**2.2.1 ServoHeli-40 helicopter**

ServoHeli-40 aerial vehicle is a high reliability helicopter. It uses traditional helicopter configuration of single-rotor with tail rotor. The power is come from 8hp twin-cylinder twostroke air-cooled gasoline engine. The fuselage of the helicopter is constructed with aluminium. The bearings and the other parts are standard industry parts. So it is easy to buy and repair. ServoHeli-40's maximum takeoff weight is 40Kg, and its maximum payload is 15 kg. It can carry different kinds of instruments to do experiment. The rotor diameter is

Application of Wavelets Transform in Rotorcraft UAV's Integrated Navigation System 619

Compared with previous generation, this navigation system uses independent processor. We choose LPC3250 as the calculation and acquisition processor. A two-stage EKF is implemented to estimate the flight state. Further research in navigation theory can be

The IMU, GPS, barometer, magnetometer and processor are integrated in a compact circuit, as shown in Figure 5. The primary parameters of compacted navigation system are shown in

> Angular Rate Range: 300 / sec Acceleration Range: 18*g* Digital Output Format: SPI

Position Accuracy (CEP): 3m Digital Output Format: Uart

Pitch, Roll Angular Range: 40

Sensor range: 15 to 115 kPa

Update Rate: 50 Hz Size: 23 × 23 ×23mm

Update Rate: 4Hz Size: 17 × 22.4 × 3mm

Analog Output Update Rate: 20 Hz

Analog Output Update Rate: 50 Hz Size: 7.5 × 10 ×10mm

The fight control processor uses the same processor as the navigation system, so we can share the code of the operating system and reduce the debug time. The LPC3250 with an ARM926EJ-S CPU Core implementation uses Harvard architecture with a 5-stage pipeline and operates at CPU frequencies up to 266 Hz. The Vector Floating Point (VFP) coprocessor makes the micro controller suitable for advanced navigation and control algorithm, and processing speed and interface versatility is guaranteed. The industry standard operation

**Sensor PARAMETERS**

*ADIS16355 IMU* 

*U-Blox LEA-5H GPS* 

*SmartSens Magneto-inductive Compass* 

> *MPXA6115A Barometer*

conducted by using this system.

Fig. 5. The navigation system

Table 2. Sensors Parameters

**2.2.3 Flight control system** 

Table2.

2150 mm. The total height of the helicopter is 770mm, the full width of it is 720mm, and the total length is 2680mm. The maximum airspeed is 100 km/h, and it can cruise 1 hour at 36 km/h speed.
