Design of linear multivariable continuous-time tracking systems

Automated control of aircraft in formation flight

“…An on-board sensor capable of providing relative position and velocity information of the lead aircraft with respect to the wing is needed (2) [3][4][5][6][7][8]. A Kalman Filter can be used…”

“…The rotating reference frame origin is aligned with the wing aircraft, with the x-axis aligned to the aircraft's direction of flight, y-axis out the right wing, and the z-axis down toward the earth(2) [3][4][5][6][7][8][9]. The reference frame rotates with respect to the inertial reference frame, as the wing aircraft changes heading.…”

“…The inertial reference frame has a stationary origin, with latitude, longitude, and altitude as its axes(2) [3][4][5][6][7][8][9]. During computer simulation, the lead aircraft begins all maneuvers on the inertial axis, at an altitude of 500 feet, and a zero degrees magnetic heading.…”

“…Each wing aircraft is assumed to possess an on-board sensor capable of providing precise position information relative to the wing aircraft(2) [1][2][3][4][5][6][7][8][9][10][11][12]. This sensor measurement data is used to track the lead aircraft.…”

“…Two coordinate reference frames, an inertial and a rotating reference frame centered on the wing aircraft, are used in this research(2) [3][4][5][6][7][8].…”