Development and evaluation of a dynamically scaled testbed aircraft for a visual inertial odometry dataset

Distributed Electric Propulsion, DEP, Dynamically Scaled, UAV, Visual Inertia Odometry, VIO, Dataset, Model, System Identification, Parameter Estimation

Figueroa, Felipe ; Bretl ; Timothy

关键词: Distributed Electric Propulsion, DEP, Dynamically Scaled, UAV, Visual Inertia Odometry, VIO, Dataset, Model, System Identification, Parameter Estimation;   

Others  :  https://www.ideals.illinois.edu/bitstream/handle/2142/104948/FIGUEROA-THESIS-2019.pdf?sequence=1&isAllowed=y

美国|英语

来源: The Illinois Digital Environment for Access to Learning and Scholarship

【 摘 要 】

In this thesis we describe the design, manufacturing, and testing of a dynamically scaled aircraft, which is a scaled model of a general aviation vehicle that dynamically behaves in a similar manner as the full-scale aircraft. This scaled model (Cirrus SR22T) is to serve as a testbed for both Distributed Electric Propulsion (DEP) aircraft research and for Visual Inertial Odometry (VIO) research. The aircraft is used as a baseline to compare with the DEP aircraft, to draw conclusion regarding the effect of changing to a DEP configuration, and to provide a way to measure the effect that a DEP configuration would have on a full-scale aircraft. The aircraft is also used to collect data from various onboard sensors to provide a data set for the VIO research community to use.