Implementation of an UAV Guidance, Navigation and Control System based on the CAN data bus: Validation using a Hardware In the Loop Simulation

We describe the design and implementation of a Guidance, Navigation and Control (GNC) System for fixed wing Unmanned aerial vehicles (UAVs). This system allows an autonomous navigation by following a desired trajectory defined by a profile of airspeed, altitude and a list of waypoints. The GNC system has a hierarchical architecture and integrates the Controller Area Network data bus, which facilitate the process of implementation and testing. The results of Hardware In the Loop simulations and real-time performances demonstrate the soundness of the implemented system. This article gives the necessary details so the proposed implementation will be reproducible by other searchers.