Development and evaluation of a Kalman-filter algorithm for terminal area navigation using sensors of moderate accuracy

Translational state estimation in terminal area operations, using a set of commonly available position, air data, and acceleration sensors, is described. Kalman filtering is applied to obtain maximum estimation accuracy from the sensors but feasibility in real-time computations requires a variety of approximations and devices aimed at minimizing the required computation time with only negligible loss of accuracy. Accuracy behavior throughout the terminal area, its relation to sensor accuracy, its effect on trajectory tracking errors and control activity in an automatic flight control system, and its adequacy in terms of existing criteria for various terminal area operations are examined. The principal investigative tool is a simulation of the system

High-speed civil transport flight- and propulsion-control technological issues

Technology advances required in the flight and propulsion control system disciplines to develop a high speed civil transport (HSCT) are identified. The mission and requirements of the transport and major flight and propulsion control technology issues are discussed. Each issue is ranked and, for each issue, a plan for technology readiness is given. Certain features are unique and dominate control system design. These features include the high temperature environment, large flexible aircraft, control-configured empennage, minimizing control margins, and high availability and excellent maintainability. The failure to resolve most high-priority issues can prevent the transport from achieving its goals. The flow-time for hardware may require stimulus, since market forces may be insufficient to ensure timely production. Flight and propulsion control technology will contribute to takeoff gross weight reduction. Similar technology advances are necessary also to ensure flight safety for the transport. The certification basis of the HSCT must be negotiated between airplane manufacturers and government regulators. Efficient, quality design of the transport will require an integrated set of design tools that support the entire engineering design team

Optimal guidance with obstacle avoidance for nap-of-the-earth flight

The development of automatic guidance is discussed for helicopter Nap-of-the-Earth (NOE) and near-NOE flight. It deals with algorithm refinements relating to automated real-time flight path planning and to mission planning. With regard to path planning, it relates rotorcraft trajectory characteristics to the NOE computation scheme and addresses real-time computing issues and both ride quality issues and pilot-vehicle interfaces. The automated mission planning algorithm refinements include route optimization, automatic waypoint generation, interactive applications, and provisions for integrating the results into the real-time path planning software. A microcomputer based mission planning workstation was developed and is described. Further, the application of Defense Mapping Agency (DMA) digital terrain to both the mission planning workstation and to automatic guidance is both discussed and illustrated

Personal Wayfinding Assistance

We are traveling many different routes every day. In familiar environments it is easy for us to find our ways. We know our way from bedroom to kitchen, from home to work, from parking place to office, and back home at the end of the working day. We have learned these routes in the past and are now able to find our destination without having to think about it. As soon as we want to find a place beyond the demarcations of our mental map, we need help. In some cases we ask our friends to explain us the way, in other cases we use a map to find out about the place. Mobile phones are increasingly equipped with wayfinding assistance. These devices are usually at hand because they are handy and small, which enables us to get wayfinding assistance everywhere where we need it. While the small size of mobile phones makes them handy, it is a disadvantage for displaying maps. Geographic information requires space to be visualized in order to be understandable. Typically, not all information displayed in maps is necessary. An example are walking ways in parks for car drivers, they are they are usually no relevant route options. By not displaying irrelevant information, it is possible to compress the map without losing important information. To reduce information purposefully, we need information about the user, the task at hand, and the environment it is embedded in. In this cumulative dissertation, I describe an approach that utilizes the prior knowledge of the user to adapt maps to the to the limited display options of mobile devices with small displays. I focus on central questions that occur during wayfinding and relate them to the knowledge of the user. This enables the generation of personal and context-specific wayfinding assistance in the form of maps which are optimized for small displays. To achieve personalized assistance, I present algorithmic methods to derive spatial user profiles from trajectory data. The individual profiles contain information about the places users regularly visit, as well as the traveled routes between them. By means of these profiles it is possible to generate personalized maps for partially familiar environments. Only the unfamiliar parts of the environment are presented in detail, the familiar parts are highly simplified. This bears great potential to minimize the maps, while at the same time preserving the understandability by including personally meaningful places as references. To ensure the understandability of personalized maps, we have to make sure that the names of the places are adapted to users. In this thesis, we study the naming of places and analyze the potential to automatically select and generate place names. However, personalized maps only work for environments the users are partially familiar with. If users need assistance for unfamiliar environments, they require complete information. In this thesis, I further present approaches to support uses in typical situations which can occur during wayfinding. I present solutions to communicate context information and survey knowledge along the route, as well as methods to support self-localization in case orientation is lost

Aerial Vehicles

This book contains 35 chapters written by experts in developing techniques for making aerial vehicles more intelligent, more reliable, more flexible in use, and safer in operation.It will also serve as an inspiration for further improvement of the design and application of aeral vehicles. The advanced techniques and research described here may also be applicable to other high-tech areas such as robotics, avionics, vetronics, and space