Presisie landing van 'n onbemande vliegtuig

Visser, Bernardus Johannes (2008-12)

Thesis (MScEng (Electrical and Electronic Engineering)--Stellenbosch University, 2008.


This thesis presents the design of a control system for the autonomous precision landing of an unmanned aerial vehicle aided by an infra red camera for precision position measurements. An optimal kinematics state estimator was designed using two Kalman filters. A Monocular vision algorithm that uses markers on the runway was developed to supply accurate position measurements on the final approach of the landing. Inner-loop controllers as proposed by [14] and implemented in [5] are used to reduce the aircraft dynamics to a point mass with steerable acceleration vector. Outer-loop controllers as proposed by [13] were modified and expanded to guide the aircraft on the circuit and final approach. The hardware in the loop simulator that was designed in [6] was expanded for optical measurements and used to verify the system. An infra red camera node was designed and built to supply the optical measurements. The system was installed on a model aircraft and partially tested with practical test flights.

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