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Autonomous landing of multicopters on mobile platforms: Design of an autonomous landing solution for multicopters on mobile platforms, based on a ultrasonic local positionning technology
KTH, School of Engineering Sciences (SCI), Aeronautical and Vehicle Engineering, Vehicle Dynamics.
2019 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

This work studies the use of an ultrasonic 3D positioning system in multicopter landing applications. Its aim is to develop a solution for autonomous landing of rotary wings systems on mobile platforms, especially boat decks using the positioning system developed by the French startup Internest. First, the position sensing algorithms will be improved so as to let them provide accurate relative position measurements in moving reference frames. Then a first implementation of a control algorithm based on PIDs will be considered, discussed and tested. Finally some improvements will be studied, with the use of trajectory planning and feedforward control, as well as the definition of a reference model. The whole work is led in an industrial R&D context, with the aim of developing simple but effective solutions that can easily be used in numerous applications, on a large variety of systems.

Abstract [sv]

Det här arbete studerar hur man kan använda 3D positionering med ultraljud för att landa multicenter. Målet är att utveckla en lösning för autonom landning av olika system på mobila plattformar, i synnerhet på båtdäck, med en teknik som utvecklats ett fransk företag, Internest. Först, lägesalgoritmnerna ska förbättras så att de kan ge exakt positionsmätningar i rörliga referensramar. Sedan gjordes en första implementering av lägesalgoritmen med PID som studerades och testades. Till sist, implementerades och och förbättrades algoritmen med banplannering, feedforward reglering, och en referensmodell. Allt detta arbete är genomfört i ett industriellt sammanhang, med målet att utveckla enkla men effektiva lösningar som kan användas i olika applikationer, med olika system.

Place, publisher, year, edition, pages
2019. , p. 49
Series
TRITA-SCI-GRU ; 2019:033
National Category
Vehicle Engineering
Identifiers
URN: urn:nbn:se:kth:diva-261186OAI: oai:DiVA.org:kth-261186DiVA, id: diva2:1356998
External cooperation
Internest
Examiners
Available from: 2019-10-03 Created: 2019-10-02 Last updated: 2019-10-03Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
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  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
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