Implementation of Multiple Model: Simulation and Experimentation for Future State Prediction on Different Classes of Small Unmanned Aerial Systems
James Z. Wells, Rumit Kumar, Manish Kumar · AIAA Scitech 2021 Forum · 2021
View Video Presentation: https://doi.org/10.2514/6.2021-0449.vid In this paper, we present the implementation of a multiple model system to generate future position estimates and enable safe deployment of small unmanned aerial systems (sUAS) in the national airspace (NAS). The system was developed in the ROS-Gazebo physics engine environment. The proposed system was developed for multi-rotor and fixed wing simulations. The algorithm was also tested in simulations to track multiple sUAS simultaneously. The algorithm has been verified using the 3DR experimental quadcopter platform. The multiple model system is executed on the ground control station (GCS) and does not interfere with the vehicle in flight. The multiple model only requires current position information from the vehicle to predict future state of the vehicle. The multiple model incorporates two motion models, viz. the constant velocity (CV) model and the constant acceleration (CA) model. These two models are capable of tracking the expected dynamics of commercial sUAS in the national airspace. These motion models were tuned by incorporating kino-dynamic constraints of sUAS. The structure of the multiple model and information of the sub-modules are presented in detail. Further, the Gazebo simulations for multi-rotor, fixed wing and multi vehicle are presented. Hardware results for a single multi-rotor are included to show the practical application of the proposed system.