Aeronautical Systems Laboratory-ITA

L.S.A.
Laboratório de Sistemas Aeronáuticos

Aeronautical Systems Laboratory
Prof. Luiz Carlos S. Góes
goes@ita.br
OCTOBER 2018
L.S.A.
L.S.A.
INTRODUCTION
The Aeronautical Systems Laboratory focuses on research and development for
unmanned aerial systems, including fix-wing aircraft, rotorcraft and LTA
systems (aerostats, blimps and tethered airships).
The studies carried out in the laboratory seek to contribute scientifically to the
development of technologies and methods of aerodynamic modeling,
aeroelasticity, system identification, control and autonomous navigation for
different UAV applications.
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VECTOR - P Air Data System
• Five-hole probe
• Bandwidth:100 Hz
Compact-RIO • Communication protocole RS-485
• Reconfigurable embedded control and data
acquisition system
• User-programmable FPGA
GPS-Garmim
Accelerometers DC-PCB Inertial Unity AHRS-400CC-200

• Mean senstivity :200 mV/g • MEMs Tecnology
• Faixa linear : 10g • Digital Format RS-232
• 5-20 V
• Bandwidth: 100Hz
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QUAD – M (M4V)
2006 by Ravindra V. Jategaonkar

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Flight Vehicle System Identification
VECTOR - P
Identification and control of an unmanned aerial vehicle: Vector-P
PhD. Jonatas Sant’Anna Santos
Goals
• Identify and validate the Vector-P UAV longitudinal dynamics model with in-flight test
data.
• Design automatic altitude pilot using identified model. Vector-P UAV
Methodology
• Method: Output Error Method, Levenberg-Marquardt, Heuristic Search.
• Model: Flight dynamics equations, rigid body aircraft.
• Measurement: IMU - Crossbow AHRS400, GPS 18x - Garmin, ICASIM Smart Air-Data
Boom.
• Maneuver: Doublet and Multistep 3-2-1-1 using the elevator.
• Validation: Cramer-Rao Bound, Goodness of Fit, Proof of Match.
• Autopilot: SAS and PI Controllers. Gain projected using the LQR technique..
Results
• Vector-P model identified and validated with experimental data.
• Design and validation through simulation of altitude autopilot flight with projected
gains.
Result of Systems Identification
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VECTOR - P
Identification of the lateral-directional model of an unmanned aerial vehicle, VECTOR-P.
MSc. Clécio Fischer
Using the M4V identification technique (Maneuvers,

Measurements, Model, Method, and Validation), the
Vector-P model was obtained from the data collected
in the in-flight test, using the Output Error Method )
to obtain the coefficients of the stability derivatives.
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VECTOR - P
Aeroelastic analysis and comparison with in-flight test of an unmanned aircraft.
MSc. David F C Zúñiga
Computacional aeroelastic analysis (Z-

Aero) for the Vector-P with the input of
modal information, determined by
experimental modal analysis (GVT) and
comparison of these results with the OMA
(Output-Only) collected during the
experimental aeroelastic flight test.
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TELEMASTER L e C
- The data acquisition systems on-board each aircraft include
inertial sensors, magnetometers, GPS and relative pressure
sensors, whose purpose is to provide the data for the
identification of the dynamic model of the aircraft.
- The Telemaster model is characterized by being a high wing

aircraft and conventional landing gear, having a slow flight
dynamics, simplifying the aerodynamic model and flight
control system;
- With two similar models, there will be flight campaigns

consisting of different acquisition systems from different
manufacturers, with the objective of obtaining two dynamic
mathematical models and later observing which one is more
accurate. Trajectory plaaning and flight coordination of
multi-uav is also planned.
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TELEMASTER L
Using Pixhawk for data acquisition
MSc. Leonardo M Nepomuceno
Pixhawk
• Platform selected because of its wide use in

academic studies;
• Use of Pixhawk for data acquisition. Same
system used at Linköping University (Sweden)
for subscale study.
• Airdata Boom, measuring speed and angles of attack and

skidding. Instrument donated to ITA by Linköping University.
LSA Integrated with Pixhawk.
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TELEMASTER C
Control and Navigation of an AVM Helped By RTK
Eng. Andrew G P Sarmento
CENIC Project
• Study the MicroPilot documentation.
• Integration of the acquisition system to the aircraft.
• Start of the flight campaign.
Results
• First version of procedure documentation.
• Preliminary data obtained from the first test.
Micropilot LRC2
• Micropilot LRC2 is an autopilot system with integrated radio telemetry,
ensuring high acquisition reliability, with a range of 64 data output fields
such as attitude angles, speeds and accelerations corrected by your
internal system.
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SUBSCALE FLIGHT TESTING
• BAE Hawk: A commercial aircraft model, in 1:12 scale of the • Generic Future Fighter (GFF-Sweden): Developed
real aircraft. In this work the effects of dynamic similarity by Linköping University, this aircraft is a
will be studied, aiming to achieve the same inertial demonstrator of a generic fighter, successor to the
properties. There is also a 3D-printed aircraft, 1:2 scale Gripen project, where new configurations are
model, for wind tunnel trials and comparison being tested before joining the final project.
(Example: Canards, Vertical Stabilizers).
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SUBSCALE FLIGHT TEST
Dynamic characterization of an aircraft through its scale representation
Eng. Igor Mayer Soares
Introduction Methodology
The design of a sub-scale consists of • Maintaining inertial similarity will
seeking a representation of the real require a mass distribution study
aircraft through a stepped model. And (Products and Moments of Inertia).
identify their dynamic behavior. This
model should follow some parameters • Pixhawk equipped with Airdata
of similarity: Boom will be used for data
• Dynamic: to correctly characterize acquisition in flight tests.
its inertial properties (Froude
Number) • The Filter Error Method, presented
• Aerodynamics: to determine the in the book: Flight Vehicle System
behavior of vehicle-air interaction Identification: The Time Domain
(Reynolds number) Methodology will be applied to
determine the static and dynamic
derivatives.
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FT100flex
INSTRUMENTATION
 IMU (aq 10 Hz)
 GPS
 Surface Control
 Pitot
 Throtle
o Accelerometers (aq 100 Hz) - 25

 Wing 19
 Fuselage 2
 Horizontal stabilizer 3
 vertical stabilizer 1
o Strain Gages (aq 100 Hz) - 10

 Triaxial (rosseta) in wing 4
 Uniaxial in wing 6
Sistema de aquisição de dados: NI-RIO.
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FT100flex
Flexible unmanned aerial elastic flight analysis and testing using a combined approach of
acceleration and deformation sensors
MSc. David F C Zúñiga
Goals:
• Prepare and adapt a flight platform (VANT) that allows the

experimental study of aeroelastic instabilities as well as the
observation of linear elastic effects in flight dynamics;
• To extend and validate the aeroelastic characterization

methodology employed in Vector-P (CASTILLO-ZÚÑIGA, 2013) for
moderately flexible unmanned aircraft;
• Experimental determination (Wind Tunnel and In-flight Test) of

flexible aerodynamic derivatives and aeroelastic properties by
means of OMA, based on acceleration and deformation
measurement.
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Identification method: Preliminary results: 𝑞𝑞
FT100flex
𝑉𝑉
• It were obtained from synthetic closed- 𝛼𝛼
Y𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙 = 𝜃𝜃
• A DSR (combined deterministic and stochastic loop data. 𝜂𝜂𝑖𝑖
Title: Closed-loop system identification of an system identification and realization) subspace U𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙 = [𝛿𝛿𝑒𝑒] 𝜂𝜂̇ 𝑖𝑖
unmanned aerial vehicle (UAV) with flexible method applied both to open-loop and closed-
wings using subspace methods loop data.
MSc. Raphaela C M Gonçalves
Objectives: Figure: An attitude-hold autopilot implemented in

MATLAB/SIMULINK.
• It is addressed an procedure to identify
parametric models for an unmanned Extended state-space model just to generate the
aerial vehicle (UAV) with flexible wings data space formed by block Hankel matrices of the
under closed-loop conditions. input and output data. Figure: Closed-loop
response of the attitude-
hold autopilot.
Main contributions:
• An application of subspace methods for

system identification of an unmanned An estimated state sequence of the sytem is
aerial vehicle (UAV) with rigid-body
dynamic coupled with flexible wing Thus, from the input-output data and estimated
bending modes. The in-flight state sequence, it is possible to solve the least-
identification system operates in closed squares problem to determine the system matrices
loop mode. 𝐀𝐀 ∈ ℜ𝑛𝑛×𝑛𝑛 , B ∈ ℜ𝑛𝑛×𝑚𝑚 and the filter Kalman gain
𝐊𝐊 ∈ ℜ𝑛𝑛×𝑙𝑙 up to within a similarity transformation.
� J/1
𝐗𝐗 Figure: Bode plots of the identified model
� J+1/1/
𝐀𝐀 𝐁𝐁 𝐊𝐊 = 𝐗𝐗
𝐔𝐔J/1(𝑛𝑛𝑛𝑛𝑛𝑛) from closed-loop system data corrupted by
measurements noise. Past horizon J=140 and
future horizon L=2.
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FT100flex EKF
Modeling and identification of flexible aircraft systems
PhD. Alain G Souza

From the 4M methodology, Identify the longitudinal model
of the FT100Flex, using the:
• Output Error Method
• Extended Kalman Filter
OEM
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TETHERED AIRSHIP
Modeling, Identification and Control of a Tethered Airship
PhD. Jônatas Sant’Anna Santos
GOAL
• Propose, design and validate the concept of an airship capable of being anchored in
the ground maintaining the height of flight operation for increased operational
autonomy.
• Conduct a comprehensive research on modeling, identification and control for
anchored dirigibles.
Methodology Orca Airship – DLR / ITA
• Equations of platform movement: dirigible with mooring system.
• Stability Analysis, Dynamic Characterization and Systems Identification.
• Design of flight control laws and proposal of navigation strategy.
• Validation through computational simulations and in-flight tests.
PLATFORM
• 6.5 m long unmanned airship, helium-inflated envelope, electric propulsion system,
control surfaces and an anchorage system.
• Embedded System: IMU - 3DM-GX3-25, GPS - Navilock NL-302U, Air data - Unilog 2,
Ultrasonic Sensor - WINDSONIC4-QD, Microcontroller - FCC Beaglebone Black.
LSA Anchored Airship Concept
TETHERED AIRSHIP
Modeling, Identification and Control of a Tethered Airship
PhD. Jônatas Sant’Anna Santos
RESULTS
• Description of the flight dynamics of an anchored airship.
• Contribution in the mathematical modeling that represents
the interaction dynamics between the dirigible and
mooring.
• Estimation of aerodynamic parameters using systems
identification techniques
• Stability analysis and unstable mode identification. Architecture of the Navigation and Control Guidance System (CNG)
• Interpretation and naming of flight modes.
• Development of an autopilot for airship that contemplates
anchored regime.
• Design of the stability enhancement system (SAS) and
guiding, navigation and control (CNG) system.
• Expressive accomplishment of simulations, tests Hardware-
In-the-Loop and experiments in laboratory and in the field.
• Autonomous navigation validated by in-flight test
LSA
Laboratório de Sistemas Aeronáuticos Modes of the Mooring System Autonomous Navigation
Thank you for your attention
L.S.A.
Prof.Luiz Carlos S. Góes

goes@ita.br

Aeronautical Systems Laboratory-ITA

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L.S.A.

Laboratório de Sistemas Aeronáuticos

Accelerometers DC-PCB Inertial Unity AHRS-400CC-200

2006 by Ravindra V. Jategaonkar

Using the M4V identification technique (Maneuvers,

Computacional aeroelastic analysis (Z-

- The Telemaster model is characterized by being a high wing

- With two similar models, there will be flight campaigns

• Platform selected because of its wide use in

• Airdata Boom, measuring speed and angles of attack and

o Accelerometers (aq 100 Hz) - 25

o Strain Gages (aq 100 Hz) - 10

Sistema de aquisição de dados: NI-RIO.

• Prepare and adapt a flight platform (VANT) that allows the

• To extend and validate the aeroelastic characterization

• Experimental determination (Wind Tunnel and In-flight Test) of

Objectives: Figure: An attitude-hold autopilot implemented in

• An application of subspace methods for

PhD. Alain G Souza

Prof.Luiz Carlos S. Góes

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