Integration of a multi-rate position filter in the navigation system of an Unmanned Aerial Vehicle (UAV) for precise navigation in the Local Tangent Plane (LTP)
By:  Robert C. Perry
Contributors: Naval Postgraduate School (U.S.)
Publisher: Naval Postgraduate School; Available from National Technical Information Service
Published: 1998
Place of publication: Monterey, Calif; Springfield, Va
Language: eng
Number of pages: 63
Description: Differential Global Positioning System (DGPS) provides highly accurate position information, but at update rates of one Hz which is inadequate for precise aircraft terminal maneuvering such as take off and landing. During this period between updates an accurate position estimate in Local Tangent Plane (LTP) can be made using      complementary filtering of the DGPS position and indicatedairspeed. Use of indicated airspeed as the filter velocity input necessitates the transformation from body to inertial (LTP) reference frame using Euler angle  information available from the Inertial Measuring Unit (IMU) or DGPS. This filter provides accurate estimates of both vehicle position and existing wind. These filter outputs of position and wind can then be used as inputs to a     trajectory controller to ultimately enable autonomous launch and recovery of an Unmanned Aerial Vehicle.
Notes: "March 1998."

Thesis advisor(s): Isaac I. Kaminer.

Thesis (M.S. in Aeronautical Engineering) Naval Postgraduate School, March 1998.

Includes bibliographical references (p. 57-58).

Approved for public release; distribution unlimited.

Also available online.

Mode of access: World Wide Web.

System requirements: Adobe Acrobat reader.

US Navy (USN) author.

dk/dk cc:9116 8/6/98.