Full Text Available
Note: Clicking the button above will open the full text document at the original institutional repository in a new window.
The design, implementation of a moving platform landing algorithm for an unmanned autonomous helicopter
Thesis (MSc)--Stellenbosch University, 2015.
Saved in:
| Main Author: | |
|---|---|
| Other Authors: | |
| Format: | Thesis |
| Language: | en_ZA |
| Published: |
Stellenbosch : Stellenbosch University
2015
|
| Subjects: | |
| Tags: |
No Tags, Be the first to tag this record!
|
| _version_ | 1867613774339375104 |
|---|---|
| access_status_str | Open Access |
| author | Bellstedt, Philip |
| author2 | Jones, Thomas |
| author_browse | Bellstedt, Philip Jones, Thomas |
| author_facet | Jones, Thomas Bellstedt, Philip |
| author_sort | Bellstedt, Philip |
| collection | Thesis |
| dc_rights_str_mv | Stellenbosch University |
| description | Thesis (MSc)--Stellenbosch University, 2015. |
| format | Thesis |
| id | oai:scholar.sun.ac.za:10019.1/96780 |
| institution | Stellenbosch University (South Africa) |
| language | en_ZA |
| last_indexed | 2026-06-10T12:41:29.531Z |
| license_str | Other — see source repository |
| provenance_str_mv | Harvested via OAI-PMH from SUNScholar — Stellenbosch University Repository |
| publishDate | 2015 |
| publishDateRange | 2015 |
| publishDateSort | 2015 |
| publisher | Stellenbosch : Stellenbosch University |
| publisherStr | Stellenbosch : Stellenbosch University |
| record_format | dspace |
| source_str | SUNScholar — Stellenbosch University Repository |
| spelling | oai:scholar.sun.ac.za:10019.1/96780 The design, implementation of a moving platform landing algorithm for an unmanned autonomous helicopter Bellstedt, Philip Jones, Thomas Stellenbosch University. Faculty of Engineering. Dept. of Electrical and Electronic Engineering. Moving platform landing algorithm -- Design Ship deck landings Unmanned autonomous helicopter UCTD Thesis (MSc)--Stellenbosch University, 2015. ENGLISH ABSTRACT: With a view to future ship deck landings, a moving platform landing algorithm for an unmanned autonomous helicopter was successfully designed and a number of systems were developed in order to implement the landing algorithm. Through a combination of an MCA-based ship motion prediction algorithm and the appropriate analysis of platform motion criteria, a system was developed which can identify valid landing opportunities in real ship motion data recorded at sea state 4 for up to 5 s into the future with a 75% success rate. The bandwidth of the heave motion estimator and controller of the helicopter were increased by the implementation of GPS latency compensation, and velocity and acceleration feed forward terms respectively. The resulting bandwidth of at least 0.2 Hz is sufficient to track the heave motion of a platform which is simulating the motion of a ship at sea state 4 or lower. After the various systems were integrated they were coordinated in a landing state machine. A stationary platform landing was demonstrated successfully during flight tests, verifying the functionality of the landing state machine and the integration of the system. Landings on a platform simulating the motion of a ship at sea state 4 were demonstrated successfully in hardware-in-the-loop simulations. AFRIKAANSE OPSOMMING: Met die oog op toekomstige skip dek landings, is 'n bewegende platformlandingsalgoritme vir 'n onbemande outonome helikopter suksesvol ontwerp en 'n aantal stelsels ontwikkel om die landingsalgoritme te implementeer. Deur 'n kombinasie van 'n MCA-gebaseerde skipbewegingvoorspellingsalgoritme en die toepaslike ontleding van platformbewegingkriteria, is 'n stelsel ontwikkel wat geldige landingsgeleenthede in realeskipbewegingsdata kan identifiseer. Vir skipbewegingsdata wat by seetoestand 4 opgeneem is kan landingsgeleenthede 5 s in die toekoms met ‘n 75% sekerheid identifiseer word. Die bandwydte van die afgeebewegingafskatter en beheerder van die helikopter is deur die implementering van GPS vertragingkompensasie, en snelheid en versnelling vorentoe-voer terme onderskeidelik verhoog. Die gevolglike bandwydte van minstens 0.2 Hz is voldoende om die afgeebeweging van 'n platform te volg wat die beweging van 'n skip by seetoestand 4 of laer simuleer. Nadat die stelsels geïntegreer is is hulle gekoördineer in 'n landingtoestandsmasjien. 'n Stilstaande platform landing is suksesvol gedemonstreer tydens vlugtoetse, wat die funksionaliteit van die landingtoestandsmasjien en die integrasie van die stelsel bewys. Landings op 'n platform wat die beweging van 'n skip by seetoestand 4 simuleer is suksesvol in hardeware-in-die-lus simulasies gedemonstreer. 2015-05-20T09:27:24Z 2015-05-20T09:27:24Z 2015-03 Thesis http://hdl.handle.net/10019.1/96780 en_ZA Stellenbosch University 237 pages : illustrations application/pdf Stellenbosch : Stellenbosch University |
| spellingShingle | Moving platform landing algorithm -- Design Ship deck landings Unmanned autonomous helicopter UCTD Bellstedt, Philip The design, implementation of a moving platform landing algorithm for an unmanned autonomous helicopter |
| title | The design, implementation of a moving platform landing algorithm for an unmanned autonomous helicopter |
| title_full | The design, implementation of a moving platform landing algorithm for an unmanned autonomous helicopter |
| title_fullStr | The design, implementation of a moving platform landing algorithm for an unmanned autonomous helicopter |
| title_full_unstemmed | The design, implementation of a moving platform landing algorithm for an unmanned autonomous helicopter |
| title_short | The design, implementation of a moving platform landing algorithm for an unmanned autonomous helicopter |
| title_sort | design implementation of a moving platform landing algorithm for an unmanned autonomous helicopter |
| topic | Moving platform landing algorithm -- Design Ship deck landings Unmanned autonomous helicopter UCTD |
| url | http://hdl.handle.net/10019.1/96780 |
| work_keys_str_mv | AT bellstedtphilip thedesignimplementationofamovingplatformlandingalgorithmforanunmannedautonomoushelicopter AT bellstedtphilip designimplementationofamovingplatformlandingalgorithmforanunmannedautonomoushelicopter |