Date of Award
6-1-2013
Document Type
Thesis
Degree Name
M.S.
Department
Computer Science and Engineering
First Advisor
Kimon P. Valavanis, Ph.D.
Second Advisor
Matthew J. Rutherford, Ph.D.
Third Advisor
Michail Kontitsis
Fourth Advisor
Robert Whitman
Fifth Advisor
Bradley Davidson
Keywords
Fixed-wing, Mechatronic, UAV, Unmanned Aerial Vehicle, XMOS
Abstract
Unmanned Aerial Vehicles have been research in the past decade for a broad range of tasks and application domains such as search and rescue, reconnaissance, traffic control, pipe line inspections, surveillance, border patrol, and communication bridging.
This work describes the design and implementation of a lightweight Commercial-Off-The-Shelf (COTS) semi-autonomous Fixed-Wing Unmanned Aerial Vehicle (UAV). Presented here is a methodology for System Identification utilizing the Box-Jenkins model estimator on recorded flight data to characterize the system and develop a mathematical model of the aircraft. Additionally, a novel microprocessor, the XMOS, is utilized to navigate and maneuver the aircraft utilizing a PD control system.
In this thesis is a description of the aircraft and the sensor suite utilized, as well as the flight data and supporting videos for the benefit of the UAV research community.
Publication Statement
Copyright is held by the author. User is responsible for all copyright compliance.
Recommended Citation
Girwar-Nath, Jonathan Alejandro, "An Efficient Navigation-Control System for Small Unmanned Aircraft" (2013). Electronic Theses and Dissertations. 241.
https://digitalcommons.du.edu/etd/241
Provenance
Received from ProQuest
Rights holder
Jonathan Alejandro Girwar-Nath
File size
111 p.
Copyright date
2013
File format
application/pdf
Language
en
Discipline
Electrical engineering, Mechanical engineering, Computer engineering