Autonomous carrier landing of a fixed-wing uav withairborne deck motion estimation
Başlık çevirisi mevcut değil.
- Tez No: 715767
- Danışmanlar: DR. KAMESH SUBBARAO
- Tez Türü: Yüksek Lisans
- Konular: Havacılık ve Uzay Mühendisliği, Aeronautical Engineering
- Anahtar Kelimeler: Belirtilmemiş.
- Yıl: 2019
- Dil: İngilizce
- Üniversite: The University of Texas at Arlington
- Enstitü: Yurtdışı Enstitü
- Ana Bilim Dalı: Belirtilmemiş.
- Bilim Dalı: Belirtilmemiş.
- Sayfa Sayısı: 120
Özet
Özet yok.
Özet (Çeviri)
This study focuses on the design, implementation, and evaluation of an autonomous carrier landing system featuring an airborne deck motion estimation module. The three-dimensional dynamics of a fixed-wing UAV with the actuator and engine dynamics are considered. A carrier motion model that accounts for the perturbations caused by various sea states is built. An airborne measurement system, which is composed of a calibrated camera and light-emitting beacons, is utilized to detect several coplanar target points on the moving carrier deck. The known correspondence between the locations of the target points and their coordinates on the focal plane of the camera is exploited in the estimation of the desired touchdown point location and runway attitude. The estimation problem is posed as a nonlinear least-squares problem where the error between the actual value and a current estimate of the measurement is minimized in successive iterations. A second-order, low-pass filter is employed to estimate the velocity of the desired touchdown point. v A reference trajectory is generated based on the estimated motion of the desired touchdown point and a glide path. The dynamic inversion technique is used in the derivation of guidance laws to produce a flight-path command to achieve the reference trajectory. A Linear-Quadratic-Integral (LQI) optimal controller is designed to track the flight-path command and stabilize the aircraft around an equilibrium point. The system is evaluated through simulation. Monte Carlo simulations for various sea states with randomized initial conditions demonstrate robustness, ensuring a wide range of initial conditions and possible scenarios are covered. The system performance is shown to be satisfactory based on several figures of merit, including boarding rate, landing dispersion, angular alignment, and impact velocity even in the worst sea condition considered in this study. Also, the efficiency of the estimation algorithm indicates the feasibility of real-time implementations. In the navigation system, a Position Sensing Diode (PSD) is located on the focal plane of the camera to detect the modulated light emitted by the beacons. The system performance is evaluated for a range of sampling rates of the PSD. Monte Carlo simulations indicate satisfactory performance for a wide range of sampling rates, from 5 Hz to 100 Hz.
Benzer Tezler
- Modeling and attitude control of a quadcopter using model predictive controller
Dört rotorlu bir hava aracı modellemesi ve model öngörülü kontrolör ile yönelim kontrolü
CEMRE ESEMEN
Yüksek Lisans
İngilizce
2019
Mühendislik Bilimleriİstanbul Teknik ÜniversitesiKontrol ve Otomasyon Mühendisliği Ana Bilim Dalı
PROF. DR. AFİFE LEYLA GÖREN
- Katlanabilir kanatlara sahip bir insansız hava aracının tasarımı, üretimi ve testleri
Design, manufacturing and testing on unmanned air vehicle with foldable wings
İREM ÖZGÜR
Yüksek Lisans
Türkçe
2019
Uçak Mühendisliğiİstanbul Teknik ÜniversitesiUçak ve Uzay Mühendisliği Ana Bilim Dalı
PROF. DR. GÖKHAN İNALHAN
- Conceptual design of unmanned aerial vehicle
İnsansız hava aracı kavramsal tasarımı
HEYZEM DOĞUKAN DELİBAŞ
Yüksek Lisans
İngilizce
2021
Savunma ve Savunma Teknolojileriİstanbul Teknik ÜniversitesiSavunma Teknolojileri Ana Bilim Dalı
DR. ÖĞR. ÜYESİ HAYRİ ACAR
- Dikine kalkış ve iniş yapabilen yüksek seyir hızına sahip insansız hava aracı tasarımı ve üretimi
Design and manufacturing of a high cruise speed unmanned aerial vehicle that can take off and land vertically
SEZGİN YOLCU
Yüksek Lisans
Türkçe
2021
Havacılık MühendisliğiDokuz Eylül ÜniversitesiMekatronik Mühendisliği Ana Bilim Dalı
DR. ÖĞR. ÜYESİ MURAT AKDAĞ
- Hibrit bir insansız hava aracının modellenmesi ve kontrolü
Hybrid unmanned aerial vehicle modeling and control
ABDULLAH CAN AL
Yüksek Lisans
Türkçe
2023
Uçak Mühendisliğiİstanbul Gelişim ÜniversitesiUçak Mühendisliği Ana Bilim Dalı
PROF. DR. OSMAN ERGÜVEN VATANDAŞ
DR. ÖĞR. ÜYESİ ABDULLAH ERSAN OĞUZ