Effects of Localization on Autonomous Formation Flight:A Simulation-Based Analysis
Başlık çevirisi mevcut değil.
- Tez No: 716692
- Danışmanlar: DR. UMUT DURAK
- Tez Türü: Doktora
- Konular: Makine Mühendisliği, Mechanical Engineering
- Anahtar Kelimeler: Belirtilmemiş.
- Yıl: 2020
- Dil: İngilizce
- Üniversite: Technical University of Clausthal
- Enstitü: Yurtdışı Enstitü
- Ana Bilim Dalı: Belirtilmemiş.
- Bilim Dalı: Belirtilmemiş.
- Sayfa Sayısı: 174
Özet
Damit ein Formationsflug autonom ausgef¨uhrt werden kann, ist relative Positionsinformation der teilnehmenden Flugzeuge erforderlich, welche von den Sensoren und Navigationsl¨osungen geliefert werden. Die relative Positionsinformation, die auch als relative Lokalisierung bezeichnet wird, wird von den automatischen Flugregelungssystemen f¨ur die Ausf¨uhrung der Mission verarbeitet. Da die Sensoren und Navigationsl¨osungen nicht ideal sind, enthaltet die von ihnen gelieferte relative Positionsinformation gewisse Schw¨achen. Diese Schw¨achen haben dann Einfluss auf die Leistung des autonomen Formationsfluges. Unter Ber¨ucksichtigung der relativen Positionsinformation als wesentliche Information, die den Formationsflug erm¨oglicht, untersucht diese Arbeit, wie sich die Schw¨achen der relativen Lokalisierung auf die Leistung des Formationsfluges auswirken. Ein autonomer Formationsflug von zwei Flugzeugen wird auf einer geraden und ebenen Flugbahn betrachtet, bei der der Formationsflug-Regler des Follower-Flugzeugs daf¨ur verantwortlich ist, die relative Position des Flugzeugs an einer kommandierten Stelle in Bezug auf das Leader-Flugzeug aufrechtzuerhalten. Die Schw¨achen der relativen Positionsinformation werden durch drei Parameter repr¨asentiert: die Gr¨osse des Fehlers, die Verz¨ogerung in der Daten¨ubertragung und die Abtastperiode. Die Leistung des Formationsfluges wird durch den maximalen relativen Positionsfehler des Flugzeugs w¨ahrend einer vordefinierten Dauer der Formationshaltung dargestellt. Diese Arbeit verwendet nichtlineare Flugsimulation als Hauptuntersuchungsinstrument. Um die Auswirkungen der zuvor-genannten Parameter auf die Leistung des Formationsfluges herauszufinden, werden wiederholte L¨aufe von Simulationen verwendet, unter denen die Parameterwerte variiert werden. Die Ergebnisse der Simulationen werden grafisch dargestellt. Erg¨anzend zu den Simulationsergebnissen werden systemtheoretische Modelle abgeleitet, die die Auswirkungen der Parameter auf den maximalen relativen Positionsfehler w¨ahrend des Formationsfluges approximieren.
Özet (Çeviri)
In order to execute the formation flight autonomously, the relative position information of the participating aircraft is required, which is obtained from sensors and navigation solutions. The relative position, which is also referred to as relative localization, is then processed by automatic control systems for the execution of the mission. Since the sensors and navigation solutions are not ideal, the relative position information provided by them includes certain deficiencies. These deficiencies eventually have an influence on the performance of the autonomous formation flight. Considering the relative position information as the essential information enabling the formation flight, this work investigates, how the deficiencies of the relative localization affect the performance of the formation flight. An autonomous formation flight of two aircraft is considered on a straight and level flight path, in which the follower aircraft's formation flight controller is responsible for maintaining the aircraft's relative position at a commanded location with respect to the leader aircraft. The deficiencies of the relative position information are represented by three parameters: The magnitude of error, delay and sampling period. The performance of the formation flight is expressed by the maximum relative position error of the aircraft during a predefined duration of formation keeping. This work uses nonlinear flight simulation as the main means of investigation. In order to find out the effects of the aforementioned parameters on the formation flight performance, repetitive runs of simulations are employed, among which the parameter values are varied. The results of the simulations are presented graphically. Complementing the simulation results, system-theoretical models are derived, which approximate the effects of the parameters on the maximum relative position error during formation flight.
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