An Instrumentation System Applied To Formation Flight
Kiriti RambhatlaThayalan SelvamKelvin Ratnayake
Viveknanthan Suganthan
References • 1) I.D Hummel, “The use of aircraft wakes to achieve
power reductions in formation flight”, presented at the advisory group of Aerospace Research & Development.
• 2)D.F Chichka and JL Speyer, “Solar-powered, formation-enhanced aerial vehicle systems for sustained endurance”,in Proc.Amer.Contr.Conf.
• 3) R.J Ray , B.R. Cobleigh, M.J. Vachon,and C.J St, Flight test techniques used to evaluate performance benefits during formation flight, NASA Dryden research centre.
• 4)www.nasa.gov• 5)www.site.uottawa.ca/~misbah/elg4392/index.html
What Is Formation Flight
Applications Of Formation Flights
Ground Based Systems
• Previously the information from the formation flight would reach ground based instruments and then to the flights back again .
• This lead to a number of accidents and failures in formations flights , hence NASA came up with an Instrumentation System called the Formation Flight Instrumentation System (FFIS).
• FFIS makes use of GPS , Extended Kalman filter and an interface .
BLOCK DIAGRAM FFIS
Extended KALMAN FILTER• The Kalman Filter is a recursive filter which
estimates the state of a dynamic system from a series of incomplete and noisy measurements.
• In this project an extended KALMAN filter is used along with GPS( FFIS) to eliminate the need for ground based systems information flight.
• We used MATLAB to simulate the results for the filter to estimate position, velocity and attitude of the next aircraft.
EXTENDED KALMAN FILTER EQUATIONS
Simulation Results
SIMULATIONS WITHOUT FILTER
0 1 2 3 4 5 6 7 8 9 100
0.5
1
1.5
2
2.5
3
3.5True angle
Time in Seconds
Rad
ians
0 1 2 3 4 5 6 7 8 9 10-2
-1.5
-1
-0.5
0
0.5
1
1.5
2Compass Measurement
Time in Seconds
Rad
ians
0 1 2 3 4 5 6 7 8 9 10-2
-1.5
-1
-0.5
0
0.5
1
1.5
2Tangential Accelerometer Measurement
Time in Seconds
Rad
ians
/Sec
2
SIMULATIONS WITH KALMAN FILTER
0 1 2 3 4 5 6 7 8 9 10-0.5
0
0.5
1
1.5
2
2.5
3
3.5Estimation of Angular position
Time in Seconds
Rad
ians
0 1 2 3 4 5 6 7 8 9 10-0.5
0
0.5
1
1.5
2
2.5
3
3.5 Estimation of Angular Velocity
Time in Seconds
Rad
ians
/sec
0 1 2 3 4 5 6 7 8 9 10-2
-1.5
-1
-0.5
0
0.5
1
1.5
2Estimation of Angular Acceleration
Time in Seconds
Rad
ians
/sec
2
STATE SPACE EQUATION FOR AIRCRAFT
BODY CO ORDINATE FRAME FOR AN AIRCRAFT
ANGLES OF OPERATION
SIMULINK MODEL OF AIRCRAFT (NON LINEAR SYSTEM)
PLOTS
THANK YOU
• Questions
