Aircraft dynamics model augmentation for RPAS navigation and guidance

摘要

In this paper, Aircraft Dynamics Model (ADM) augmentation for Remotely Piloted Aircraft System (RPAS) navigation and guidance is presented. This approach provides additional information suitable to compensate for the shortcomings of vision based navigation sensors and Micro-Electromechanical System Inertial Measurement Unit (MEMS-IMU) sensors for attitude determination tasks. The ADM virtual sensor is essentially a knowledge-based module and is used to augment the navigation state vector by predicting RPAS flight dynamics (aircraft trajectory and attitude motion). The ADM employs a rigid body 6-Degree of Freedom (6-DoF) model and is implemented in integrated multi-sensor data fusion architectures. The integration is accomplished with an Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF). After introducing the key mathematical models describing the 6-DoF ADM, the sensor and integrated system performance are compared in a small RPAS integration scheme (i.e., AEROSONDE RPAS platform) exploring a representative cross-section of the aircraft operational flight envelope and a preliminary sensitivity analysis is performed. In addition to a centralised filter, a dedicated ADM processor (i.e., a local pre-filter) is adopted to account for the RPAS manoeuvring envelope in different flight phases, in order to extend the ADM validity time across all segments of the RPAS trajectory. Sensitivity analysis of the errors caused by perturbations in the input parameters of the aircraft dynamics is performed to demonstrate the robustness of the proposed approach. Results verify that the ADM virtual sensor provides improved performance in terms of attitude data accuracy and a significant extension of the ADM validity time is achieved by pre-filtering.