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Autonomous guidance of an Aerial Drone for Maintaining an Effective Wireless Communication Link with a Moving Node Using an Intelligent Reflecting Surface 14

Autonomous Guidance of an Aerial Drone for Maintaining an Ef...

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14th International Conference on Computer and Automation Engineering (ICCAE)

作者： Eskandari, Mohsen Huang, Hailong Savkin, Andrey, V Ni, Wei Univ New South Wales Sch Elect Engn & Telecommun Sydney NSW Australia Hong Kong Polytech Univ Dept Aeronaut & Aviat Engn Hong Kong Peoples R China CSIRO Data61 Sydney NSW Australia

ISBN: (纸本)9781665483797

The excellent 3D mobility has made aerial drones (ADs) good candidates to improve the coverage of wireless communication networks. However, the effectiveness/efficiency of an AD (as an aerial active relay) is questionable for holding a continuous line-of-sight (LoS) link with a moving node (MN) in fifth-generation (5G) millimeter-wave (mmWave) wireless networks due to the signal propagations/blockage issues. Nevertheless, intelligent reflecting surface (IRS) technology has been introduced as a useful and energy-efficient method to improve the spectrum efficiency of 5G networks. In this paper, an AD equipped with IRS is proposed and autonomously navigated to maintain a continuous wireless link with an MN. The MN can be a vehicle moving through a dense urban environment. Simulation results corroborate the effectiveness of the method.

关键词： automation aerial drone (AD) communication guidance intelligent reflecting surface (IRS) intelligent robots

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Convex Decision Boundary Design for guidance Feasibility Check During Powered Descent Phase of Chandrayaan-3 Lander

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IFAC-PapersOnLine 2024年 57卷 119-124页

作者： Debajyoti Chakrabarti Suraj Kumar Aditya Rallapalli MP Rijesh GVP Bharat Kumar Control Dynamics Design Group U R Rao Satellite Centre Indian Space Research Organization (ISRO) Bangalore 560017 India Mission Simulation Group U R Rao Satellite Centre Indian Space Research Organization (ISRO) Bangalore 560017 India

The mathematical formulation of a boundary between the guidance feasible region and guidance infeasible region of the state vector data set, aiming for zero tolerance for the infeasible region is one of the major requirements of any planetary landing guidance design problem. In this paper, a convex optimization technique is proposed to implement a mathematical formulation of the boundary between the feasible and infeasible conditions of landing, given the boundary data set of a lander. The effectiveness of the proposed method is demonstrated through an example followed by applying this method to the boundary data set obtained from the guidance and control perturbation study of the Chandrayaan-3 lunar lander. The superiority of the proposed method is established by comparing it against the results obtained through the Least Square based unconstrained optimization technique. This work is developed as a requirement for the guidance, Navigation and Control design of Chandrayaan-3 Moon landing mission.

关键词： Decision boundary Convex optimization Pinpoint landing guidance Trajectory design Lunar lander Real time decision Autonomous system

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Illuminance distribution of target imaging spot and detection model of missile guidance laser photoelectric detection system

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OPTOELECTRONICS AND ADVANCED MATERIALS-RAPID COMMUNICATIONS 2021年第11-12期15卷 593-600页

作者： Guo, Baoyi Lei, Zhiyong Wang, Yan Xian Technol Univ Sch Mechatron Engn Xian 710021 Peoples R China

According to the detection mechanism of the missile guidance photoelectric detection system, combining the distribution function of the imaging spot of laser reflected by target surface, the experimental illuminance and the size of the photosensitive surface of photoelectric receiving detector, we study the illuminance distribution characteristics of the target imaging spot and set up the calculation model of illuminance distribution. Based on this model, we establish the output voltage signal function of the missile guidance laser photoelectric detection system, and then derive the calculation model of the signal-to-noise ratio of the system using the experimental illuminance, the thermal noise and the target radiation photon noise. Through experimental test and analysis, the results show that the target imaging spot energy at different detection distances is different, which makes the peak of the output voltage signal of the system significantly different. At the same time, with the increase of the detection distance, the laser echo energy decreases, and the peak of the output voltage signal of the system also decreases. In addition, we verify the illuminance distribution of target imaging spot under different detection distances.

关键词： Missile guidance Laser Photoelectric detection Echo Signal-to-noise ratio

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Barrier Lyapunov Function based Impact Time guidance with Field -of-View and Input Constraints 22

Barrier Lyapunov Function based Impact Time Guidance with Fi...

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22nd International-Federation-of-Automatic-Control (IFAC) Symposium on Automatic Control in Aerospace (ACA)

作者： Singh, Swati Kumar, Shashi Ranjan Mukherjee, Dwaipayan Indian Inst Technol Aerosp Engn Mumbai 400076 Maharashtra India Indian Inst Technol Elect Engn Mumbai 400076 Maharashtra India

ISBN: (纸本)9781713867890

This paper proposes a barrier Lyapunov function-based guidance scheme against stationary targets to achieve interception at a pre-specified impact time while satisfying the fieldof-view constraint and the bounded lateral acceleration requirement for planar engagements. An approach that aids in satisfying the field-of-view constraint with a bounded interceptor lateral acceleration is first proposed using the conditions on time-to-go estimate of the engagement and extension of system states. Thereafter, the guidance command that constrains the time-to-go values and extended states within their bounds is obtained using the concept of the barrier Lyapunov function. The proposed approach also allows the designer to control the convergence rate and thereby the acceleration requirements, resulting in a trade-off between the rate of convergence of error and acceleration demand. Simulations are carried out to validate the effectiveness of the proposed schemes for different initial engagement geometries.

关键词： guidance Barrier Lyapunov function Field-of-View constraints Bounded acceleration

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guidance on protocol development for EFSA generic scientific assessments

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EFSA JOURNAL 2023年第10期21卷 e08312页

作者： More, Simon Bampidis, Vasileios Benford, Diane Bragard, Claude Hernandez-Jerez, Antonio Bennekou, Susanne Hougaard Koutsoumanis, Konstantinos Panagiotis Lambre, Claude Machera, Kyriaki Mullins, Ewen Nielsen, Soren Saxmose Schlatter, Josef Schrenk, Dieter Turck, Dominique Younes, Maged Kraft, Andrew Naegeli, Hanspeter Tsaioun, Katya Aiassa, Elisa Arcella, Davide Barizzone, Fulvio Cushen, Maeve Georgiadis, Marios Gervelmeyer, Andrea Lanzoni, Anna Lenzi, Paolo Lodi, Federica Martino, Laura Messens, Winy Bordajandi, Luisa Ramos Rizzi, Valentina Stancanelli, Giuseppe Supej, Spela Halldorsson, Thorhallur Ingi US EPA Washington DC 20004 USA

EFSA Strategy 2027 outlines the need for fit-for-purpose protocols for EFSA generic scientific assessments to aid in delivering trustworthy scientific advice. This EFSA Scientific Committee guidance document helps address this need by providing a harmonised and flexible framework for developing protocols for EFSA generic assessments. The guidance replaces the 'Draft framework for protocol development for EFSA's scientific assessments' published in 2020. The two main steps in protocol development are described. The first is problem formulation, which illustrates the objectives of the assessment. Here a new approach to translating the mandated Terms of Reference into scientifically answerable assessment questions and sub-questions is proposed: the 'APRIO' paradigm (Agent, Pathway, Receptor, Intervention and Output). Owing to its cross-cutting nature, this paradigm is considered adaptable and broadly applicable within and across the various EFSA domains and, if applied using the definitions given in this guidance, is expected to help harmonise the problem formulation process and outputs and foster consistency in protocol development. APRIO may also overcome the difficulty of implementing some existing frameworks across the multiple EFSA disciplines, e.g. the PICO/PECO approach (Population, Intervention/Exposure, Comparator, Outcome). Therefore, although not mandatory, APRIO is recommended. The second step in protocol development is the specification of the evidence needs and the methods that will be applied for answering the assessment questions and sub-questions, including uncertainty analysis. Five possible approaches to answering individual (sub-)questions are outlined: using evidence from scientific literature and study reports;using data from databases other than bibliographic;using expert judgement informally collected or elicited via semi-formal or formal expert knowledge elicitation processes;using mathematical/statistical models;and - not covered in this guida

关键词： APRIO generic scientific assessments guidance methods PECO PICO planning problem formulation protocol development

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A survey of guidance, navigation, and control systems for autonomous multi-rotor small unmanned aerial systems

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ANNUAL REVIEWS IN CONTROL 2021年 52卷 390-427页

作者： Marshall, Julius A. Sun, Wei L'Afflitto, Andrea Virginia Tech Dept Ind & Syst Engn 1145 Perry St Blacksburg VA 24060 USA Univ Oklahoma Sch Aerosp & Mech Engn 865 Asp Ave Norman OK 73019 USA

This survey paper presents a holistic perspective on the state-of-the-art in the design of guidance, navigation, and control systems for autonomous multi-rotor small unmanned aerial systems (sUAS). By citing more than 300 publications, this work recalls fundamental results that enabled the design of these systems, describes some of the latest advances, and compares the performance of several techniques. This paper also lists some techniques that, although already employed by different classes of mobile robots, have not been employed yet on sUAS, but may lead to satisfactory results. Furthermore, this publication highlights some limitations in the theoretical and technological solutions underlying existing guidance, navigation, and control systems for sUAS and places special emphasis on some of the most relevant gaps that hinder the integration of these three systems. In light of the surveyed results, this paper provides recommendations for macro-research areas that would improve the overall quality of autopilots for autonomous sUAS and would facilitate the transition of existing results from sUAS to larger autonomous aircraft for payload delivery and commercial transportation.

关键词： UAS UAV Quadcopter guidance Navigation Control Survey

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Field-of-View Constrained Impact Time guidance Against Stationary Targets

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IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS 2021年第5期57卷 3296-3306页

作者： Mukherjee, Dwaipayan Kumar, Shashi Ranjan Indian Inst Technol Mumbai 400076 Maharashtra India

This article proposes a guidance strategy that enables the interceptor to control its impact time against stationary targets, while also meeting the field-of-view (FOV) constraints of the on-board seeker. The guidance strategy, so designed, always keeps the target within its FOV using its seeker. A barrier Lyapunov function is used to meet the FOV constraints, and an approximate expression for the interceptor's lead angle is obtained analytically. This facilitates the computation, as well as control, of impact time. The proposed guidance consists of two stages, with the former stage being deviated pursuit, while during the latter stage, the deviation angle or lead angle decreases to zero. This, in turn, ensures a zero terminal lateral acceleration. Furthermore, through a cooperative selection of tuning parameters, simultaneous interception of the target by multiple interceptors (also called salvo) can be achieved. Simulations, that are run for different engagement scenarios and with varying tuning parameters, vindicate the efficacy of the proposed strategy.

关键词： Acceleration Lyapunov methods Time factors Navigation Switches Lead Kinematics Barrier Lyapunov function deviated pursuit field-of-view (FOV) guidance impact time

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Benchmark Study for Performance Impact of Seeker-Radome on guidance Loop 22

Benchmark Study for Performance Impact of Seeker-Radome on G...

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22nd International-Federation-of-Automatic-Control (IFAC) Symposium on Automatic Control in Aerospace (ACA)

作者： Tripathi, Srijan Maity, Arnab Kumar, Shashi Ranjan Indian Inst Technol Aerosp Engn Mumbai Maharashtra India Indian Inst Technol Mumbai Maharashtra India

ISBN: (纸本)9781713867890

The primary objective of guidance is to achieve desired miss distance with minimum control effort considering all possible path constraints. In-case of tactical interceptors, guidance plays a critical role in steering the interceptor towards target even though target tries to maneuver and escape. Trajectory of interceptor is divided in three phases as boost, mid-course and terminal phase from guidance point of view. Terminal phase of guidance,which is most critical for neutralization of target, uses on-board seeker as a primary target sensor for guidance. Seeker based terminal guidance brings additional constraints (such as accuracies, radome shapes, radome induced errors, radome error slope etc) in terms of its own performance and specification. If constraints are not addressed properly, it may lead to mission-failure. This paper discussed about a radome error model, which is being developed for analysis of impact of radome induced bore-sight error and radome bore-sight error slope. A benchmark study has been carried out using this model to brought out the specification in terms of permissible values for these errors without affecting the performance of guidance loop. Compensation scheme has been evolved based on off-line analysis of data. Monte-Carlo simulation are used for the evaluation of radome performances and analysis of its impact on guidance loop of interceptors. Subsequently, specifications are brought out for compensation scheme.

关键词： Seeker Radome guidance Bore-sight error Bore-sight error slope Terminal phase trajectory compensation scheme

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Closed-Form Nonlinear Impact Angle guidance using State-Dependent Riccati Equation Approach

Closed-Form Nonlinear Impact Angle Guidance using State-Depe...

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American Control Conference (ACC)

作者： Kumar, Shashi Ranjan Mukherjee, Dwaipayan Indian Inst Technol Aerosp Engn & Elect Engn Mumbai Maharashtra India

ISBN: (数字)9781665451963

ISBN: (纸本)9781665451963

In this paper, a suboptimal impact angle control guidance law is proposed against non-maneuvering targets, by converting a problem of target interception at an impact angle into one of controlling the line-of-sight angle and its rate. The guidance commands are derived based on the state-dependent Riccati equation (SDRE) technique, which is further augmented with integral sliding mode control to account for uncertainties. The optimal performance of the guidance law is guaranteed by the use of SDRE technique. A closed-form expression of the guidance command, that satisfies the (state-dependent) Riccati equation, is also obtained. This obviates the need for numerical solution, thereby reducing the computational requirement during actual implementation. The performance of the proposed guidance scheme is evaluated via numerical simulations for different engagement scenarios, while also considering a variable speed interceptor model and is shown to be satisfactory.

关键词： Impact angle guidance integral sliding mode control SDRE

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Fuel-optimal and Energy-optimal guidance schemes for lunar soft landing at a desired location

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ADVANCES IN SPACE RESEARCH 2021年第6期67卷 1787-1804页

作者： Remesh, N. Ramanan, R., V Lalithambika, V. R. ISRO VSSC Flight Mech Grp Trivandrum Kerala India IIST Dept Aerosp Engn Trivandrum Kerala India ISRO Head Quarters Bangalore Karnataka India

Two guidance schemes (i) fuel-optimal (ii) energy-optimal to realize soft landing at a desired location on the moon are developed using the optimal control laws. The optimal control laws are obtained by solving a two-point boundary value problem formulated based on Pontryagin's principle. The guidance laws, adapted from the optimal control laws, are obtained as a function of unknown co-state variables. Differential Transformation (DT) technique is employed to determine the unknown co-states at each time instant of landing trajectory using the information on the current vehicle state, target landing site (loaded on-board apriori) and the time-to-go. The numerical integration of co-state dynamics is avoided due to the DT based approach. The time-to-go, a critical parameter for any guidance scheme, is computed and updated real time using a simple strategy which uses the current and end states. The simple strategy for time-to-go works well even when the shape of the trajectory is nonlinear. Extensive analysis is carried out to evaluate and compare the proposed guidance schemes. Further, the proposed schemes are compared with other popular guidance schemes. The DT based proposed schemes help quantify the landing masses for fuel-optimal and energy-optimal objectives. Other features of the proposed schemes are that they do not assume constant gravity field and independent of reference trajectory. (C) 2021 COSPAR. Published by Elsevier Ltd. All rights reserved.

关键词： Minimum fuel Minimum energy guidance Lunar soft landing Indirect approach Differential transformation etc

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