Development of the robust navigation system without the GNSS by using the air-data sensors under downwash and low-speed conditions for autonomous helicopters
| Project/Area Number |
17K14613
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Dynamics/Control
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| Research Institution | Chiba University |
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Principal Investigator |
Fujiwara Daigo 千葉大学, 大学院工学研究院, 助教 (60604642)
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| Project Period (FY) |
2017-04-01 – 2020-03-31
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| Project Status |
Completed (Fiscal Year 2019)
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| Budget Amount *help |
¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
Fiscal Year 2019: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2018: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2017: ¥2,990,000 (Direct Cost: ¥2,300,000、Indirect Cost: ¥690,000)
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| Keywords | エア・データ・センサ / 対気速度 / 小型無人ヘリ / 機械力学・制御 / 航空宇宙工学 |
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| Outline of Final Research Achievements |
To prevent the divergence of the GNSS/INS navigation system under the GNSS-denied condition which is widely used for small helicopters, this research aims at the improvement of the robustness of the navigation system by development of the airspeed sensor (air-data sensor, ADS) and the airspeed sensor-based navigation system. The symmetric Pitot tube with a bellmouth and two-dimensional ultrasonic sensors, and the three-dimensional ultrasonic sensors are developed. The helicopter downwash model is designed based on the physical model or the artificial neural networks, and the ADS/GNSS/INS integrated navigation filter including the downwash model is developed. It is verified that the stability of the navigation and the flight control system is able to be maintained for a moment during the GNSS-denied state by the proposed method through the simulations and the flight tests.
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| Academic Significance and Societal Importance of the Research Achievements |
物資輸送、災害対応、空撮等への無人ヘリコプタの適用・実用化に向け研究開発や実証が進む中で、耐空性の向上が求められ、自機位置・速度を算出する航法について、GNSSのみに頼る状況を改善する試みが行われるようになってきた。様々な手法が検討される中で、本研究で開発した対気速度センサに基づく航法は、測距センサやカメラによる手法に対し、周囲の明るさや物体との位置関係による性能劣化がなく、飛行場所によらず利用できる点で、無人ヘリのロバスト性や安全性の向上に寄与し、無人ヘリ関連産業の活性化への貢献が期待される。
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Report
(4 results)
Research Products
(9 results)
