Vector field guidance law for fixed wing UAV

In this paper, a guidance law for tracking straight-line segment and a constant-altitude circular orbits are proposed for a fixed wing unmanned aerial vehicle (UAV). Both guidance laws are based on the notion of vector fields, which are used to generate desired commands to the inner-loop attitude controller. Ground track heading error and lateral following error approach zero asymptotically even in an environment with presence of constant wind disturbance. Finally we use the MAV3DSim to validate the develop guidance laws using hardware in the loop simulation.