This article is a technical report on the two different guidance systems based on vector fields that can be found in Paparazzi, a free sw/hw autopilot. Guiding vector fields allow autonomous vehicles to track paths described by the user mathematically. In particular, we allow two descriptions of the path with an implicit or a parametric function. Each description is associated with its corresponding guiding vector field algorithm. The implementations of the two algorithms are light enough to be run in a modern microcontroller. We will cover the basic theory on how they work, how a user can implement its own paths in Paparazzi, how to exploit them to coordinate multiple vehicles, and we finish with some experimental results. Although the presented implementation is focused on fixed-wing aircraft, the guidance is also applicable to other kinds of aerial vehicles such as rotorcraft.

翻译：这是关于基于矢量字段的两种不同指导系统的技术报告,可在Paparazzzi(免费的 Sw/hw自动驾驶)中找到。指导矢量字段允许自主飞行器跟踪用户数学描述的路径。特别是,我们允许对路径进行两个隐含或参数函数的描述。每种描述都与其相应的矢量场指导算法相关。两种算法的实施足够轻,可以在一个现代微控制器中运行。我们将涵盖关于它们如何运作、用户如何在Paparazzzi实施自己的路径、如何利用它们来协调多部飞行器、如何利用它们来完成一些实验结果的基本理论。虽然所提出的实施重点是固定翼飞行器,但指南也适用于其他类型的航空飞行器,如旋翼飞行器。