20.500.12556/RUL-102932 Razvoj algoritma za avtonomno pristajanje letal Development of an algorithm for autonomous aircraft landing V delu je predstavljen razvoj algoritma za avtonomno pristajanje letal. Izpeljan je matematični model gibanja masne točke v šestih prostostnih stopnjah ter njegova linearizacija okrog ravnovesne lege leta letala. Na podlagi dobljenih nelinearnih gibalnih enačb je izdelana simulacija leta, ki zajema tudi pomembnejše nelinearnosti aktuatorjev ter zaznaval, kot so omejeno območje delovanja, temperaturna odvisnost, učinki digitalizacije in šum, ter služi kot okolje za razvoj in preizkušanje razvitega algoritma. Podrobneje je raziskan vpliv merilnega šuma na dosegljivo natančnost vodenja in uporaba Kalmanovega filtra za omilitev njegovih učinkov. In this thesis the development of an algorithm for autonomous landing of aircraft is presented. First, a mathematical model for the motion of a point mass with six degrees of freedom is derived, along with its linearization about a reference trajectory. Based on these nonlinear equations of motion a flight simulation is designed, that also takes major sensor and actuator nonlinearities, such as limited range of operation, temperature dependency, effects of digitalization and noise into account. It serves as an environment for the development and testing of the proposed algorithm. A more thorough investigation into the influence of measurement noise on the achievable guidance accuracy is undertaken, as well as into the utilization of a Kalman filter for the mitigation of its effects. mehanika leta letal pristajanje letal avtomatsko vodenje simulacije natančnost vodenja merilni šum Kalmanovi filtri aircraft flight mechanics aircraft landings automatic control simulations control performance measurement noise Kalman filters true false false [J. Trojer] Slovenski jezik Angleški jezik Magistrsko delo 2018-09-12 07:46:25 2018-09-12 07:46:28 2023-10-20 12:23:58 0000-00-00 00:00:00 2018 0 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 629.7.05:681.5(043.2) 208421 16427547 2246.pdf 2246.pdf 1 00F2F2D745C94DB4C58F746DC039D086 b19cbdec4d31b2b8d6021d21617795dd362f3a6a008d05e76d9dcb922a895a84 a9ed0d9f-a1b5-11eb-a523-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=113308 Fakulteta za strojništvo 0 0 0