• International Journal of Aeronautical and Space Sciences
• /
• v.18 no.3
• /
• pp.565-573
• /
• 2017

This paper presents a multistage in-flight alignment (MIFA) method for a strapdown inertial navigation system (SDINS) suitable for moving vehicles with no initial attitude references. A SDINS mounted on a moving vehicle frequently loses attitude information for many reasons, and it makes solving navigation equations impossible because the true motion is coupled with an undefined vehicle attitude. To determine the attitude in such a situation, MIFA consists of three stages: a coarse horizontal attitude, coarse heading, and fine attitude with adaptive Kalman navigation filter (AKNF) in order. In the coarse horizontal alignment, the pitch and roll are coarsely estimated from the second order damping loop with an input of acceleration differences between the SDINS and GPS. To enhance estimation accuracy, the acceleration is smoothed by a scalar filter to reflect the true dynamics of a vehicle, and the effects of the scalar filter gains are analyzed. Then the coarse heading is determined from the GPS tracking angle and yaw increment of the SDINS. The attitude from these two stages is fed back to the initial values of the AKNF. To reduce the estimated bias errors of inertial sensors, special emphasis is given to the timing synchronization effects for the measurement of AKNF. With various real flight tests using an UH60 helicopter, it is proved that MIFA provides a dramatic position error improvement compared to the conventional gyro compass alignment.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.25 no.6
• /
• pp.536-541
• /
• 2015

In this paper, we propose a the image-based automatic flight control system for the mini drone. Automatic flight system with a camera on the ceiling and markers on the floor and landing position is designed in an indoor environment. Images from the ceiling camera is used not only to recognize the makers and landing position but also to track the drone motion. PC sever identifies the location of the drone and sends control commands to the mini drone. Flight controller of the mini drone is designed using state-machine algorithm, PID control and way-point position control method. From the, The proposed automatic flight control system is verified through the experiments of the mini drone. We see that known makers in environment are recognized and the drone can follows the trajectories with the specific ㄱ, ㄷ and ㅁ shapes. Also, experimental results show that the drone can approach and correctly land on the target positions which are set at different height.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.2345-2348
• /
• 2003

This paper deals with a problem of automatic landing guidance and control system design. The auto-landing control system for the longitudinal motion is designed in the classical PID controller. The controller gains are properly adapted to variation of the performance using fuzzy logic as a gain scheduler for the PID gains. This control logic is applied to the problem of the automatic landing control system design. From the numerical simulation using the 6DOF nonlinear model of the associated airplane, it is shown that the auto-landing maneuver is successfully achieved from the start of the flight conditions: 1500 ft altitude, 250 ft/sec airspeed and zero flight path angle.

• Journal of the Korean Society of Industry Convergence
• /
• v.25 no.4_1
• /
• pp.513-519
• /
• 2022

In this paper, we describe performances of P-PD controllers in the quadrotor system with steady-state error compensation by adding a corrective term to the system input. A decentralized control system using P-PD controllers was successfully implemented on a quadrotor platform. We also presented the results of a mathematical modeling analysis for control the quadrotor and experimental results for each response performance according to the heading reference value in accordance with the mathematical modeling and P-PD controller design. A control experiment with the real system was implemented for the test platform, and the results were evaluated and compared.

• Proceedings of the ESK Conference
• /
• 1998.04a
• /
• pp.167-172
• /
• 1998

Methods of evaluating the physiological activity of the living body are EEG, EOG, Heart rate, and Rectal temperature, etc. In the study of Hagiwara and Araki(1993), they found positive correlations among performance test, physiological measurement, and subjective feeling measurement. Human alertness of pilot directly influences on the flight performance that accomplishes a lot of vigilance task and procedure execution in flight. Accordingly, this paper deals with the quantitative and objective performance test based on tracking error and reaction time by means of the new computer test program into which the perception-motion system of human beings is applies. Throughout this experiment using performance thst, the results suggest that performance capability in state of sleep deprivation 2 hours and alcoholic 0.05 .apaprox. 0.06% in blood were more impaired than one in a normal state, and they further showed statistically significant differences between them, which were influenced by impairment factors of body regulation and pilot's grade. We also obtained the prediction value and the 95% confidence interval of tracking error and reaction time at the normal state for the purpose of distinguishing performance capability between the normal state and the abnormal state. And it is ecpected that the evaluation of human alertness using performance test will be applied to the quantitative assessment of an each pilot's realistic consciousness/attention, and will lead a flight commander to the accurate decision of mission approval prior to a flight.

• Aerospace Engineering and Technology
• /
• v.9 no.2
• /
• pp.105-115
• /
• 2010

This technical paper describes and summarizes the flight test results for the longitudinal and lateal-directional dynamic stability characteristics. The target aircraft is the 4-seat carnard type aircraft, FireFly, which has been developed by KARI. Airborne sensors and real-time telemetry system are constructed to obtain the flight test data. The dynamic stability characteristics should be analyzed and tested by estimaitng the aerodynamic parameters in the dymaic equations of motion. The maximum likelihood estimation technique has been applied to the flight data from chirp, 3211, and doublet control inputs.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.45 no.9
• /
• pp.711-723
• /
• 2017

This paper proposes a flight control system for an organic flight array(OFA) which has a new configuration to consist of multi modularized ducted-fan unmanned aerial vehicles (UAVs). The OFA is able to apply to various missions such as indoor reconnaissance, communication relay, and radar jamming by using capability of hover flight. The OFA has a distinguished advantage due to reconfigurable structure to assemble or separate with respect to its missions or operational conditions. A dynamic modelling of the OFA is derived based on equations of motion of the single ducted-fan modules. In order to apply nonlinear control method, an affine system of attitude dynamics is derived. Moreover, the control system is composed of a back-stepping controller for attitude control and a PID controller for position control. Then the performance of the proposed controller is verified via a numerical simulation under wind disturbance.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.18 no.6
• /
• pp.1399-1411
• /
• 1994

A model helicopter has more versatile flight capability than the fixed-wing aircraft and it can be used as an unmaned vehicle in hazardous area. A helicopter, similar to other aircrafts, is an unstable, multi-input multi-output nonlinear system exposed to strong disturbance. So it should be controlled by robust control theories that can be applied to multivariable systems. In this study, motion equations of hovering are established, linearized and transformed into a state equation form. Various parameters are measured and calculated in other to obtain the stability derivatives in the state equation. Hovering flight controller is designed using the digital LQG/LTR(Linear Quadratic Gaussian/Loop Transfer Recovery) control theory. The designed controller is tested by the nonlinear simulations and implemented on an IBM-PC/386. Experiments were carried out on a model helicopter attached to the 3-DOF gimbal. The designed controller showed satisfactory hovering capability to maintain the hovering for more than 40 seconds.

• International Journal of Aeronautical and Space Sciences
• /
• v.10 no.2
• /
• pp.148-160
• /
• 2009

By the development of recent technology, a new variant of rotorcrafts having four rotors start drawing attention from aerial-robotics engineers more than before. Its potential spans from just being control device test bed to performing difficult task such as carrying surveillance device to unreachable places. In this regards, modeling a quad-rotor is significant in analyzing its dynamic behavior and in synthesizing control system for such a vehicle. This paper summarizes the modeling of a mini quad-rotor aerial vehicle. A first principle approach is considered for deriving the model based on Euler-Newton equations of motion. The result of the modeling is a simulation platform that is expected to acceptably predict the dynamic behavior of the quad-rotor in various flight conditions. Linear models associated with different flight condition can be extracted for the purpose of control synthesis.

• International Journal of Aeronautical and Space Sciences
• /
• v.15 no.4
• /
• pp.412-418
• /
• 2014

This paper describes the development of variable stability system (VSS) control laws for the KFA-i to simulate the dynamics of KFA-m aircraft. The KFA-i is a single engine, Class IV aircraft and was selected as an in-flight simulator (IFS) aircraft, whereas the KFA-m is a simulated aircraft that is based on the F-16 aircraft. A 6-DoF math model of KFA-i aircraft was developed, linearized, and separated into longitudinal and lateral motion for VSS control law synthesis. The KFA-i aircraft has five primary control surfaces: two flaperons, two all movable horizontal tails, and one rudder. Flaperons are used for load control, the horizontal tails are used for pitch and roll rate control, and the rudder is used for yaw rate control. The developed VSS control law can simulate four parameters of the KFA-m aircraft simultaneously, such as pitch, roll, yaw rates, and load. The simulation results show that KFA-i follows the responses of KFA-m with high accuracy.