Safety Enhancement using SLAM Assisted Flight Control System (SAFCS)in Low-Level Flights

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Alizadeh, Hamid Reza | 2022

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 54985 (45)
University: Sharif University of Technology
Department: Aerospace Engineering
Advisor(s): Malaek, Mohammad Bagher
Abstract:
Ultralight aircraft (VLA category) are usually piloted by novice pilots under Visual Flight Rules (VFR). In this work, we demonstrate how newly developed techniques in robotics could be used to enhance flight safety in this category of aircraft, especially during landing around sunset. In this research we have investigated the ability of Simultaneous Localization And Mapping (SLAM) algorithms in low level flight just before touch-down. Different case-studies show that SLAM algorithm is efficient in detecting the runway threshold. Comparing five different methods of parameterizations for landmarks detection including: (1) Plucker, (2) Anchored Plucker, (3) Homogeneous, (4) Anchored Homogeneous, and (5) Inverse Depth, authors have concluded that the accuracy of Anchored Homogenoius, and Inverse-Depth works more efficiently as compared to other algorithms. Further investigation might be necessary for other climatic conditions like rainy and snowy weathers
Keywords:
Mapping ; Localization ; Landmarks ; Simultaneous Localization and Mapping (SLAM) ; Aerospace Safety ; Very Light Aircraft ; Low Level Flight

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