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  • 1
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    An Application of UAV Attitude Estimation Using a Low-Cost Inertial Navigation System (2013)
    In:  CASI
    Details
    Publication Date: 2019-07-12
    Description: Unmanned Aerial Vehicles (UAV) are playing an increasing role in aviation. Various methods exist for the computation of UAV attitude based on low cost microelectromechanical systems (MEMS) and Global Positioning System (GPS) receivers. There has been a recent increase in UAV autonomy as sensors are becoming more compact and onboard processing power has increased significantly. Correct UAV attitude estimation will play a critical role in navigation and separation assurance as UAVs share airspace with civil air traffic. This paper describes attitude estimation derived by post-processing data from a small low cost Inertial Navigation System (INS) recorded during the flight of a subscale commercial off the shelf (COTS) UAV. Two discrete time attitude estimation schemes are presented here in detail. The first is an adaptation of the Kalman Filter to accommodate nonlinear systems, the Extended Kalman Filter (EKF). The EKF returns quaternion estimates of the UAV attitude based on MEMS gyro, magnetometer, accelerometer, and pitot tube inputs. The second scheme is the complementary filter which is a simpler algorithm that splits the sensor frequency spectrum based on noise characteristics. The necessity to correct both filters for gravity measurement errors during turning maneuvers is demonstrated. It is shown that the proposed algorithms may be used to estimate UAV attitude. The effects of vibration on sensor measurements are discussed. Heuristic tuning comments pertaining to sensor filtering and gain selection to achieve acceptable performance during flight are given. Comparisons of attitude estimation performance are made between the EKF and the complementary filter.
    Keywords: Air Transportation and Safety
    Type: NASA/TM-2013-218144 , L-20330 , NF1676L-17460
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 2
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    A Data System for a Rapid Evaluation Class of Subscale Aerial Vehicle (2011)
    In:  CASI
    Details
    Publication Date: 2019-07-12
    Description: A low cost, rapid evaluation, test aircraft is used to develop and test airframe damage diagnosis algorithms at Langley Research Center as part of NASA's Aviation Safety Program. The remotely operated subscale aircraft is instrumented with sensors to monitor structural response during flight. Data is collected for good and compromised airframe configurations to develop data driven models for diagnosing airframe state. This paper describes the data acquisition system (DAS) of the rapid evaluation test aircraft. A PC/104 form factor DAS was developed to allow use of Matlab, Simulink simulation code in Langley's existing subscale aircraft flight test infrastructure. The small scale of the test aircraft permitted laboratory testing of the actual flight article under controlled conditions. The low cost and modularity of the DAS permitted adaptation to various flight experiment requirements.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
    Type: NASA/TM-2011-217145 , L-19991 , NF1676L-12233
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 3
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    Radiated Emissions from a Remote-Controlled Airplane-Measured in a Reverberation Chamber (2011)
    In:  CASI
    Details
    Publication Date: 2019-07-12
    Description: A full-vehicle, subscale all-electric model airplane was tested for radiated emissions, using a reverberation chamber. The mission of the NASA model airplane is to test in-flight airframe damage diagnosis and battery prognosis algorithms, and provide experimental data for other aviation safety research. Subscale model airplanes are economical experimental tools, but assembling their systems from hobbyist and low-cost components may lead to unforseen electromagnetic compatibility problems. This report provides a guide for accommodating the on-board radio systems, so that all model airplane systems may be operated during radiated emission testing. Radiated emission data are provided for on-board systems being operated separately and together, so that potential interferors can be isolated and mitigated. The report concludes with recommendations for EMI/EMC best practices for subscale model airplanes and airships used for research.
    Keywords: Electronics and Electrical Engineering
    Type: NASA/TM-2011-217146 , L-20017 , NF1676L-12559
    Format: application/pdf
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    NASA TECHNICAL REPORTS
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