The paper addresses the navigation and control challenges of unconventional VTOL UAVs operating in forward-flight conditions. It introduces a tightly-coupled state estimation approach using an Invariant Extended Kalman Filter (IEKF) to estimate aircraft navigation states, sensor biases, and wind velocity. The wind velocity estimates are utilized in the attitude controller and control allocator to enhance performance. The study includes a numerical example with Monte-Carlo simulations demonstrating robustness to various conditions.
Several key points include:
The study provides insights into advanced navigation and control strategies for unconventional VTOL UAVs operating in forward-flight conditions, emphasizing the significance of incorporating explicit wind velocity estimation into the control framework.
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by Mitchell Coh... um arxiv.org 03-04-2024
https://arxiv.org/pdf/2403.00076.pdfTiefere Fragen