| dc.description.abstract | Motivated by the vulnerability of Unmanned Aerial Vehicles (UAVs) to loss of GNSS, this
master thesis investigates the development of a backup navigation system. The system can
be used by the UAV to navigate back to the base station that the communication signal
is transmitted from. The backup system is based on an extremum seeking controller that
takes the RSSI and the current estimated heading as input, and outputs the heading that
steers the UAV back to the origin of the communication signal, i.e. the base station. The extremum seeking controller is implemented in the DUNE framework and Software-in-
the-loop tested with the JSBSim Flight Dynamics Model. Under the assumption made, the
SIL tests show that the controller can indeed steer the UAV back to the vicinity of the base station. Flight tests conducted with the Skywalker X8 UAV verifies that the extremum seeking controller s embedded observer is able to estimate the RSSI accurately under real flight conditions. The results are discussed, and focus areas for further work are suggested. | |
