An Application Of Parameter Estimation To The Stability And Control Of The Bqm 147 Unmanned Aerial Vehicle
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An Application of Parameter Estimation to the Stability and Control of the BQM-147 Unmanned Aerial Vehicle
Parameter estimation methods were used to obtain estimates of stability and control derivatives for the Marine Corps BQM-147 Unmanned Air Vehicle. The results from a simple, PC-based linear model and those from a more robust non-linear model, pEst, were compared. A Cramer-Rao bound was used to assess the accuracy of the estimates for both methods. The bounds were high for both the longitudinal case and the lateral-directional case due to the limited maneuvers tested, high levels of noise in the same general frequency range as the control input, and the lack of body-angle data. The linear model failed to provide estimates for the lateral-directional case. Though the results may be used as starting points for a dynamic model of the aircraft it is recommended that the flight test procedures be modified to address the issues raised concerning noise, recorded signals and the need for repeated maneuvers.
An Application of Parameter Estimation to the Stability and Control of the BQM-147 Unmanned Aerial Vehicle
Parameter estimation methods were used to obtain estimates of stability and control derivatives for the Marine Corps BQM-147 Unmanned Air Vehicle. The results from a simple, PC-based linear model and those from a more robust non-linear model, pEst, were compared. A Cramer-Rao bound was used to assess the accuracy of the estimates for both methods. The bounds were high for both the longitudinal case and the lateral-directional case due to the limited maneuvers tested, high levels of noise in the same general frequency range as the control input, and the lack of body-angle data. The linear model failed to provide estimates for the lateral-directional case. Though the results may be used as starting points for a dynamic model of the aircraft it is recommended that the flight test procedures be modified to address the issues raised concerning noise, recorded signals and the need for repeated maneuvers.