Kalman filter based applications for helicopters

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Tezin Türü: Yüksek Lisans

Tezin Yürütüldüğü Kurum: Orta Doğu Teknik Üniversitesi, Mühendislik Fakültesi, Havacılık ve Uzay Mühendisliği Bölümü, Türkiye

Tezin Onay Tarihi: 2014

Öğrenci: MERVE OKATAN

Danışman: İLKAY YAVRUCUK

Özet:

The study in this thesis comprises Kalman Filter based applications for helicopters. In the first part of this thesis, a Kalman filter for a helicopter is designed to integrate micro-electromechanical sensors with the Global Navigation Satellite Systems to achieve desired accuracy levels. It is implemented to a non-linear helicopter model and its performance is shown through simulations. In the second part of this thesis, Kalman Filter approach is adopted to neural network based adaptive controllers as a modification term in the update law. In order to control the attitude of the helicopter, a linear model inversion based controller with a neural network adaptive element is implemented, and its modification term is designed using a Kalman Filter approach. The approach is compared with other existing modification terms in the literature through simulations.