto del MAV. En vez de mandar el mando órdenes, sería la estación de ti erra quien manda las órdenes emulando el control manual a partir de las imágenes. Para poder cerrar el lazo de control sería necesario mandar un a telemetría adicional a través del canal audio del vídeo-enlace del MAV y h a