a new methodology has been proposed to enhance inverse dynamics applications in the process of trajectory planning and optimization in Terrain Following Flights (TFF). The new approach uses least square scheme to solve a general two-dimensional (2D) Terrain Following Flight in a vertical plane. In the mathematical process, Chebyshev polynomials are used to model the geographical data of the terrain in a given route in a manner suitable for the aircraft at hand. The aircraft then follows the modeled terrain with sufficient clearance. In this approach the TF problem is effectively converted to an optimal tracking problem. Results show that. this method provides a flexible approach to solve the TFF problem especially in conditions where the existing temin to he flown over is not mathematically well behaved TABLE OFCONTENTS
This study presents comprehensive studies on practical means to predict aerial-image motion blurs due to the flying vehicle dynamics, including flying altitude; cruising speed; and angular velocities and finally installed camera characteristics; such as, frame rate and image size. The resulting predictions of blur values are in-turn used to generate blurry images to be fed as input data for later use in a de-blurring-in-the-loop of a Mono-simultaneous localization and mapping system. The whole process is coordinated by means of an integrated aerial virtual environment. The integrated aerial virtual environment consists of a three-dimensional graphical engine which could communicate with a full six-degrees of freedom aircraft dynamic simulator to precisely generate trajectories of the flying vehicle. Any accumulated real-time image taken by the camera installed on the aircraft during its mission considers the relevant vehicle states for necessary adjustments. We practically exploit Cþþ, High-Level Shader Language, as well as JSBSim to expand the components of the package. Extensive case-studies show that the developed approach is quite effective in controlled environments.
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