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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).

无人机系统中心（C-UAS）解决了无人机系统（UAS）行业的共同问题，这些问题限制了无人机在国家安全、科学、民用和商业领域的广泛应用。UAS行业内的研究受到两方面的驱动，一是特定高价值应用的技术差距，二是目前将UAS整合到国家空域所需的欠发达监管框架。无人驾驶飞机系统的全部价值，特别是在广泛的科学和民用应用中，如果没有像这里提出的那样重要的多学科研究努力，就无法实现。为了实现这一目标，C-UAS研究和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以及在支持UAS发展的领域培训研究生，为UAS的发展做出了贡献。在C-UAS中进行的研究具有潜在的应用于各种尺寸的无人驾驶飞机。然而，研究活动的主要焦点是小型无人机系统（SUAS），其特点是飞机的翼展在1英尺到8英尺范围内。C-UAS大学网站在这些较小的平台上进行实验飞行测试演示，从而使自己脱颖而出。工业在无人机领域的研究兴趣和需求与该中心大学参与者的技能、知识和背景非常吻合。杨百翰大学网站的研究重点领域可以用(1)技术领域和(2)应用领域来描述。杨百翰大学具有特别优势和兴趣的技术主题领域包括：(i)多螺旋桨近距离无人机的空气动力学和动力学，（ii）机载图像的异常检测，（iii）利用视觉特征和动态模型的目标跟踪算法，（iv）异构车辆团队的协同控制，(v)感知驱动的自主代理的概率规划，以及（vi）在GPS断断续续或退化的混乱环境中导航。杨百翰大学特别有实力和兴趣的应用主题领域包括：(i)小型无人机的自动驾驶仪创新，（ii）基于雷达的探测和避免其他飞机，（iii）地面目标的鲁棒跟踪，以及（iv）大规模基础设施监测和震后损害评估。杨百翰大学教师在这些技术和应用领域提出的具体研究项目每年由行业咨询委员会（IAB）选出。

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.

Deep RC: Enabling Remote Control through Deep Learning

DOI：
10.1109/icuas.2019.8798325
发表时间：
2019-06
期刊：
2019 International Conference on Unmanned Aircraft Systems (ICUAS)
影响因子：
0
作者：
Jaron Ellingson;Gary Ellingson;Tim McLain
通讯作者：
Jaron Ellingson;Gary Ellingson;Tim McLain

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