I/UCRC: Center for Unmanned Aircraft Systems, Phase II Site

I/UCRC：无人机系统中心二期站点

基本信息

批准号：
1650547
负责人：
Timothy McLain
金额：
$ 50万
依托单位：
Brigham Young University
依托单位国家：
美国
项目类别：
Continuing Grant
财政年份：
2017
资助国家：
美国
起止时间：
2017-03-15 至 2022-06-30
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=1650547&HistoricalAwards=false
关键词：
UCRC Center Unmanned Aircraft Systems

项目摘要

The Center for Unmanned Aircraft Systems (C-UAS) addresses the issues common to the unmanned aircraft system (UAS) industry that limit widespread application across national security, scientific, civil, and commercial domains. Research within the UAS industry is driven by both technical gaps existing for specific high-value applications and the current under-developed regulatory framework that is needed for integration of UAS into the national airspace. The full value of unmanned aircraft systems, especially for a broad range of scientific and civil applications, cannot be realized without significant multidisciplinary research efforts such as those proposed here. Toward that goal, C-UAS investigates and develops new algorithms, architectures, and operational procedures for unmanned aircraft systems. The center contributes to the advancement of the state of the art for UAS through its research at the center's universities and by training graduate students in areas supporting the advancement of UAS. The research pursued in C-UAS has potential application to unmanned aircraft of all sizes. The primary focus of research activities, however, is on small unmanned aircraft systems (SUAS), which feature aircraft with wingspans in the 1 ft to 8 ft range. C-UAS university sites have distinguished themselves with their experimental flight test demonstrations on these smaller platforms. The research interests and needs of industry in the area of UAS align well with the skills, knowledge, and background of the university participants in the center. Research focus areas for the Brigham Young University site can be described in terms of (1) technical areas and (2) application areas. Technical topic areas in which the Brigham Young University has particular strength and interest include: (i) Aerodynamics and dynamics of UAS with multiple propellers in close proximity, (ii) Anomaly detection from airborne imagery, (iii) Target tracking algorithms utilizing visual features and dynamic models, (iv) Cooperative control for teams of heterogeneous vehicles, (v) Probabilistic programming for perceptually driven autonomous agents, and (vi) Navigation in cluttered environments with intermittent or degraded GPS. Application topic areas in which the Brigham Young University has particular strength and interest include: (i) Autopilot innovation for small UAS, (ii) Radar-based detection and avoidance of other aircraft, (iii) Robust tracking of ground targets, and (iv) Monitoring of large-scale infrastructure and post-earthquake damage assessment. Specific research projects proposed by Brigham Young University faculty members in these technical and application areas are selected annually by the Industry Advisory Board (IAB).

无人飞机系统中心（C-UAS）解决了无人飞机系统（UAS）行业常见的问题，这些问题限制了国家安全，科学，民事和商业领域的广泛应用。 UAS行业内部的研究是由针对特定高价值应用程序的技术差距和当前不发达的监管框架进行的技术差距所驱动的，这是将UAS集成到国家领空所需的当前的欠发达监管框架。如果没有重大的多学科研究工作，例如这里提出的大量研究工作，则无法实现无人飞机系统的全部价值，尤其是对于广泛的科学和民用应用的全部价值。为了实现这一目标，C-UAS研究并开发了无人飞机系统的新算法，架构和操作程序。该中心通过其在中心大学的研究和培训支持UAS进步的领域的研究生来促进UAS的艺术状况提高。在C-UAS中进行的研究潜在地应用于各种规模的无人飞机。但是，研究活动的主要重点是小型无人飞机系统（SUAS），该飞机以1英尺至8英尺范围内的翼展为飞机。 C-UAS大学的站点在这些较小的平台上进行了实验性飞行测试演示。 UAS领域的行业研究兴趣和需求与该中心的大学参与者的技能，知识和背景很好。可以用（1）技术领域和（2）应用领域来描述杨百翰大学现场的研究重点领域。北方年轻大学具有特殊优势和兴趣的技术主题领域包括：（i）UAS的空气动力学和动态，多个促进者近距离接近，（ii）空气中的图像中的异常检测，（iii）目标跟踪算法的目标跟踪算法利用视觉特征和验证型模型（IV）螺旋型的概率（iv）自动效率（V），（iv）的自动效率（V）代理，（VI）在杂乱无章的环境中导航，间歇性或退化的GPS。杨百翰大学具有特殊力量和兴趣的应用主题领域包括：（i）针对小型UAS的自动驾驶创新，（ii）基于雷达的检测和避免对其他飞机的检测和避免（iii）对地面目标的强大跟踪，以及（iv）监测大型基础设施和术后损坏损坏评估评估。这些技术和应用领域的杨百翰大学教职员工提出的特定研究项目每年由行业顾问委员会（IAB）选择。

项目成果

期刊论文数量（61）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

Improving the Robustness of Visual-Inertial Extended Kalman Filtering

提高视觉惯性扩展卡尔曼滤波的鲁棒性

DOI：
10.1109/icra.2019.8794164
发表时间：
2019
期刊：
2019 International Conference on Robotics and Automation (ICRA
影响因子：
0
作者：
Jackson, James;Nielsen, Jerel;McLain, Tim;Beard, Randal
通讯作者：
Beard, Randal

Relative Heading Estimation and Its Application in Target Handoff in GPS-Denied Environments

相对航向估计及其在 GPS 失效环境中目标切换中的应用

DOI：
10.1109/tcst.2017.2773027
发表时间：
2019
期刊：
IEEE Transactions on Control Systems Technology
影响因子：
4.8
作者：
Bai, He;Beard, Randal W.
通讯作者：
Beard, Randal W.

Robust Moving Target Handoff in GPS-Denied Environments

GPS 拒绝环境中的稳健移动目标切换

DOI：
发表时间：
2021
期刊：
IEEEASME transactions on mechatronics
影响因子：
0
作者：
Tolman, Skyler;Beard, Randy;Morris, T. Devon;Peterson, Cameron K.;Gupta, Riten
通讯作者：
Gupta, Riten

Ground Target Tracking Using a Monocular Camera and IMU in a Nonlinear Observer SLAM Framework