CONSIDERING NAVIGATION ERROR IN THE CONSTRAINT OPTIMAL TRAJECTORY DESIGN OVER TERRAINS FOR UNMANNED AERIAL VEHICLES

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ZARDASHTI MOHAMMAD REZA; NIKKHAH AMIR ALI; YAZDANPANAH MOHAMMAD JAVAD

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Journal: Modares Mechanical Engineering Year:2015 | Volume:14 | Issue:12 Page(s): 145-155

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Information Journal Paper

Title

CONSIDERING NAVIGATION ERROR IN THE CONSTRAINT OPTIMAL TRAJECTORY DESIGN OVER TERRAINS FOR UNMANNED AERIAL VEHICLES

Author(s)

ZARDASHTI MOHAMMAD REZA | NIKKHAH AMIR ALI | YAZDANPANAH MOHAMMAD JAVAD | Issue Writer Certificate

Keywords

TRAJECTORY DESIGNQ2

UNMANNED AERIAL VEHICLEQ1

NAVIGATION ERRORQ2

NETWORK FLOWQ3

TERCOMQ2

Abstract

In this paper, the problem of the NAVIGATION ERROR effect for the optimal and constraint Trajectory de of the UAVs that are required to fly at low altitude over terrains has been discussed. Due to the increasing deviation problem of inertial navigation systems in terms of time, having a safe flight and collision avoidance with terrain at low altitude is the main point in the TRAJECTORY DESIGN of this type of the vehicles. On the other hand, some of these vehicles use Terrain Contour Matching (TERCOM) as a navigation aiding system. This system is more efficient in rough terrains, and providing the requirements of this system beside other constraints is a complex task. In this paper is tried to meet these constraints in the TRAJECTORY DESIGN process. For this purpose, an algorithm based on the layered NETWORK FLOW on the digital terrain maps used in a manner that has a high potential in adoption of various constraints and optimal trajectory is generated. Then, using equations of motion on a terrain digital data in 3D space with the dynamical constraints and different optimality criteria, a complete model of NAVIGATION ERROR and also parameters affecting TERCOM has been developed to generate feasible path reducing terrain collision probability to zero. The resulting algorithm applying initial conditions and in the least time possible, produces the trajectory. Numerical results show validity of this issue.

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APA: Copy

ZARDASHTI, MOHAMMAD REZA, NIKKHAH, AMIR ALI, & YAZDANPANAH, MOHAMMAD JAVAD. (2015). CONSIDERING NAVIGATION ERROR IN THE CONSTRAINT OPTIMAL TRAJECTORY DESIGN OVER TERRAINS FOR UNMANNED AERIAL VEHICLES. MODARES MECHANICAL ENGINEERING, 14(12), 145-155. SID. https://sid.ir/paper/177663/en

Vancouver: Copy

ZARDASHTI MOHAMMAD REZA, NIKKHAH AMIR ALI, YAZDANPANAH MOHAMMAD JAVAD. CONSIDERING NAVIGATION ERROR IN THE CONSTRAINT OPTIMAL TRAJECTORY DESIGN OVER TERRAINS FOR UNMANNED AERIAL VEHICLES. MODARES MECHANICAL ENGINEERING[Internet]. 2015;14(12):145-155. Available from: https://sid.ir/paper/177663/en

IEEE: Copy

MOHAMMAD REZA ZARDASHTI, AMIR ALI NIKKHAH, and MOHAMMAD JAVAD YAZDANPANAH, “CONSIDERING NAVIGATION ERROR IN THE CONSTRAINT OPTIMAL TRAJECTORY DESIGN OVER TERRAINS FOR UNMANNED AERIAL VEHICLES,” MODARES MECHANICAL ENGINEERING, vol. 14, no. 12, pp. 145–155, 2015, [Online]. Available: https://sid.ir/paper/177663/en

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