QUT ePrints

Extracting deck trend to plan descent trajectory for safe landing of UAVs

Yang, Xilin & Mejias, Luis (2012) Extracting deck trend to plan descent trajectory for safe landing of UAVs. In Grant, Ian (Ed.) 28th International Congress of the Aeronautical Sciences, ICAS, Brisbane, Australia.

[img] PDF (836kB)
Available to QUT staff and students only | Request a copy from author

    Abstract

    This paper outlines a feasible scheme to extract deck trend when a rotary-wing unmanned aerial vehicle (RUAV)approaches an oscillating deck. An extended Kalman filter (EKF) is de- veloped to fuse measurements from multiple sensors for effective estimation of the unknown deck heave motion. Also, a recursive Prony Analysis (PA) procedure is proposed to implement online curve-fitting of the estimated heave mo- tion. The proposed PA constructs an appropriate model with parameters identified using the forgetting factor recursive least square (FFRLS)method. The deck trend is then extracted by separating dominant modes. Performance of the proposed procedure is evaluated using real ship motion data, and simulation results justify the suitability of the proposed method into safe landing of RUAVs operating in a maritime environment.

    Impact and interest:

    0 citations in Scopus
    Search Google Scholar™

    Citation countsare sourced monthly from Scopus and Web of Science® citation databases.

    These databases contain citations from different subsets of available publications and different time periods and thus the citation count from each is usually different. Some works are not in either database and no count is displayed. Scopus includes citations from articles published in 1996 onwards, and Web of Science® generally from 1980 onwards.

    Citations counts from the Google Scholar™ indexing service can be viewed at the linked Google Scholar™ search.

    ID Code: 54061
    Item Type: Conference Paper
    Keywords: Rotary-wing UAV, Extended Kalman filter, Prony analysis
    Subjects: Australian and New Zealand Standard Research Classification > ENGINEERING (090000)
    Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > AEROSPACE ENGINEERING (090100) > Aircraft Performance and Flight Control Systems (090104)
    Divisions: Current > Research Centres > Australian Research Centre for Aerospace Automation
    Current > Schools > School of Electrical Engineering & Computer Science
    Current > QUT Faculties and Divisions > Science & Engineering Faculty
    Copyright Owner: Copyright 2012 The authors
    Copyright Statement: The authors confirm that they, and/or their company or organization, hold copyright on all of the original material included in this paper. The authors also confirm that they have obtained permission, from the copyright holder of any third party material included in this paper, to publish it as part of their paper. The authors confirm that they give permission, or have obtained permission from the copyright holder of this paper, for the publication and distribution of this paper as part of the ICAS2012 proceedings or as individual off-prints from the proceedings.
    Deposited On: 10 Oct 2012 08:44
    Last Modified: 21 Mar 2013 04:53

    Export: EndNote | Dublin Core | BibTeX

    Repository Staff Only: item control page