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UID:0-327@aerospace.technion.ac.il

DTSTART;TZID=Asia/Jerusalem:20190729T163000

DTEND;TZID=Asia/Jerusalem:20190729T173000

DTSTAMP:20230527T132348Z

URL:https://aerospace.technion.ac.il/events/a-laser-range-measurement-base
 d-terrain-following-concept-for-unmanned-aerial-vehicles/

SUMMARY:A Laser-Range-Measurement Based Terrain-Following Concept for Unman
 ned Aerial Vehicles
DESCRIPTION:Lecturer:Arseny Livshitz\n Faculty:Department of Aerospace Engi
 neering\n Institute:Technion – Israel Institute of Technology\n Location
 :Classroom 165\, ground floor\, Library\, Aerospace Eng.\n Zoom: \n Abstra
 ct: \n Details: \n This seminar addresses the design\, error assessment an
 d analysis of a low cost\, adaptive\, laser range finder based\, terrain f
 ollowing system for unmanned aerial vehicles (UAVs). Such a system enables
  an aircraft to maintain a pre-defined vertical separation (altitude) over
  the terrain during flight. Terrain following is of interest in military a
 s well as civil applications with first papers on the subject dating back 
 to the sixties of the previous century. Contemporary approaches are based 
 primarily on radar and passive electro-optical sensors (cameras).\nIn this
  study a new approach is proposed to surmount the disadvantages of the pre
 vious systems and to provide a more compatible\, low cost terrain followin
 g solution for small UAVs. This system utilizes several\, rigidly mounted\
 , laser range finders as its primary measurement device. The measurements 
 obtained from the sensors are used to generate a desired terrain following
  trajectory for the aircraft. A trajectory tracking algorithm is then inco
 rporated to ensure that the aircraft remains on the desired path\, thus sa
 tisfying the required altitude. The complexity and performance of the prop
 osed system depends predominantly on the chosen layout of the sensors as w
 ell as other design parameters. The study discusses and thoroughly examine
 s the various error factors affecting the system performance. The goal is 
 to develop an analytical error model for the system thus pinpointing the d
 ifferent factors which may cause either improvement or degradation in terr
 ain following performance as well as aid in the system design process. Fur
 thermore\, this study demonstrates the effect of the aircraft velocity on 
 the terrain following performance and its relation to the terrain model. C
 onsequently\, a terrain model parameter identification scheme is developed
  and used to determine the preferred aircraft velocity.\nThe performance o
 f the adaptive terrain following system is evaluated using a three-dimensi
 onal Monte-Carlo simulation environment. The simulation results are used t
 o verify the analytical error model as well as to assess the performance o
 ver a varying terrain model. The resulting analytical error model quantifi
 es the overall system tracking error\, outlines the preferred values for v
 arious system parameters\, and mainly suggests the optimal pointing angle 
 for the laser range finders.
CATEGORIES:Seminars
LOCATION:Classroom 165\, ground floor\, Library\, Aerospace Eng.

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DTSTART:20190329T030000

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