Presisie landing van 'n onbemande vliegtuig

[摘要] This thesis presents the design of a control system for the autonomousprecision landing of an unmanned aerial vehicle aided by an infra redcamera for precision position measurements.An optimal kinematics state estimator was designed using two Kalmanfilters. A Monocular vision algorithm that uses markers on the runwaywas developed to supply accurate position measurements on the finalapproach of the landing.Inner-loop controllers as proposed by [14] and implemented in [5] areused to reduce the aircraft dynamics to a point mass with steerable accelerationvector. Outer-loop controllers as proposed by [13] were modifiedand expanded to guide the aircraft on the circuit and final approach.The hardware in the loop simulator that was designed in [6] was expandedfor optical measurements and used to verify the system. An infrared camera node was designed and built to supply the optical measurements.The system was installed on a model aircraft and partially testedwith practical test flights.

[发布机构] Stellenbosch University