Reduction of the Influence of Interfering Signals on the Longitudinal Control of UAVs with Fixed Wing
The presented study offers a comprehensive insight in design and application of the Kalman filters for improvement of control efficiency of small unmanned aerial vehicles with fixed wing. The presented control scheme of the UAV includes its model, a servo drive model, and an optimal proportional-int...
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Published in | International Journal of Aerospace Engineering Vol. 2023; pp. 1 - 19 |
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Main Authors | , , , |
Format | Journal Article |
Language | English |
Published |
Hindawi
14.08.2023
Hindawi Limited Wiley |
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Abstract | The presented study offers a comprehensive insight in design and application of the Kalman filters for improvement of control efficiency of small unmanned aerial vehicles with fixed wing. The presented control scheme of the UAV includes its model, a servo drive model, and an optimal proportional-integral-derivative (PID) controller for the selected flight speed. Subsequently, process noise and measurement noise components were introduced into the whole constructed UAV model. The process noise was formed by disturbances caused by horizontal and vertical airflow in the atmosphere. The measurement noise contained deterministic and stochastic errors of the inertial measurement unit (IMU) UAV sensors and engine noise. The obtained results showed that the designed optimal Kalman filter was able to eliminate the influence of interfering signals from the control process and increased the phase safety, controllability, and stability of UAV control as a lean design can be applied in real-time control systems like Pixhawk PX4. |
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AbstractList | The presented study offers a comprehensive insight in design and application of the Kalman filters for improvement of control efficiency of small unmanned aerial vehicles with fixed wing. The presented control scheme of the UAV includes its model, a servo drive model, and an optimal proportional-integral-derivative (PID) controller for the selected flight speed. Subsequently, process noise and measurement noise components were introduced into the whole constructed UAV model. The process noise was formed by disturbances caused by horizontal and vertical airflow in the atmosphere. The measurement noise contained deterministic and stochastic errors of the inertial measurement unit (IMU) UAV sensors and engine noise. The obtained results showed that the designed optimal Kalman filter was able to eliminate the influence of interfering signals from the control process and increased the phase safety, controllability, and stability of UAV control as a lean design can be applied in real-time control systems like Pixhawk PX4. |
Audience | Academic |
Author | Andoga, Rudolf Karaffa, Šimon Hlinková, Miriam Bréda, Róbert |
Author_xml | – sequence: 1 givenname: Róbert orcidid: 0000-0003-4508-0246 surname: Bréda fullname: Bréda, Róbert organization: Department of AvionicsFaculty of AeronauticsTechnical University of Košice040 01 KošiceSlovakiatuke.sk – sequence: 2 givenname: Šimon orcidid: 0000-0001-6343-5034 surname: Karaffa fullname: Karaffa, Šimon organization: Department of AvionicsFaculty of AeronauticsTechnical University of Košice040 01 KošiceSlovakiatuke.sk – sequence: 3 givenname: Rudolf orcidid: 0000-0002-3621-5092 surname: Andoga fullname: Andoga, Rudolf organization: Department of AvionicsFaculty of AeronauticsTechnical University of Košice040 01 KošiceSlovakiatuke.sk – sequence: 4 givenname: Miriam orcidid: 0000-0002-2581-9173 surname: Hlinková fullname: Hlinková, Miriam organization: Department of AvionicsFaculty of AeronauticsTechnical University of Košice040 01 KošiceSlovakiatuke.sk |
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Cites_doi | 10.1109/AERO47225.2020.9172736 10.1109/IEEESTD.1998.86153 10.1177/0020294019866860 10.3390/en14082292 10.21307/ijssis-2017-632 10.4236/pos.2013.41005 10.1109/78.978374 10.1109/ICSENS.2005.1597817 10.1016/j.proeng.2014.09.084 10.1177/1729881416686952 10.1007/978-3-319-16417-5 10.1109/SPC.2013.6735095 10.1201/9781420053098.ch1 10.1016/j.ifacol.2016.10.177 10.1051/e3sconf/201910402001 10.2514/1.52532 10.2514/6.2015-1138 10.1007/s10291-012-0267-7 10.1109/TIM.2013.2272841 10.1109/TIM.2007.908635 10.1109/TITS.2017.2772080 10.1109/JSEN.2011.2167319 10.1109/9.847726 |
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Copyright | Copyright © 2023 Róbert Bréda et al. COPYRIGHT 2023 Hindawi Limited |
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References | 22 J. Llobera Capllonch (31) 2015 25 26 27 29 M. G. Ravi Kumar (13) 2015; 8 N. Lwin (24) 2014; 3 (7) 2020 J. Roskam (16) 1972 M. Grewal (28) 2001 30 10 11 12 14 X. Zhang (2) 2008 15 17 18 19 R. F. Stengel (23) 2004 1 3 4 5 6 8 9 20 21 |
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Title | Reduction of the Influence of Interfering Signals on the Longitudinal Control of UAVs with Fixed Wing |
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