Unmanned Aerial Vehicle Trajectory Tracking Using Particle Filter

• Main Authors: Liang-Chuan Wang, 王亮權
• Other Authors: 溫志煜
• Format: Others
• Language: en_US
• Online Access: http://ndltd.ncl.edu.tw/handle/75567856987355207757

碩士 === 國立中興大學 === 電機工程學系所 === 97 === The objective of this thesis is to design algorithms for tracking the trajectory of UAV. A reference path is generated and recorded by flight simulator software, X-Plane, which provides the flight information to guide the UAV towards the target path. The flight motion is modeled with linear ordinary differential equations, considering both longitudinal and lateral motion. The stability derivatives and aerodynamic coefficients of dynamic equations are derived from flying situations and specifications of UAV and airfoil. Based on the flight dynamics, particle filter is applied to estimate the control inputs of dynamic equations. The proposed algorithm is verified through the simulation results for takeoff, level flight and landing, which demonstrate that the proposed scheme is feasible to make a UAV track a given flight trajectory.