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Vision-Based Guidance For Air-To-Air Tracking And Rendezvous Of Unmanned Aircraft Systems, Joseph Walter Nichols
Vision-Based Guidance For Air-To-Air Tracking And Rendezvous Of Unmanned Aircraft Systems, Joseph Walter Nichols
Theses and Dissertations
This dissertation develops the visual pursuit method for air-to-air tracking and rendezvous of unmanned aircraft systems. It also shows the development of vector-field and proportional-integral methods for controlling UAS flight in formation with other aircraft. The visual pursuit method is a nonlinear guidance method that uses vision-based line of sight angles as inputs to the algorithm that produces pitch rate, bank angle and airspeed commands for the autopilot to use in aircraft control. The method is shown to be convergent about the center of the camera image frame and to be stable in the sense of Lyapunov. In the lateral …
Development Of A Sense And Avoid System For Small Unmanned Aircraft Systems, Robert Andrew Klaus
Development Of A Sense And Avoid System For Small Unmanned Aircraft Systems, Robert Andrew Klaus
Theses and Dissertations
Unmanned aircraft systems (UAS) represent the future of modern aviation. Over the past 10 years their use abroad by the military has become commonplace for surveillance and combat. Unfortunately, their use at home has been far more restrictive. Due to safety and regulatory concerns, UAS are prohibited from flying in the National Airspace System without special authorization from the FAA. One main reason for this is the lack of an on-board pilot to "see and avoid" other air traffic and thereby maintain the safety of the skies. Development of a comparable capability, known as "Sense and Avoid" (SAA), has therefore …