Robust Relative Positioning & Autonomous Landing of a Flying Wing MAV for Sea Rescue Applications
(2020)Department of Automatic Control
- Abstract
- In this thesis, a study is made into relative positioning and control systems for flying wing Micro Aerial Vehicles (MAVs) intended to be used by the Swedish Sea Rescue Society (SSRS) for the purpose of providing assistance during sea rescue missions. The particular scenario of interest is robust relative positioning to be used for autonomous landing of a MAV on a boat at the end of a rescue mission. Three positioning methods, Global Navigation Satellite System (GNSS), 3D LiDAR and a scaled down version of an nstrument Landing System (ILS) are explored and evaluated through physical testing, modeling and simulation. In addition, a control
system based on Model Predictive Control (MPC) is proposed for autonomous landing of a flying-wing... (More) - In this thesis, a study is made into relative positioning and control systems for flying wing Micro Aerial Vehicles (MAVs) intended to be used by the Swedish Sea Rescue Society (SSRS) for the purpose of providing assistance during sea rescue missions. The particular scenario of interest is robust relative positioning to be used for autonomous landing of a MAV on a boat at the end of a rescue mission. Three positioning methods, Global Navigation Satellite System (GNSS), 3D LiDAR and a scaled down version of an nstrument Landing System (ILS) are explored and evaluated through physical testing, modeling and simulation. In addition, a control
system based on Model Predictive Control (MPC) is proposed for autonomous landing of a flying-wing MAV on a moving boat. A full simulation of the target scenario, including positioning systems, control system and environmental factors is made, from which conclusions about the feasibility of successfully performing a landing for the combined positioning system and landing algorithm are drawn. The results of the thesis indicate, given the proposed landing strategy, that a high performance GNSS would be sufficient to complete this type of landing consistently. The 3D LiDAR solution also shows potential, but is based on a number of assumptions and
simplifications in modeling. The small scale ILS method proposed suffered from precision issues that make it unfit for the target scenario. (Less)
Please use this url to cite or link to this publication:
http://lup.lub.lu.se/student-papers/record/9033169
- author
- Fagerström Hedbrant, Olle and Gemborn Nilsson, Martin
- supervisor
- organization
- year
- 2020
- type
- H3 - Professional qualifications (4 Years - )
- subject
- report number
- TFRT-6104
- other publication id
- 0280-5316
- language
- English
- id
- 9033169
- date added to LUP
- 2020-12-23 11:18:53
- date last changed
- 2020-12-23 11:18:53
@misc{9033169,
abstract = {{In this thesis, a study is made into relative positioning and control systems for flying wing Micro Aerial Vehicles (MAVs) intended to be used by the Swedish Sea Rescue Society (SSRS) for the purpose of providing assistance during sea rescue missions. The particular scenario of interest is robust relative positioning to be used for autonomous landing of a MAV on a boat at the end of a rescue mission. Three positioning methods, Global Navigation Satellite System (GNSS), 3D LiDAR and a scaled down version of an nstrument Landing System (ILS) are explored and evaluated through physical testing, modeling and simulation. In addition, a control
system based on Model Predictive Control (MPC) is proposed for autonomous landing of a flying-wing MAV on a moving boat. A full simulation of the target scenario, including positioning systems, control system and environmental factors is made, from which conclusions about the feasibility of successfully performing a landing for the combined positioning system and landing algorithm are drawn. The results of the thesis indicate, given the proposed landing strategy, that a high performance GNSS would be sufficient to complete this type of landing consistently. The 3D LiDAR solution also shows potential, but is based on a number of assumptions and
simplifications in modeling. The small scale ILS method proposed suffered from precision issues that make it unfit for the target scenario.}},
author = {{Fagerström Hedbrant, Olle and Gemborn Nilsson, Martin}},
language = {{eng}},
note = {{Student Paper}},
title = {{Robust Relative Positioning & Autonomous Landing of a Flying Wing MAV for Sea Rescue Applications}},
year = {{2020}},
}