Klipa A. Identification of Dynamic Characteristics of Small Piloted Aircraft and Unmanned Aerial Vehicles

Dissertation is devoted to design of technique and algorithms of identification of dynamic characteristics of easy piloted and small unmanned aerial vehicles in the presence of intensive random noise and constant biases which arise from use enough simple, cheap, small-sized, easy navigating measuring instruments without their vibroprotection. In the dissertation the design of experiments in frequency domain is proved and realized in software. Method of quantitative estimation of identifiability of aircraft mathematical model parameters on basis of analysis of singular values of special identifiability matrix is proposed. The technique of application of least-squares method to the state space model is developed. Simultaneous application of extended Kalman filter and accelerated Kesten stochastic approximation, during the execution of optimization procedure of maximum likelihood method, is offered. The created technique of parametrical identification of dynamics models in the presence of intensive deterministic and random errors of sensors can be applied to a wide class easy aircraft and small Unmanned Aerial Vehicles.