An application of parameter estimation to the stability and control of the BQM-147 Unmanned Aerial Vehicle
Quinn, Patrick John.
Howard, Richard M.
Kaminer, Isaac I.
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Parameter estimation methods were used to obtain estimates of stability and control derivatives for the Marine Corps BQM-147 Unmanned Air Vehicle. The results from a simple, PC-based linear model and those from a more robust non-linear model, pEst, were compared. A Cramer-Rao bound was used to assess the accuracy of the estimates for both methods. The bounds were high for both the longitudinal case and the lateral-directional case due to the limited maneuvers tested, high levels of noise in the same general frequency range as the control input, and the lack of body-angle data. The linear model failed to provide estimates for the lateral-directional case. Though the results may be used as starting points for a dynamic model of the aircraft it is recommended that the flight test procedures be modified to address the issues raised concerning noise, recorded signals and the need for repeated maneuvers.
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