FLYING QUALITIES BUILT-IN-TEST FOR UNMANNED AERIAL SYSTEMS A thesis presented to the faculty of California Polytechnic State University, San Luis Obispo In partial fulfilment of the requirements for the degree Master of Science in Aerospace Engineering by Alton P. Chiu June 2012 © 2012 Alton P. Chiu ALL RIGHTS RESERVED ii COMMITTEE MEMBERSHIP TITLE: Flying Qualities Built-In-Test for Unmanned Aerial Systems AUTHOR: Alton P. Chiu DATE SUBMITTED: June 2012 COMMITTEE CHAIR: Eric A. Mehiel, Ph.D., Associate Professor, Aerospace Department COMMITTEE MEMBER: Daniel J. Biezad, Ph.D., Professor, Aerospace Department COMMITTEE MEMBER: Jangho Yoon, Ph.D., Lecturer, Aerospace Department COMMITTEE MEMBER: Olga Dekhtyar, Lecturer, Statistics Department iii ABSTRACT Flying Qualities Built-In-Test for Unmanned Aerial Systems Alton P. Chiu This paper presents a flying qualities built-in-test for UAS application. A doublet input waveform excites the AV and both α and q are used by EUDKF to estimate the A and B matrices which are short period approximations of the system. ζ, ω, GM, PM, observability, and controllability are calculated to determine flying qualities with the results displayed to the AVO in a color-coded, easy to interpret display. While SID algorithms have been flying in vehicles with adaptive control schemes, vehicles with other schemes (such as classical feedback) lack this built-in self assessment tool. In addition, adaptive control SID results are not analyzed and displayed but instead used internally. This work intends to extend this self-assessment option to all UASs regardless of control scheme as a “plug- and-play” add-on by building a reliable and robust tool that requires little tuning. iv TABLE OF CONTENTS Page LIST OF FIGURES ...................................................................................................................................... vii I. EXECUTIVE SUMMARY ..................................................................................................................... 1 II. INTRODUCTION .............................................................................................................................. 2 A. HISTORY .......................................................................................................................................... 2 B. PROBLEM STATEMENT .............................................................................................................. 12 C. ADAPTIVE CONTROL IS INSUFFICIENT .................................................................................. 14 D. FQ-BIT ............................................................................................................................................. 16 III. SYSTEM DESCRIPTION ............................................................................................................... 18 A. INPUT WAVEFORM ...................................................................................................................... 19 B. AIR VEHICLE PLANT ................................................................................................................... 20 C. SENSOR .......................................................................................................................................... 20 D. SID ALGORITHM .......................................................................................................................... 21 1. Extended UD Factorized Kalman Filter ....................................................................................... 22 2. , Matrix Size ........................................................................................................................... 27 E. FQ ANALYSIS ................................................................................................................................ 29 1. Stability / Performance ................................................................................................................ 29 2. Robustness ................................................................................................................................... 33 3. Observability ................................................................................................................................ 34 4. Controllability .............................................................................................................................. 35 F. AVO INTERFACE .......................................................................................................................... 35 IV. Test Suites ........................................................................................................................................ 40 A. Air Vehicle Plant (Characterization) ................................................................................................ 40 B. Sensor (Characterization) ................................................................................................................. 40 1. INS ............................................................................................................................................... 42 2. ADS ............................................................................................................................................. 44 C. Input Waveform (Evaluation) .......................................................................................................... 45 1. Candidates .................................................................................................................................... 45 2. Evaluation Methods ..................................................................................................................... 48 D. SID Algorithm (Evaluation) ............................................................................................................. 50 1. Candidates .................................................................................................................................... 51 2. Evaluation Methods ..................................................................................................................... 55 V. Test Results ...................................................................................................................................... 57 A. Input Waveform ............................................................................................................................... 57 B. SID Algorithm .................................................................................................................................. 61 VI. Analysis ............................................................................................................................................ 70 A. Input Waveform ............................................................................................................................... 70 v B. SID Algorithm .................................................................................................................................. 71 VII. Conclusions ...................................................................................................................................... 76 APPENDIX ................................................................................................................................................... 77 A. USAF UAS Class A Mishap FY 2000 to 2010 ................................................................................ 77 B. Linear Plant (State-Space) ................................................................................................................ 79 1. Longitudinal ................................................................................................................................. 79 2. Lateral .......................................................................................................................................... 79 REFERENCES .............................................................................................................................................. 80 vi LIST OF FIGURES Figure 1. Kettering Bug. .................................................................................................................................. 3 Figure 2. Fi 103. .............................................................................................................................................. 4 Figure 3. D-21 atop an SR-71. ........................................................................................................................ 5 Figure 4. Ryan 147. ......................................................................................................................................... 5 Figure 5. Armed Ryan 147. .............................................................................................................................. 6 Figure 6. MQ-1 Predator. ................................................................................................................................ 7 Figure 7. MQ-1 usage6. ................................................................................................................................... 7 Figure 8. RQ-4 Global Hawk. ......................................................................................................................... 8 Figure 9. Earth horizon. .................................................................................................................................