Vehicle dynamic model based navigation for small UAVS:
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
Zürich
Schweizerische Geodätische Kommission
2018
|
| Schriftenreihe: | Geodätisch-geophysikalische Arbeiten in der Schweiz
101. Band |
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | Vorwort in deutsch, französisch und englisch |
| Beschreibung: | 138 Seiten Diagramme |
| ISBN: | 9783908440475 |
Internformat
MARC
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| 100 | 1 | |a Khaghani, Mehran |e Verfasser |4 aut | |
| 245 | 1 | 0 | |a Vehicle dynamic model based navigation for small UAVS |c Mehran Khaghani |
| 264 | 1 | |a Zürich |b Schweizerische Geodätische Kommission |c 2018 | |
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| 999 | |a oai:aleph.bib-bvb.de:BVB01-030714176 | ||
Datensatz im Suchindex
| _version_ | 1804179132069707776 |
|---|---|
| adam_text | Contents
List of figures xv
List of tables xix
Conventions and Notation xxi
Introduction 1
Context 1
Research Objectives 2
Approach 2
Thesis Outline 3
I Preliminaries 5
1 Integrated Navigation 7
1 1 Fundamentals of INS-based Navigation 8
111 Coordinate Systems 8
112 Attitude Representation 8
113 Frames Definition 11
114 Inertial Navigation System (INS) 15
115 Global Navigation Satellite System (GNSS) 17
1 2 Estimation Methods 18
121 Linear Kalman Filter (KF) 19
122 Extended Kalman Filter (EKF) 21
123 Unscented Kalman Filter (UKF) 22
xi
Contents
1 3 Sensor Error Modeling 22
131 Systematic and Stochastic Errors 22
132 Stochastic Processes 23
133 Stochastic Modeling 24
134 Traditional Methods 25
135 Limitations of Traditional Stochastic Modeling Methods 26
136 Generalized Method of Wavelet Moments (GMWM) 26
2 Basis for Dynamic Modeling of UAVs 27
2 1 Classical Mechanics 27
211 Newtonian-Euler Formulation 27
212 Lagrangian Formulation 28
213 Hamiltonian Formulation 28
2 2 Flight Aerodynamics 29
II VDM-Based Navigation Framework 31
3 Theory and System Architecture 33
3 1 Related Work 33
3 2 Methodology Overview 35
321 Theoretical Benefits of VDM in Navigation 37
3 3 Navigation System Architecture 37
331 General Form of VDM 39
332 Importance of Modeling Earth Effects 40
333 VDM as Process Model 41
3 4 State Space Augmentation 42
341 Actuator Dynamics 43
342 VDM Parameters 43
343 Wind Velocity 44
344 Sensor Errors 44
345 Sensor Mounting Misalignments 45
346 State Vector in Most General Case 47
xii
Contents
3 5 Observation Models 48
351 IMU data 48
352 GNSS Position and Velocity 49
353 Barometric Altitude 50
354 Airspeed 50
4 Fixed-Wing Implementation 53
4 1 VDM for a Typical Fixed-Wing UAV 53
411 Aerodynamic Forces 53
412 Aerodynamic Moments 55
413 Air Density Model 56
414 Actuator Dynamics 56
4 2 Experimental Setup 57
421 Platforms 57
422 Sensor Setup 58
423 Actuators 60
4 3 Filter Setup 60
431 Stochastic Models for Observations 61
432 Initialization 62
433 Model Linearization for EKF 63
III Results and Analyses 65
5 Main Results 67
5 1 Proof of Concept 69
511 Navigation States 69
512 Auxiliary States 70
513 Discussion on Observability 74
5 2 Evaluation of Wind Effects 77
521 Navigation States 77
522 Auxiliary States 79
5 3 Validation of Simulations 82
xiii
Contents
531 Emulation Scenario 84
532 Experimental Scenario 88
533 Observability Discussions for Emulation Scenario 89
534 Observability Discussions for Experimental Scenario 93
5 4 Further Experimental Results 96
541 Calibration Flight 96
542 Evaluation Flight 99
*
6 Further Analyses 105
6 1 Global Sensitivity Analysis 105
611 Theory 106
612 Results 107
6 2 VDM-based Navigation without IMU 110
621 Emulation Scenario 110
622 Experimental Scenario 113
6 3 Computational Cost 115
IV Conclusion Remarks 117
7 Conclusions and Suggestions 119
7 1 Conclusions Remarks 119
7 2 Suggestions for Future Research 121
A Manual Model Linearization for a Simplified Case 123
Appendix 123
Bibliography 138
|
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| illustrated | Not Illustrated |
| indexdate | 2024-07-10T08:15:00Z |
| institution | BVB |
| isbn | 9783908440475 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-030714176 |
| oclc_num | 1066746688 |
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| physical | 138 Seiten Diagramme |
| publishDate | 2018 |
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| series | Geodätisch-geophysikalische Arbeiten in der Schweiz |
| series2 | Geodätisch-geophysikalische Arbeiten in der Schweiz |
| spelling | Khaghani, Mehran Verfasser aut Vehicle dynamic model based navigation for small UAVS Mehran Khaghani Zürich Schweizerische Geodätische Kommission 2018 138 Seiten Diagramme txt rdacontent n rdamedia nc rdacarrier Geodätisch-geophysikalische Arbeiten in der Schweiz 101. Band Vorwort in deutsch, französisch und englisch Flugkörper (DE-588)4154756-1 gnd rswk-swf GNSS (DE-588)1023785544 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content GNSS (DE-588)1023785544 s Flugkörper (DE-588)4154756-1 s DE-604 Geodätisch-geophysikalische Arbeiten in der Schweiz 101. Band (DE-604)BV001895327 101 HEBIS Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=030714176&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Khaghani, Mehran Vehicle dynamic model based navigation for small UAVS Geodätisch-geophysikalische Arbeiten in der Schweiz Flugkörper (DE-588)4154756-1 gnd GNSS (DE-588)1023785544 gnd |
| subject_GND | (DE-588)4154756-1 (DE-588)1023785544 (DE-588)4113937-9 |
| title | Vehicle dynamic model based navigation for small UAVS |
| title_auth | Vehicle dynamic model based navigation for small UAVS |
| title_exact_search | Vehicle dynamic model based navigation for small UAVS |
| title_full | Vehicle dynamic model based navigation for small UAVS Mehran Khaghani |
| title_fullStr | Vehicle dynamic model based navigation for small UAVS Mehran Khaghani |
| title_full_unstemmed | Vehicle dynamic model based navigation for small UAVS Mehran Khaghani |
| title_short | Vehicle dynamic model based navigation for small UAVS |
| title_sort | vehicle dynamic model based navigation for small uavs |
| topic | Flugkörper (DE-588)4154756-1 gnd GNSS (DE-588)1023785544 gnd |
| topic_facet | Flugkörper GNSS Hochschulschrift |
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