%0 Journal Article %A Igor Astrov and Andrus Pedai %D 2010 %J International Journal of Computer and Systems Engineering %B World Academy of Science, Engineering and Technology %I Open Science Index 45, 2010 %T Flight Control of a Trirotor Mini-UAV for Enhanced Situational Awareness %U https://publications.waset.org/pdf/5209 %V 45 %X This paper focuses on a critical component of the situational awareness (SA), the control of autonomous vertical flight for an unmanned aerial vehicle (UAV). Autonomous vertical flight is a challenging but important task for tactical UAVs to achieve high level of autonomy under adverse conditions. With the SA strategy, we proposed a two stage flight control procedure using two autonomous control subsystems to address the dynamics variation and performance requirement difference in initial and final stages of flight trajectory for a nontrivial nonlinear trirotor mini-UAV model. This control strategy for chosen mini-UAV model has been verified by simulation of hovering maneuvers using software package Simulink and demonstrated good performance for fast SA in realtime search-and-rescue operations. %P 825 - 831