Research on key problems in assigned-point recovery of UAV using parachute
| Autor: | Pengyuan Shao, Chengfu Wu, Songhui Ma |
|---|---|
| Rok vydání: | 2013 |
| Předmět: |
Engineering
business.industry Monte Carlo method Process (computing) Control engineering Kalman filter Computer Science::Robotics Attitude control Control theory Robustness (computer science) Realizability Physics::Space Physics Astrophysics::Solar and Stellar Astrophysics Motion planning business Rope |
| Zdroj: | 2013 IEEE International Conference of IEEE Region 10 (TENCON 2013). |
| DOI: | 10.1109/tencon.2013.6719061 |
| Popis: | Analyzing the recovery process of UAV via parachute, three key issues are concluded and studied: modeling of UAV-Parachute system, estimation of wind field and the control strategy for recovery, in which the first and the last are researched mainly. Spring of the rope is introduced to the UAV-Parachute model to reflect the attitudes of UAV and tensile forces of ropes in the process, Kalman filter is used to estimate the wind field, in the control strategy, realizability and robustness to wind-field are mainly taken account for. Taking uncertainty of wind field and random navigation error into consideration, Monte-Carlo simulation is performed for 30 times, and the Circular Error Probability (CEP) is 8.23m, which reveals satisfactory accuracy and robustness of the solution proposed. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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