Monotonous trend estimation of deck displacement for automatic landing of rotorcraft UAVs


Autoria(s): Yang, Xilin; Garratt, Matt; Pota, Hemanshu
Data(s)

01/01/2011

Resumo

This paper presents a novel and practical procedure for estimating the mean deck height to assist in automatic landing operations of a Rotorcraft Unmanned Aerial Vehicle (RUAV) in harsh sea environments. A modified Prony Analysis (PA) procedure is outlined to deal with real-time observations of deck displacement, which involves developing an appropriate dynamic model to approach real deck motion with parameters identified through implementing the Forgetting Factor Recursive Least Square (FFRLS) method. The model order is specified using a proper order-selection criterion based on minimizing the summation of accumulated estimation errors. In addition, a feasible threshold criterion is proposed to separate the dominant components of deck displacement, which results in an accurate instantaneous estimation of the mean deck position. Simulation results demonstrate that the proposed recursive procedure exhibits satisfactory estimation performance when applied to real-time deck displacement measurements, making it well suited for integration into ship-RUAV approach and landing guidance systems.

Formato

application/pdf

Identificador

http://eprints.qut.edu.au/63435/

Publicador

Springer Netherlands

Relação

http://eprints.qut.edu.au/63435/1/A_PAPER_JOURNAL_INTELLIGENT_ROBOTIC_SYSTEM.pdf

DOI:10.1007/s10846-010-9474-z

Yang, Xilin, Garratt, Matt, & Pota, Hemanshu (2011) Monotonous trend estimation of deck displacement for automatic landing of rotorcraft UAVs. Journal of Intelligent & Robotic Systems, 61(1), pp. 267-285.

Direitos

UNSW at Canberra

Fonte

Australian Research Centre for Aerospace Automation; School of Electrical Engineering & Computer Science; Science & Engineering Faculty

Palavras-Chave #090104 Aircraft Performance and Flight Control Systems #091104 Ship and Platform Hydrodynamics #Prony analysis #Automatic landing #Unmanned aerial system
Tipo

Journal Article