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Integrated Navigation and Ground Effect Identification in Autolanding of UAV Utilizing Heuristic Filters

Mohammad Karimi, Hamed | 2018

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  1. Type of Document: Ph.D. Dissertation
  2. Language: Farsi
  3. Document No: 51422 (45)
  4. University: Sharif University of Technology
  5. Department: Aerospace Engineering
  6. Advisor(s): Nobahari, Hadi
  7. Abstract:
  8. In this study, integrated navigation systems that utilize velocity-matching algorithm and are used in automatic landing of Unmanned Aerial Vehicles (UAV) are investigated. At first, the accuracy of the navigation system in the landing phase is analyzed and the relationship between the accuracy of inertial sensors, flight parameters and the accuracy of the navigation system is derived analytically. Then, by integrating the dynamic model of the UAV and the inertial measurement unit, a new algorithm for navigation of fixed-wing UAVs is presented. The integration mechanism of the proposed algorithm is tightly coupled; hence, it is capable to eliminate the errors of UAV model and inertial system. Then, Ground Effect (GE) phenomenon and the way it affects the landing phase, have been investigated. To compensate the effects of the GE in the landing phase, an adaptive controller has been used. The proposed navigation algorithm, in addition to accurately estimating the navigation parameters (including height), estimates the GE parameters to be compensated in the control loop. Simulation results show that the proposed method can perform the landing with proper accuracy. At last, the landing maneuver has been investigated utilizing heuristic filters. It is found that these filters have more robustness than the classic ones
  9. Keywords:
  10. Unmanned Aerial Vehicles (UAV) ; Automatic Landing ; Ground Effect ; Heuristic Filter ; Inertial Navigation System ; Integrated Inertial Navigation ; Model-aided Navigation

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