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Aerial Recovery Of Micro Air Vehicles: Orbit Estimation And Tracking, Daniel Clarke Carlson

Theses and Dissertations

Aerial recovery of autonomous micro air vehicles (MAVs) presents many unique challenges due to the difference in size and speed of the recovery vehicle and MAV. This thesis presents algorithms to enable an autonomous MAV to estimate the orbit of a recovery vehicle and track the orbit until the final docking phase. Methods for estimating ellipses that are rotated out of the x − y plane are developed and demonstrated through simulation. These algorithms are shown to be robust to noise and stable numerically. Parameter update methods that are computationally inexpensive, such as recursive least squares and Kalman filtering, are …