Enhanced Hover Control of Quad Tilt Frame UAV under Windy Conditions

Krishnakumar, R.; Rasheed, Anjum; Kumar, Kalyan

doi:10.5772/61231

Cited by 9 publications

(6 citation statements)

References 15 publications

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“…) . Proof: The proof is given in Appendix F. For small channel coefficients, i.e., h → 0, the PDF in (27) has the following transient behavior: If ≥ 1, lim h→0 f hg (h) = 0 and if < 1, lim h→0 f hg (h) = ∞ which is similar to the behavior in the independent Gaussian case, cf. (22).…”

Section: Statistical Gml Model For Correlated Gaussian Fluctuationsmentioning

confidence: 72%

“…In particular, the PDF assumes large values at A 0 , which is expected based on our analytical results, cf. (27), and is also large for small values of h g since < 1 holds for the set of parameters adopted for this figure (see the value of in the figure). Furthermore, combined independent and correlated fluctuations (Ind.…”

Section: Simulations and Discussionmentioning

confidence: 88%

“…Furthermore, we assume that the UAV is in the hovering state. However, in practice, the position and orientation of the UAV are not perfectly constant in the hovering state [27]- [29] and thus, they are modeled as RVs. In particular, let r = (r x , r y , r z ) and ω = (θ, φ, ℘) denote the vectors containing the random position and orientation variables of the UAV, respectively.…”

Section: ) Cumentioning

confidence: 99%

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Statistical Modeling of the FSO Fronthaul Channel for UAV-Based Communications

Najafi

Ajam

Jamali

et al. 2020

IEEE Trans. Commun.

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In this paper, we investigate the statistics of the free space optics (FSO) communication channel between a hovering unmanned aerial vehicle (UAV) and a central unit. Two unique characteristics make UAV-based FSO systems significantly different from conventional FSO systems with static transceivers. First, for UAV-based FSO systems, the incident laser beam is not always orthogonal to the receiver lens plane. Second, both position and orientation of the UAV fluctuate over time due to dynamic wind load, inherent random air fluctuations in the atmosphere around the UAV, and internal vibrations of the UAV. On the contrary, for conventional FSO systems, the laser beam is always perpendicular to the receiver lens plane and the relative movement of the transceivers is limited. In this paper, we develop a novel channel model for UAV-based FSO systems by quantifying the corresponding geometric and misalignment losses (GML), while taking into account the non-orthogonality of the laser beam and the random fluctuations of the position and orientation of the UAV. In particular, for diverse weather conditions, we propose different fluctuation models for the position and orientation of the UAV and derive corresponding statistical models for the GML. We further analyze the performance of a UAV-based FSO link in terms of outage probability and ergodic rate and simplify the resulting analytical expressions for the high signal-to-noise ratio (SNR) regime. Finally, simulations validate the accuracy of the presented analysis and provide important insights for system design. For instance, we show that for a given variance of the fluctuations, the beam width should be properly adjusted to minimize the outage probability. introduce the following new challenges: i) For conventional FSO links, it is typically assumed that the laser beam is orthogonal with respect to (w.r.t.) the receiver lens plane, as orthogonality maximizes the amount of laser power collected by the photo-detector (PD) located behind the lens [12]. However, orthogonality may not hold for UAV-based FSO communication systems. For example, the position of a UAV may depend on the locations and traffic needs of the users, while the CU may not be able to adjust the orientation of the receiver lens due to limited mechanical capabilities. In addition, using one receiver lens and multiple PDs [15], [16], the CU may receive data from several UAVs having different positions. Hence, it is not possible to orthogonally align the laser beams of all UAVs with the receiver lens plane. ii) Unlike 1 The receiver can only capture the fraction of power that falls on its lens. This phenomenon is known as geometric loss. Moreover, misalignment of the center of the optical beam and the center of the receiver lens further increases the geometric loss. This phenomenon is known as misalignment loss [12].

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Section: Statistical Gml Model For Correlated Gaussian Fluctuationsmentioning

confidence: 72%

Section: Simulations and Discussionmentioning

confidence: 88%

Section: ) Cumentioning

confidence: 99%

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Statistical Modeling of the FSO Fronthaul Channel for UAV-Based Communications

Najafi

Ajam

Jamali

et al. 2020

IEEE Trans. Commun.

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“…In addition to single propeller designs, VTOL airframes can also include quad-copter configurations. The use of four (or more) propellers allows the aircraft to achieve lift similarly to the single propeller but allow for enhanced mobility [9]. The below image is an Aeryon Scout VTOL aircraft.…”

Section: Airframementioning

confidence: 99%

Vertical Takeoff and Landing (VTOL) Small Unmanned Aircraft Systems (sUAS)

Mrusek

2021

TTSR

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Technology has paved the way for a variety of applications for unmanned aircraft systems. Vertical takeoff and landing (VTOL) small, unmanned aircraft systems (sUAS). VTOL sUAS aircraft are capable of vertical operation and include rotary, fixed-wing, and hybrid systems which incorporate both rotary and fixed-wing characteristics. There are many advantages to these aircraft, given their size and maneuverability. They are rapidly deployable, do not require the use of a runway, and are capable of translation flight (slow, fast, lateral, etc.). From an industry perspective, there are many applications and uses for these aircraft. In the agriculture industry, these aircraft can be used for aerial mapping and digital imaging. They are also useful in the construction of bridges or buildings, as they can travel to locations which are difficult or unsafe for humans. However, in today's aviation industry, there is a significant emphasis placed on sustainable aviation. Those aircraft that do not fall into this category may not reap the full benefits of today's aviation market. While traditionally, VTOL small, unmanned aircraft were not fuel efficient, advances in technology have created many opportunities for this platform, including electric motors and ultimately, enhanced fuel efficiency.

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“…Due to the development route and broad application prospects of USV, automatic control algorithms such as proportion-integration-differentiation (PID) control, trajectory tracking control, 6 fuzzy control, 7 hover control, 8 neural network control, 9,10 sliding mode control, 11 and saturated control 12 appear in automatic driving. Threedimensional real-time path planning algorithms, 13 artificial potential field method, 14 and improved particle algorithm 15 are proposed in automatic collision avoidance.…”

Section: Introductionmentioning

confidence: 99%

Multichannel adaptive deployment and reliable communication design for unmanned surface vessel

Yin

2020

International Journal of Advanced Robotic Systems

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For the unmanned surface vessel in performing military missions, the safety and controllability are two basic requirements, which need reachable communication channel and reliable data transmission. This article proposes an adaptive switching model with multichannel resource and the unmanned surface vessel shore-to-sea data intercommunication design method. The scheme adopts various mechanisms such as data space, standardized encapsulation, numbering and verification, and active/passive retransmission, which can ensure reliable data transmission and provide reliable communication information for unmanned surface vessel during autonomous mission. A sea trial is also carried out on the unmanned surface vessel control system based on the design scheme. Data analysis shows that the system can successfully realize communication switching and continuous data transformation, which is consistent with design expectation, and guarantees the continuous monitoring and control of unmanned surface vessel by shore-based control station.

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Enhanced Hover Control of Quad Tilt Frame UAV under Windy Conditions

Cited by 9 publications

References 15 publications

Statistical Modeling of the FSO Fronthaul Channel for UAV-Based Communications

Statistical Modeling of the FSO Fronthaul Channel for UAV-Based Communications

Vertical Takeoff and Landing (VTOL) Small Unmanned Aircraft Systems (sUAS)

Multichannel adaptive deployment and reliable communication design for unmanned surface vessel

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