Accession Number:

ADA346060

Title:

Integration of a Multi-Rate Position Filter in the Navigation System of an Unmanned Aerial Vehicle (UAV) for Precise Navigation in the Local Tangent Plane (LTP)

Descriptive Note:

Master's thesis

Corporate Author:

NAVAL POSTGRADUATE SCHOOL MONTEREY CA

Personal Author(s):

Report Date:

1998-03-01

Pagination or Media Count:

74.0

Abstract:

Differential Global Positioning System DGPS provides highly accurate position information, but at update rates of one Hz which is inadequate for precise aircraft terminal maneuvering such as take off and landing. During this period between updates an accurate position estimate in Local Tangent Plane LTP can be made using complementary filtering of the DGPS position and indicated airspeed. Use of indicated airspeed as the filter velocity input necessitates the transformation from body to inertial LTP reference frame using Euler angle information available from the Inertial Measuring Unit IMU or DGPS. This filter provides accurate estimates of both vehicle position and existing wind. These filter outputs of position and wind can then be used as inputs to a trajectory controller to ultimately enable autonomous launch and recovery of an Unmanned Aerial Vehicle.

Subject Categories:

  • Pilotless Aircraft
  • Air Navigation and Guidance

Distribution Statement:

APPROVED FOR PUBLIC RELEASE