Aircraft dynamic navigation for unmanned aerial vehicles

Cork, Lennon R. (2014) Aircraft dynamic navigation for unmanned aerial vehicles. PhD thesis, Queensland University of Technology.


This thesis describes the investigation of an Aircraft Dynamic Navigation (ADN) approach, which incorporates an Aircraft Dynamic Model (ADM) directly into the navigation filter of a fixed-wing aircraft or UAV. The result is a novel approach that offers both performance improvements and increased reliability during short-term GPS outages. This is important in allowing future UAVs to achieve routine, unconstrained, and safe operations in commercial environments. The primary contribution of this research is the formulation Unscented Kalman Filter (UKF) which incorporates a complex, non-linear, laterally and longitudinally coupled, ADM, and sensor suite consisting of a Global Positioning System (GPS) receiver, Inertial Measurement Unit (IMU), Electronic Compass (EC), and Air Data (AD) Pitot Static System.

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438 since deposited on 29 May 2014
126 in the past twelve months

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ID Code: 71396
Item Type: QUT Thesis (PhD)
Supervisor: Campbell, Duncan & Mejias Alvarez, Luis
Keywords: Unmanned Aircraft Systems (UAS), Unscented Kalman Filtering (UKF), Inertial Navigation Systems (INS), Global Positioning System (GPS), GPS/INS Integration, Aircraft Dynamic Modelling (ADM), Aircraft Dynamic Navigation (ADN)
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Institution: Queensland University of Technology
Deposited On: 29 May 2014 02:55
Last Modified: 09 Sep 2015 05:48

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