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The benefits and the feasibility of the proposed approach for UAS flight plan management are demonstrated by means of a simulated mission that performs the flight inspection of Radio Navigation Aids.įlightgear Flight Simulator. In this way, the advanced capabilities provided by the flight plan specification language are implemented as a new layer on top of existing technologies. To take advantage of current off-the-shelf flight control systems the constructs included in the flight plan are translated to waypoint navigation commands. The paper also covers the design and implementation of a software component that manages execution of the flight plan. Extensions include the addition of control constructs that enable repetitive and conditional behavior, and also parametric legs that can be used to generate complex paths from a reduced number of parameters. Several RNAV leg types are adopted and extended with new ones for a better adaptation to UAS requirements. The proposed method borrows the leg and path terminator concepts used in Area Navigation 1 (RNAV). This paper presents a new concept for specifying Unmanned Aircraft Systems (UAS) flight operations that aims at improving the waypoint based approach, found in most autopilot systems, by providing higher level fligh plan specification primitives.