Specifications
Results of the test campaigns
106
Once the coordinates of the two nearest waypoints are extracted, the straight line
passing through that two points is found using the known equations:
=
+1
+1
,
=
Eq.5
Eq.6
then, the distance between the straight line and the planned waypoint is calculated
using Eq.7, and defining a index which gives an idea of “how close” are the two
trajectories on the plane.
=
(1+
2
)
,
Eq.7
The results of the HIL simulation, using a squared 30x30m guidance tunnel are
shown in the following figures.
Figure 87: Brisighella area, planned vs HIL simulated trajectory