The purpose of the UAV is provided in:
D. How, B. Barbarich-Bacher, and K. Stol, “Design and Analysis of a UAV for Skydiving.” IEEE Int. Conf. on Unmanned Aircraft Systems (ICUAS’15), 2015.
Table of Contents
1. Simulink model
1.1. General overview
1.2. UAV + wind + track
1.3. UAV overview
1.4. Actuator dynamics
1.5. Aerodynamics
1.6. Aerodynamic velocities
1.7. Aerodynamic force unit
1.8. Body
1.9. Vanes
1.10. Shadowing factor of the aerodynamic vanes
1.11. Kinetics
1.12. Translational velocity differential equation
1.13. Position differential equation
1.14. Rotational velocity differential equation
1.15. Attitude differential equation
1.16. Wind
1.17. Translational wind
1.18. Turbulence
1.19. Rotational wind
1.20. Track
1.21. Attitude and altitude controller
1.22. Position controller
1.23. Position command
1.24. 2-norm of a vector
1.25. Rotation about x-axis
1.26. Transformation from inertial frame to body-fixed frame
1.27. Transformation from Euler frame to body-fixed frame
1.28. Euler frame to body frame transformation matrix
1.29. Displays
1.30. Diver
1.31. Real-Time Pacer
1.32. sky_diver_dat.m
2. Animation
2.1. Animation overview
2.2. sd_sfun.m
2.2.1. setup
2.2.2. start
2.2.2.1. Figure and Axes
2.2.2.2. Hull of the UAV
2.2.2.3. Vanes
2.2.2.4. Hull display
2.2.2.5. x-axis line
2.2.2.6. Field of view
2.2.2.7. Skydiver
2.2.2.8. Video
2.2.2.9. Communication structure
2.2.3. revolve.m
2.2.4. update
2.2.4.1. Hull
2.2.4.2. Vanes
2.2.4.3. x-axis line
2.2.4.4. Skydiver
2.2.4.5. Camera
2.2.4.6. Field of view (FOV)
2.2.4.7. Visibility
2.2.4.8. Video
2.2.5. fov_test.m
2.2.6. terminate
2.2.7. vane_rotate
2.2.7.1. Roll
2.2.7.2. Yaw
2.2.8. m_fg
2.2.9. rotation_about_arbitrary_axis
2.3. Skydiver model
3. Skydiver flight data
3.1. sky_diver_dat.m
4. trimmod
4.1. Documentation
4.1.1. Syntax
4.1.2. Description
4.1.3. Arguments
4.1.4. Example
4.1.5. Menu
4.1.6. Algorithm
4.2. Trimmod overview for UAV and skydiver
Objectives and Topics
This work aims to provide a Simulink-based modeling and animation environment for a UAV tasked with following a skydiver. The primary research question involves how to construct a cascade control system and a 3D animation interface that allows the UAV to dynamically maintain a specific relative position and orientation towards a free-falling subject.
- Mathematical modeling of UAV dynamics, including actuator behavior and aerodynamics.
- Implementation of a cascade control system for autonomous position and attitude tracking.
- Development of a 3D animation subsystem using MATLAB S-functions for real-time visualization.
- Pre-processing and integration of real-world flight test data for comparative simulation analysis.
- Optimization of trim point calculations using numerical algorithms for unaccelerated equilibrium.
Excerpt from the Book
1.2. UAV + wind + track
The top level UAV block (figure 1.2) contains its mathematical model (section 1.3) including actuator dynamics, aerodynamics, and kinetics, its wind process (section 1.16), and the computation of the spherical components of its flight path vector (section 1.20).
The translational flight path velocity vector VK (i. e. the velocity of the UAV with respect to the ground) is the sum of the aerodynamic velocity or airspeed vector VA (i. e. the velocity of the UAV with respect to the air) and the VW (i. e. the velocity of the air with respect to the ground):
VK = VA + VW
The same is true for the rotational velocity vectors:
ΩK = ΩA + ΩW
Summary of Chapters
1. Simulink model: This chapter provides the foundational mathematical models for the UAV, including kinetics, aerodynamics, and the cascade control system designed for autonomous flight.
2. Animation: This chapter details the technical implementation of the 3D visualization subsystem, explaining the use of S-functions to render the UAV and skydiver in real-time.
3. Skydiver flight data: This section covers the method for importing, filtering, and resampling recorded real-world skydive data into the simulation environment.
4. trimmod: This chapter describes the algorithm and GUI used to find unaccelerated equilibrium states (trim points) for the complex Simulink system.
Keywords
Simulink, UAV, Skydiving, Aerodynamics, Cascade Control, 3D Animation, Flight Mechanics, Mathematical Modeling, Real-time Simulation, Sensor Fusion, Trim Algorithm, Newton-Raphson, Spline Interpolation, Vane Actuation, Trajectory Tracking
Frequently Asked Questions
What is the core focus of this publication?
The work focuses on the development of a Simulink-based simulation environment that allows a UAV to autonomously track and follow a skydiver during freefall using a cascade control architecture.
What are the primary thematic areas covered?
The main themes include flight dynamics modeling, cascade control system design, 3D animation through MATLAB S-functions, and numerical trim-point optimization.
What is the primary objective of the simulation?
The objective is to enable the UAV to maintain a constant relative position and attitude to the skydiver, essentially keeping the skydiver within the camera's field of view throughout the descent.
Which scientific methods are utilized?
The work employs 6-DOF (degrees of freedom) flight mechanical modeling, nonlinear system analysis, and a modified multidimensional Newton-Raphson algorithm for finding equilibrium trim states.
What content is discussed in the main body?
The main body covers the derivation of the aerodynamic coefficients, the implementation of the UAV's actuator dynamics, the design of the position and attitude controllers, and the technical integration of animation routines.
Which keywords characterize this work?
Key terms include UAV flight control, skydiver tracking, 3D simulation, Simulink modeling, and aerodynamic trim analysis.
How does the system prevent the UAV from colliding with the skydiver?
The system includes a basic collision detection and prevention algorithm within the position command block, which triggers an automated maneuver to move the UAV to a safer distance if the gap drops below three meters.
What is the role of the 'Real-Time Pacer' block?
The Real-Time Pacer block is used to synchronize the simulation speed with the host computer's wall clock, ensuring the 3D animation runs in real-time provided the hardware performance is sufficient.
How does the animation handle camera perspective?
The animation engine allows for switching between a global perspective and an on-board camera view, with the camera's line-of-sight dynamically aligned with the vector pointing toward the skydiver.
- Citar trabajo
- Prof. Dr.-Ing. Jörg Buchholz (Autor), 2017, Skydiver following camera UAV, Múnich, GRIN Verlag, https://www.grin.com/document/366451
