  Civil applications for unmanned aerial vehicles (UAVs) have increased rapidly
over the last few years. In the realm of civil applications, many aircraft
carry cameras that are physically fixed to the airframe. While this yields a
simple and robust remote sensing platform, the imagery quality diminishes with
increasing attitude errors. A rudder augmented trajectory correction method for
small unmanned aerial vehicles is discussed in this paper. The goal of this
type of controller is to minimize the lateral image errors of body fixed
non-gimbaled cameras. We present a comparison to current aileron only
trajectory correction autopilots. Simulation and flight test results are
presented that show significant reduction in the roll angle present during
trajectory correction resulting in a large effect on total flight line image
deviations.
