Unmanned Aerial Vehicles Flight Safety Improvement Using In-Flight fd

Mattei, Andre Luiz Pierre; Orbital, Engenharia S. A.; Toledo, Cláudio Fabiano Motta; Arantes, Jesimar da Silva; Trindade, Onofre

doi:10.4236/iim.2021.132005

Cited by 6 publications

(4 citation statements)

References 35 publications

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“…Mavlink is also used for the communication between ground control software and autopilots, such as the very popular ARM-cortex-based Pixhawk autopilot family. More detail about the Mavlink protocol can be found in [21,23]. Enhanced security protocols such as MAVsec [24] were also developed for missions requiring more secure communication.…”

Section: Groundstation Programmes and Communication Protocolsmentioning

confidence: 99%

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A Tutorial and Review on Flight Control Co-Simulation Using Matlab/Simulink and Flight Simulators

Horri

Pietraszko

2022

Automation

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Flight testing in a realistic three-dimensional virtual environment is increasingly being considered a safe and cost-effective way of evaluating aircraft models and their control systems. The paper starts by reviewing and comparing the most popular personal computer-based flight simulators that have been successfully interfaced to date with the MathWorks software. This co-simulation approach allows combining the strengths of Matlab toolboxes for functions including navigation, control, and sensor modeling with the advanced simulation and scene rendering capabilities of dedicated flight simulation software. This approach can then be used to validate aircraft models, control algorithms, handle flight characteristics, or perform model identification from flight data. There is, however, a lack of sufficiently detailed step-by-step flight co-simulation tutorials, and there have also been few attempts to evaluate more than one flight co-simulation approach at a time. We, therefore, demonstrate our own step-by-step co-simulation implementations using Simulink with three different flight simulators: Xplane, FlightGear, and Alphalink’s virtual flight test environment (VFTE). All three co-simulations employ a real-time user datagram protocol (UDP) for data communication, and each approach has advantages depending on the aircraft type. In the case of a Cessna-172 general aviation aircraft, a Simulink co-simulation with Xplane demonstrates successful virtual flight tests with accurate simultaneous tracking of altitude and speed reference changes while maintaining roll stability under arbitrary wind conditions that present challenges in the single propeller Cessna. For a medium endurance Rascal-110 unmanned aerial vehicle (UAV), Simulink is interfaced with FlightGear and with QGroundControl using the MAVlink protocol, which allows to accurately follow the lateral UAV path on a map, and this setup is used to evaluate the validity of Matlab-based six degrees of freedom UAV models. For a smaller ZOHD Nano Talon miniature aerial vehicle (MAV), Simulink is interfaced with the VFTE, which was specifically designed for this MAV, and with QGroundControl for the testing of advanced H-infinity observer-based autopilots using a software-in-the-loop (SIL) simulation to achieve robust low altitude flight under windy conditions. This is then finally extended to hardware-in-the-loop (HIL) implementation on the Nano Talon MAV using a controller area network (CAN) databus and a Pixhawk-4 mini autopilot with simulated sensor models.

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Section: Groundstation Programmes and Communication Protocolsmentioning

confidence: 99%

“…In [21], Labview and Xplane were interfaced for the analysis of the failure modes and effects of a small UAV using a Systems-Theoretic Process Analysis (STPA) framework. There have, however, been insufficient systematic studies or comparisons of the predominant solutions and of their strengths and limitations.…”

Section: Introductionmentioning

confidence: 99%

A Tutorial and Review on Flight Control Co-Simulation Using Matlab/Simulink and Flight Simulators

Horri

Pietraszko

2022

Automation

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“…However, we are not assuming a dynamic scenario like the one described in (LUIS; VUKOSAVLJEV; SCHOELLIG, 2020). Harpia deals with non-fly zones similar to (MATTEI et al, 2021), but without defining all those risk requirements or using a state machine for autonomous behavior. Our autonomous system avoids obstacles or non-fly areas by solving a non-convex path planning problem similar to (ARANTES et al, 2016), (ARANTES et al, 2019) and (SOUZA; TOLEDO, 2020).…”

Section: Discussionmentioning

confidence: 99%

“…The work in (MATTEI et al, 2021) extends the IFA, proposing a novel onboard system called In-Flight Awareness Augmentation System (IFA 2 S) to improve flight safety. The system introduces a top-down control structure and a state machine, as shown by Figure 9 to allow IFA 2 S solutions assessment.…”

Section: Uav Applicationsmentioning

confidence: 99%

Harpia: A Hybrid System for UAV Missions

Vannini

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Ao meu pai Guto, que sempre foi um modelo para mim de sabedoria e conhecimento, a minha mãe Vanice, que com muito amor me ensinou a olhar a beleza de cada dia, a minha irmã Isadora, que me ensinou resiliência e companheirismo e ao Karl que sempre esta disposto a ajudar, e ao Thomas, meu sobrinho que trouxe um pouco mais de felicidade pra família.Aos meus avós, Álvaro, Nancy, Walter e Vany, por sempre perguntarem como anda meus estudos, e mesmo sem entender o que eu faço, mantém o interesse em minhas pesquisas.Ao meu professor e orientador Dr. Cláudio Fabiano Motta Toledo, que com extrema paciência me orientou, ensinou e me motivou -da sua mais carioca forma possível -a continuar. Obrigada por acreditar em mim e no meu projeto. Ao professor Dr. Onofre Trindade Jr., que mesmo aposentado continua me apoiando e me ensinando.Aos meus alunos de IC, Gustavo, Matheus, Pedro e Rafael, que me mostraram como muitas vezes é mais difícil estar do lado do orientador, mas também por todo apoio e trabalho desenvolvido neste tempo.A todas do Basquete CAASO, vocês me ajudaram a me tornar a melhor versão de mim, e sem vocês eu não teria aguentado esses dois anos. Aos amigos, Antônio, Camila, Paula, Rafael, Elisa, Ryan e Beatriz, que mesmo quando longe, estão presentes.Ao Instituto SENAI de inovação pela bolsa de doutorado concedida e a oportunidade de levar meu projeto para um ambiente de aplicação real.O presente trabalho foi realizado com apoio da Coordenação de Aperfeiçoamento de Pessoal de Nível Superior -Brasil (CAPES) -Código de Financiamento 001 "Nothing happened" (Roronoa Zoro) RESUMO

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