Autonomous Trajectory Tracking Control for a Large-Scale Unmanned Helicopter under Airflow Influence

Table 1

Waypoint information.

Way Points	0	1	2	3	4	5	6	7	8	9	10	11	12	13	14
longitude(°)	99.800	99.798	99.785	99.807	99.825	99.840	99.859	99.879	99.891	99.841	99.823	99.815	99.813	99.801	99.800
Latitude°)	40.406	40.404	40.392	40.379	40.367	40.381	40.398	40.417	40.427	40.427	40.427	40.419	40.417	40.407	40.406
Height(m)	20	20	120	280	400	500	600	400	400	200	200	200	200	20	20
Heading(°)	220	220	130	130	40	40	40	40	270	270	220	220	220	220	220
Speed(m/s)	20	20	20	20	20	20	20	20	20	20	20	10	10	1	0