核心概念
This paper presents a solution for the state estimation and control problems for unconventional VTOL UAVs in forward-flight conditions using an Invariant Extended Kalman Filter. The approach improves performance by incorporating wind velocity estimates into the attitude controller and control allocator.
摘要
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:
- Increasing use of VTOL UAVs for diverse applications.
- Consideration of tailsitter-type VTOL UAVs with unconventional configurations.
- Importance of estimating aircraft states and wind velocity for reliable performance.
- Application of SO(3)-based attitude controller without separate sideslip loop.
- Use of control allocator to determine actuator usage for desired moments.
- Integration of wind velocity estimates into control strategies for improved performance.
- Detailed modeling of aerodynamic forces on segments for accurate control allocation.
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.
統計資料
Changes were made to this version by the publisher prior to publication. DOI: 10.1109/LRA.2020.2966406
MITACS Accelerate and NSERC Discovery Grants Program supported this work.