Monotonous Trend Estimation of Deck Displacement for Automatic Landing of Rotorcraft UAVs

  • Authors:

  • Xilin Yang;Matthew Garratt;Hemanshu Pota

  • Affiliations:

  • School of Engineering and Information Technology, University College, University of New South Wales, ACT, Australia 2600;School of Engineering and Information Technology, University College, University of New South Wales, ACT, Australia 2600;School of Engineering and Information Technology, University College, University of New South Wales, ACT, Australia 2600

  • Venue:
  • Journal of Intelligent and Robotic Systems
  • Year:
  • 2011

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Abstract

This paper presents a novel and practical procedure for estimating the mean deck height to assist in automatic landing operations of a Rotorcraft Unmanned Aerial Vehicle (RUAV) in harsh sea environments. A modified Prony Analysis (PA) procedure is outlined to deal with real-time observations of deck displacement, which involves developing an appropriate dynamic model to approach real deck motion with parameters identified through implementing the Forgetting Factor Recursive Least Square (FFRLS) method. The model order is specified using a proper order-selection criterion based on minimizing the summation of accumulated estimation errors. In addition, a feasible threshold criterion is proposed to separate the dominant components of deck displacement, which results in an accurate instantaneous estimation of the mean deck position. Simulation results demonstrate that the proposed recursive procedure exhibits satisfactory estimation performance when applied to real-time deck displacement measurements, making it well suited for integration into ship-RUAV approach and landing guidance systems.