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Displacement Motion Prediction of a Landing Deck for Recovery Operations of Rotary UAVs

Xilin Yang
International Journal of Control, Automation, and Systems, vol. 11, no. 1, pp.58-64, 2013

Abstract : This paper proposes a practical prediction procedure for vertical displacement of a Rotary-wing Unmanned Aerial Vehicle (RUAV) landing deck in the presence of stochastic sea state disturbances. A proper time series model tending to capture characteristics of the dynamic relationship between an observer and a landing deck is constructed, with model orders determined by a novel principle based on Bayes Information Criterion (BIC) and coefficients identified using the Forgetting Factor Recursive Least Square (FFRLS) method. In addition, a fast-converging online multi-step predictor is developed, which can be implemented more rapidly than the Auto-Regressive (AR) predictor as it requires less memory allocations when updating coefficients. Simulation results demonstrate that the proposed prediction approach exhibits satisfactory prediction performance, making it suitable for integration into ship-helicopter approach and landing guidance systems in consideration of computational capacity of the flight computer.

Keyword : Bayes information criterion, recursive least square, time series.

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