Advances in aerospace guidance, navigation, and control : selected papers of the 1st CEAS Specialist Conference on Guidance, Navigation and Control

Over the last few decades, both the aeronautics and space disciplines have greatly influenced advances in controls, sensors, data fusion and navigation. Many of those achievements that made the word “aerospace” synonymous with “high–tech” were enabled by innovations in guidance, navigation and control. Europe has seen a strong trans-national consolidation process in aerospace over the last few decades. Most of the visible products, like commercial aircraft, fighters, helicopters, satellites, launchers or missiles, are not made by a single country – they are the fruits of cooperation. No European country by itself hosts a specialized guidance, navigation and controls community large enough to cover the whole spectrum of disciplines. However, on a European scale, mutual exchange of ideas, concepts and solutions is enriching for all. The 1st CEAS Specialist Conference on Guidance, Navigation and Control is an attempt to bring this community together. This book is a selection of papers presented at the conference. All submitted papers have gone through a formal review process in compliance with good journal practices. The best papers have been recommended by the reviewers to be published in this book. Cover 1 Advances in Aerospace Guidance, Navigation and Control 3 ISBN 9783642198168 4 Preface 6 About the Book 8 Contents 10 Part I Atmospheric Applications 15 A Decoupled Approach for Trajectory Generation for an Unmanned Rotorcraft 17 Introduction 17 Path Definition 18 Trajectory Definition 20 Quantification of the Velocity 20 Velocity Minima Search Algorithm 22 Trajectory Following Control 23 Definition of Frames and Transformations 23 Determination of the Velocity Command 24 Determination of the Desired Position on a Spline 25 Summary 27 References 27 A Linear Parameter Varying Controller for a Re-entry Vehicle Benchmark 29 Introduction 29 LPVMAD Re-entry Benchmark 30 LPV Control Design 32 Control Analysis 36 Conclusion 39 References 40 A Low Cost Small UAV Flight Research Facility 43 Introduction 43 UAV Testbeds 44 Onboard Avionics 45 Sensors 45 Flight Computer 47 Ground Control Station 48 Simulation Testing 48 Nonlinear Simulation 49 Software-in-Loop Simulation 49 Processor-in-Loop Simulation 49 Flight Testing 51 Current Activities and Future Directions 53 Conclusion 54 References 54 Adaptive Nonlinear Flight Control and Control Allocation for Failure Resilience 55 Introduction 55 RECOVER Simulation Model 57 Aerodynamic Model Identification 58 Adaptive Nonlinear Control 58 Evaluations of Autopilot Experiments on RECOVER: Engine Separation Scenario 60 Control Allocation 62 Conclusions and Future Work 64 References 64 Coordinated Road Network Search for Multiple UAVs Using Dubins Path 69 Introduction 69 Road Network Search Problem 71 Heuristic Algorithms for Multi-Agent Road Network Search 72 Cluster Algorithm 72 First Route Algorithm 73 Coordinated Road Network Search for Multiple UAVs 74 Generation of the Shortest Edge Permutation 75 Dubins Path Planning 75 MMKP Formulation and MILP Optimisation 77 Numerical Simulations 77 Conclusion 78 References 78 Eigenstructure Assignment and Robustness Improvement Using a Gradient-Based Method 81 Introduction 81 Eigenstructure Assignment 82 Robustness Enhancement Using a Gradient-Based Method 85 Implementation and Results 88 Conclusions 90 References 91 Helical Flight Path Trajectories for Autopilot Evaluation 93 Introduction 94 The Helix Trajectory 94 Automatic Helix Tracking 97 Lateral Control Strategy 98 Longitudinal Control Strategy 98 Transition to the Helix Trajectory 99 Flight Test and Results 100 Summary 103 References 104 Maneuver Envelope Determination through Reachability Analysis 105 Introduction 105 Maneuver Envelope and Reachability 106 Flight Envelope Protection 107 Safe Maneuvering Envelope 107 Reachable Sets 108 Safe Maneuver Envelope through Reachable Set Analysis 109 Semi-lagrangian Reachable Set Analysis 110 Time Evolution 110 Hamilton-Jacobi Partial Differential Equation 111 F-16 Longitudinal Maneuver Envelope 112 F-16 Model 112 Scenarios and Trim Set Determination 113 Airspeed Comparison 114 Altitude Comparison 114 Conclusions and Recommendations 115 References 116 Modelica Landing Gear Modelling and On-Ground Trajectory Tracking with Sliding Mode Control 117 Introduction 117 Virtual Aircraft 118 On-Ground Controller 120 Feedforward Controller 121 Sliding Mode Feedback Controller 123 Anti Wind-Up Limiter 124 Simulation Results 125 Conclusions 127 References 127 Obstacle Avoidance Strategy for Micro Aerial Vehicle 131 Introduction 131 Obstacle Avoidance Strategy 133 Hardware and Configuration 133 Diagram of Obstacle Avoidance Control System 137 Signal Flow and Processing 138 Obstacle Avoidance Controller 140 Simulation 142 Delta Wing MAV Model 142 Autopilot Model 143 Results 144 Testing Airframe 147 Conclusion 148 References 148 Post-Optimal Sensitivities of Flight Trajectories with Respect to Selected Parameters 151 Introduction 151 Aircraft Simulation Model 152 Air Race Trajectory Optimization Problem 155 Parametric Optimal Control Problems with Control and State Constraints 157 Numerical Solution of Optimal Control Problems by Nonlinear Programming Techniques 158 Parametric Sensitivity Analysis 160 Result 161 Conclusions 162 References 162 Simple Control Law Structure for the Control of Airplanes by Means of Their Engines 165 Introduction 165 Motivation for a Structured Control Law with a Low-Gain Tuning 167 Requirements 168 Longitudinal Control 168 Lateral Control 169 Propulsion-Based Control Law 169 Global Control Structure 169 Longitudinal Controller 170 Lateral Controller 171 Mixing Priorities and Outer Loop Protections 172 Inner Loops for Engines Control 173 Summary of Flight Test Results 173 Conclusion 175 References 176 The Development of Perspective Displays for Highly Precise Tracking Tasks 177 Introduction 178 Approach 178 Analysis of Prediction Distance Lpr on Pilot Aircraft System Variables 180 Technique of Research 182 Mathematical Modeling 182 Experimental Investigations 184 Conclusions 188 References 188 UAV Lab, Open Research Platform for Unmanned Aerial Vehicles 189 Introduction 190 The Open-Source UAS with COTS Components 191 Modifications Related to NAV Sensor 193 Experiences with Software and Its Modifications 193 Sensor Calibration and Data Acquisition 193 Control Code Developments 196 Low Level Control: Tracking of Roll and Pitch Doublet References 196 High Level Control: Altitude and IAS Hold, Waypoint Tracking 197 Conclusions 199 References 200 Visibility Cues for Communication Aware Guidance in Cluttered Environments 201 Introduction and Motivation 201 Operational Zone Limits 202 Scenario 204 Motion Map 205 A Priori Data 206 Guidance Cues 206 Dual-Hop Scenario 207 Perimeter Scenario 207 Dynamic Visibility 209 Conclusions and Remarks 211 References 212 Part II Guidance and Control 213 Adaptive Control of a High Agility Model Airplane in the Presence of Severe Structural Damage and Failures 215 Introduction 215 The Aircraft Model 216 Adaptive Control of the FSD ExtremeStar 219 Dynamic Inversion Baseline Controller 220 MRAC Architecture for Adaptive Tracking 221 Validation of Adaptive Controller and Conclusion 224 References 224 Adaptive Control of Non-minimum Phase Modal Systems Using Residual Mode Filters: Part I 227 Introduction 227 Rejection of Persistent Disturbances 228 Conclusions for Part I 234 References 235 Adaptive Control of Non-minimum Phase Modal Systems Using Residual Mode Filters: Part II 237 Introduction 237 Residual Mode Filter Augmentation of Adaptive Controller 237 Simulation Results with RMF 242 Conclusions 244 References 244 Global Tracking Control Structures for Nonlinear Singularly Perturbed Aircraft Systems 249 Introduction 249 Problem Formulation and Model Reduction 251 Reduced-Order Modeling 252 Control Formulation and Stability Analysis 253 Control Law Development 253 Stability Analysis 255 Numerical Simulation 257 Conclusions 259 References 259 Motion Planning for a Fixed-Wing MAV Incorporating Closed-Loop Dynamics Motion Primitives and Safety Maneuvers 261 Introduction 262 Simulation Model and Motion Primitives Generation 263 Problem Formulation 263 Simulation Model with Motion Primitives 263 Motion Primitives Generation 264 Probabilistic Roadmap Global Planner 266 Tree-Based Local Planner with Motion Primitives 268 Simulation Test Runs 271 Summary and Outlook 273 References 273 Novel Dynamic Inversion Architecture Design for Quadrocopter Control 275 Introduction 276 Dynamics of the Quadrocopter 277 Dynamic Inversion 278 Inner Loop – Rotational Dynamics 278 Outer Loop-Translation Dynamics 278 Implementation of the Two-Loop Design 280 Quadrocopter Specifics 280 Actuator Saturations and Sensor Limitation 280 Reference Model 281 Error Controller 282 Control Allocation 282 Pseudo Control Hedging 282 Sensor Data Fusion 283 Experimental Results 283 Conclusion 285 References 285 Parallel Implementation of Constrained Nonlinear Model Predictive Controller for an FPGA-Based Onboard Flight Computer 287 Introduction 287 Classic Nonlinear Model Predictive Control Formulation 289 NMPC Approach with Parallel Implementation 290 General Description of the Proposed NMPC Approach 290 Refinement of NMPC Commands 293 Simulations Results for UAV State Trajectory Planning 293 Scenarios and Control Structure 293 Simulation Results 294 Results for Refined NMPC Commands 297 Hardware Synthesis of Parallel Model Prediction for an FPGA 297 Conclusion 299 References 299 Robust Linear-Parameter Varying Autopilot Design for a Tail/Thrust Vector Controlled Missile 301 Introduction 301 System Model 303 Lateral Dynamics 303 LPV System 305 Controller Design 307 Flight Controller Implementation 309 Nonlinear Simulation 311 Results and Discussion 313 References 314 Part III Sensors, Data Fusion and Navigation 317 A Single Frequency Strapdown Algorithm for Integrating IMUs in ECEF-Frame 319 Introduction 319 Navigation Algorithm for Non-integrating IMUs in e-Frame 320 Solution of the Rotational Initial Value Problem 322 Decomposition and Discretization of the Rotational Initial Value Problem 322 Determination of the Transition Matrix of the e-Frame 322 Determination of the Transition Matrix of the b-Frame 323 Angular Rate between e- and b-Frame from Integrating Gyro Measurements 326 Solution of the Translational Initial Value Problem 326 Non-integrating from Integrating Accelerometer Measurements 326 Velocity from Integrating Accelerometer Measurements 327 Position from Integrating Accelerometer Measurements 328 Single Frequency Strapdown Algorithm in e-Frame 328 Numerical Results 329 Conclusion 332 References 332 Broadband Wind Estimation Algorithm for Gust Load Alleviation 335 Introduction 335 System Model 336 Notation 337 Linear State Space Aircraft Model 337 Disturbance Model 338 System Model 340 Frequency Range Analysis 340 Kalman Filter 341 Algorithm Using Simplified Flight Mechanic Relations 343 Simulation Results 343 Conclusion 345 References 345 Interval Analysis as a System Identification Tool 347 Introduction 347 Interval Analysis 348 Interval Optimization 350 Human Perception Modeling 350 Aircraft Trim 353 Discussion on the Implementation of Interval Methods 356 Conclusions 356 References 357 Investigation of the Attitude Error Vector Reference Frame in the INS EKF 359 Introduction 359 Extended Kalman Filter 360 Simplified Navigation Problem 361 Baseline Simulation Results 365 Analysis of Simulation Results 367 Closed Loop with A1 = "705EI Case 368 Conclusion 370 References 370 Nonlinear Filtering Using Sparse Grids 373 Introduction 373 Discretization 376 Sparse Grids 376 Propagation 377 Measurement Update 380 Expected Values 380 Algorithm and Illustration 381 Example 382 Conclusions 384 References 384 Observability of Star Tracker / Gyro Based Attitude Estimation Considering Time-Variant Sensor Misalignment 387 Introduction 387 Attitude Difference Differential Equation 388 Attitude Representations 388 Theoretical Derivation 389 Application to Star Tracker / Gyro Fusion 390 Observability 393 Theoretical Background 393 Application to Star Tracker / Gyro Fusion 394 Conclusion 397 References 397 Performance Comparison of Maneuver Detection Algorithms 399 Introduction 399 Problem Formulation 400 Detection Algorithms 400 Input Estimation 401 IMM Filtering 405 Comparison of the Algorithms 406 Criteria of Quality 406 Pareto Frontier 407 Comparison of the Pareto Frontiers 408 Comparison of the Computing Time 409 Conclusion 410 References 410 Spacecraft Attitude Estimation and GyroCalibration via Stochastic H$\infty$ Filtering 411 Introduction 412 Statement of the Problem 413 Quaternion H Estimation 415 Attenuation of Process Noise with Unknown Intensity 415 Attenuation of Process Noises with Unknown Intensity and of Measurement Noises with Unknown Intensity b 419 Quaternion and Gyro Drift H Estimation 422 Numerical Simulation 423 Conclusion 428 References 429 Part IV Space Applications 431 Advanced Optical Terrain Absolute Navigation for Pinpoint Lunar Landing 433 Introduction 433 Mission Overview 435 Optical Terrain Absolute Navigation System 435 Landmark Database Creation 436 Lander Acquired Image Landmarks Extraction 437 Border Detection 438 Rim Grouping 439 Ellipse Fitting 439 Database 2D Projection 440 Landmarks Matching 440 Landmark Integrity 441 Absolute Position Estimation 442 Navigation Filter 442 Conclusion and Future Works 443 References 443 Methodologies to Perform GNC Design and Analyses for Complex Dynamic Systems Using Multibody Software 445 Introduction 445 Multibody Dynamics in Aerospace Applications 446 DCAP Software 446 ESA Launch Flight Dynamics Simulator 448 What Makes It Unique 449 GNC Study Applications 449 Generic Launch Vehicle Feasibility Study 449 Spacecraft with No-Conventional Configuration 456 Modelling 456 Conclusions 462 References 463 Optimal Guidance and Control of Lunar Landers with Non-throttable Main Engine 465 Introduction 465 Model of Lunar Lander 466 Coordinate Systems 466 Equations of Motion 467 Trajectory Optimization 469 Constraints and Landing Corridor 469 Optimal Control Problem 469 Results for the Optimal Reference Trajectory 471 Trajectory Control 471 Feedback Control Approach 472 Closed Loop Simulation Results 474 Conclusions 475 References 476 Spiraling Approach for Angles-Only Navigation within On-Orbit Servicing Missions 479 Introduction 479 Concept of Along-Track Separation 481 Angles-Only Navigation 482 Concept of E-/I-Vector Separation and Spiraling Approach 484 Benefits from Spiraling Approach to Angles-Only Singularities 485 Conclusion 485 References 486 Author Index 487 3642198163,9783642198168 Springer 2011 Front Matter....Pages - Front Matter....Pages 1-1 A Decoupled Approach for Trajectory Generation for an Unmanned Rotorcraft....Pages 3-14 A Linear Parameter Varying Controller for a Re-entry Vehicle Benchmark....Pages 15-27 A Low Cost Small UAV Flight Research Facility....Pages 29-40 Adaptive Nonlinear Flight Control and Control Allocation for Failure Resilience....Pages 41-53 Coordinated Road Network Search for Multiple UAVs Using Dubins Path....Pages 55-65 Eigenstructure Assignment and Robustness Improvement Using a Gradient-Based Method....Pages 67-77 Helical Flight Path Trajectories for Autopilot Evaluation....Pages 79-90 Maneuver Envelope Determination through Reachability Analysis....Pages 91-102 Modelica Landing Gear Modelling and On-Ground Trajectory Tracking with Sliding Mode Control....Pages 103-115 Obstacle Avoidance Strategy for Micro Aerial Vehicle....Pages 117-135 Post-Optimal Sensitivities of Flight Trajectories with Respect to Selected Parameters....Pages 137-149 Simple Control Law Structure for the Control of Airplanes by Means of Their Engines....Pages 151-162 The Development of Perspective Displays for Highly Precise Tracking Tasks....Pages 163-174 UAV Lab, Open Research Platform for Unmanned Aerial Vehicles....Pages 175-186 Visibility Cues for Communication Aware Guidance in Cluttered Environments....Pages 187-198 Front Matter....Pages 199-199 Adaptive Control of a High Agility Model Airplane in the Presence of Severe Structural Damage and Failures....Pages 201-211 Adaptive Control of Non-minimum Phase Modal Systems Using Residual Mode Filters: Part I....Pages 213-222 Adaptive Control of Non-minimum Phase Modal Systems Using Residual Mode Filters: Part II....Pages 223-233 Global Tracking Control Structures for Nonlinear Singularly Perturbed Aircraft Systems....Pages 235-246 Motion Planning for a Fixed-Wing MAV Incorporating Closed-Loop Dynamics Motion Primitives and Safety Maneuvers....Pages 247-260 Front Matter....Pages 199-199 Novel Dynamic Inversion Architecture Design for Quadrocopter Control....Pages 261-272 Parallel Implementation of Constrained Nonlinear Model Predictive Controller for an FPGA-Based Onboard Flight Computer....Pages 273-286 Robust Linear-Parameter Varying Autopilot Design for a Tail/Thrust Vector Controlled Missile....Pages 287-301 Front Matter....Pages 303-303 A Single Frequency Strapdown Algorithm for Integrating IMUs in ECEF-Frame....Pages 305-319 Broadband Wind Estimation Algorithm for Gust Load Alleviation....Pages 321-332 Interval Analysis as a System Identification Tool....Pages 333-343 Investigation of the Attitude Error Vector Reference Frame in the INS EKF....Pages 345-357 Nonlinear Filtering Using Sparse Grids....Pages 359-371 Observability of Star Tracker / Gyro Based Attitude Estimation Considering Time-Variant Sensor Misalignment....Pages 373-384 Performance Comparison of Maneuver Detection Algorithms....Pages 385-396 Spacecraft Attitude Estimation and Gyro Calibration via Stochastic H ∞ Filtering....Pages 397-415 Front Matter....Pages 417-417 Advanced Optical Terrain Absolute Navigation for Pinpoint Lunar Landing....Pages 419-430 Methodologies to Perform GNC Design and Analyses for Complex Dynamic Systems Using Multibody Software....Pages 431-450 Optimal Guidance and Control of Lunar Landers with Non-throttable Main Engine....Pages 451-463 Spiraling Approach for Angles-Only Navigation within On-Orbit Servicing Missions....Pages 465-472 Back Matter....Pages -