A master thesis from Aalborg University
Fixed-wing UAV Modeling and State Estimation
Author(s)
Term
4. term
Education
Publication year
2024
Submitted on
2024-05-31
Pages
55 pages
Abstract
This project presents two methods of modelling for a fixed-wing mini-UAV. One using only a priori geometric information, and the other relying on the system identification program for aircrafts SIDPAC. The project also develops an airspeed estimate using Field oriented control variables and governing equations for propellers along with experimental data to establish a proof of concept. Both modelling methods are found to be labor intensive to get going, but useful each in its own, once a solution is constructed. Geometric modelling is reliant on knowing the products of inertia and maximum angle of attack as well as non-dimensional lift coefficient at that angle, all of which are not easily obtained. The system identification is most effective if pre-designed input is applied directly to the actuators, to avoid correlation and ensure excitation. Airspeed from FOC was estimated but could not be validated.
Keywords
UAV ; UAS ; GNSS-denied ; FOC ; Airspeed estimate ; SIDPAC ; Systemidentification ; 6DOF ; parametric model ; non-dimensional coefficient ; Fixed-wing ; drone
Documents
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