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QUT Uninhabited Aerial Systems. Objective: to develop a fully cooperative UAS with onboard sense-and act capabilities. QUT UAS Team. Luis Mejias Science leader Supervising Controller. Rhys Mudford Supervising/payload controller. Scott McNamara UAV/payload controller. Richard Glassock - PowerPoint PPT Presentation
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Project Partners
Commercial-in-confidenceDo not distribute
QUT Uninhabited Aerial Systems
Objective: to develop a fully cooperative UAS with onboard sense-and act capabilities.
QUT UAS Team
Luis Mejias 2
Scott McNamaraUAV/payload controller
Rhys MudfordSupervising/payload controller
Brenden MenkensEngineer
Nicholas RutherfordEngineer
Richard GlassockLaunch Controller
Luis MejiasScience leader
Supervising Controller
Task: Predictive Flight Management System for UAS
Task: Advanced Flight Termination System for UAS
Nicholas Rutherford 3
Predictive Flight Management System
Nicholas Rutherford
Nicholas Rutherford 4
Presentation Contents Predictive Flight Management System Concept (PFMS) Systems Engineering Practices
High Level Objectives Work Breakdown Schedule Project Risks and Budget System Architecture
PFMS Models Three Degree of Freedom Model Six Degree of Freedom Model System Validation
Project Status Conclusion
Nicholas Rutherford 5
PFMS Concept Concept
Determines when and whether the UAS will intercept a waypoint in a defined time.
Identifies invalid waypoints sent by the traffic controller due to communication latency.
Current QUT systems Use displacement and velocity to predict arrival times. Ignore the dynamics of the aircraft, weather effects and the effect
of successive waypoints on a flight trajectory.
Nicholas Rutherford 6
Project High Level ObjectivesHLO-1 - Mandatory
Conduct a literature review on FMS, control and aircraft dynamics
HLO-2 - MandatoryDevelop a 2D & 3D PFMS simulation
HLO-3 - DesiredInstall and validate the PFMS capability onboard a UAV
HLO-4 - DesiredDesign an advanced PFMS capability and install and validate
on a UAV
1.
RES
EAR
CH
AN
D D
EFIN
E
2.SI
MU
LATI
ON
D
EVEL
OPM
ENT
TEST
ING
3,IN
TEG
RAT
ION
AN
D
TEST
ING
4. UAS
TE
STIN
G
5.AD
VAN
CED
C
ON
CEP
T IN
TEG
RAT
ION
AN
D
TEST
ING
6.
DEL
IVER
Y
WP-1Research FMS
WP-2Research Control
Methods
WP-3Research Flight
Dynamics
WP-7Write Literature
Review
WP-82D Prototype in
Matlab
WP-93D Prototype in
Matlab
WP-10Implement PFMS Prototype with a
UAV
WP-11Integrate PFMS Prototype into
UAV
WP-15Deliver Product
WP-4High Level Objectives
WP-6System Requirements
WP-5Project Management
Plan
WP-13Implement Advanced Concepts
WP-12Test and Validate
PFMS
WP-14Test and Validate Advanced PFMS
Wor
k B
reak
dow
n S
truct
ure
Nicholas Rutherford 8
Project ScheduleSchedule developed from work packages.
Nicholas Rutherford 9
Project Budget & Risks
Project BudgetNo incurred costs for software development.Future Costs will be covered by the QUAS project.
Project RisksRisk Management Plan.Single Working Engineer.Possible complex control methods and high level of
coding proficiency.
Nicholas Rutherford 10
System Architecture of PFMS
Vehicle DynamicsModel
Aircraft Control Model
Aircraft Initial State
Aircraft Intent(Waypoints)
Advanced Considerations
Trajectory Prediction
Nicholas Rutherford 11
3 DOF Vehicle Dynamics Model
Matlab used for implementation.Lacking multiple waypoint considerations.2D prediction model with Rate of Turn Constraints
at cruise velocity.3D prediction model with Rate of Turn and Climb
constraints at cruise velocity.
Nicholas Rutherford 12
2D Trajectory
Nicholas Rutherford 13
3D Trajectory
Nicholas Rutherford 14
6 DOF Vehicle Dynamics Model
Based around a MicroPilot Autopilot. Matlab Simulink and Aerosim Blockset. Capable of prediction of a UAS in with waypoint navigation and attitude
considerations. Model visualisation using Flight Gear Aerosim uses JSBSim, a open source C++ model.
Flig
htG
ear F
light
Sim
ulat
ion
Sim
ulin
k Im
plem
enta
tion
Nicholas Rutherford
Nicholas Rutherford 16
Flight Trajectory
Nicholas Rutherford 17
System Logs
Control Inputs
Flight Dynamics
Euler Angles
Nicholas Rutherford 18
System Validation
Not official testing conditions.Future controlled tests
already planned.Capture and compare
standard telemetry.
Nicholas Rutherford 19
Project Status
Current Progress HLO-1: Literature survey completed. HLO-2: Development of a 2D and 3D PFMS model capable of predicting
the location of the UAS in a finite horizon. Model still requires validation using telemetry.
Future Validation using standard telemetry and subsequent system
optimisation. Implementation onboard a UAS in C++. Introduction of advanced concepts.
Nicholas Rutherford 20
Conclusions Predictive Flight Management System Concept Systems Engineering Practices
High Level Objectives Work Breakdown Schedule Project Risks and Budget System Architecture
PFMS Models Three Degree of Freedom Model Six Degree of Freedom Model System Validation
Project Status Conclusion
