Online Near Real-Time System Identification on a Supercub SUAS
- 1 min
In a Nutshell
The goal of this project is to develop the capability of performing online system identification using Commercial-Off-The-Shelf (COTS) products on a Small scale Unmanned Aircraft System (UAS).
The final version of the system is capable of identifying and modifying vehicle state-space models while the UAV is in the air. Different inputs were tested and multiple flight models were identified using the system.
Key Challenges
- Real-time calculating and updating vehicle dynamic models for flight control.
- Input excitation analysis and precision autopilot control.
- Porting all the Matlab system identification code to a Python, coding system identification specific library.
- Building a customized data acquisition system that supports enough sensors at a high frequency. DFTI was developed and used.
- Designing a user friendly interface to show the identified model on the Ground Control Station (GCS).
A snapshot of the communication GUI is shown in Figure 1 
More Info
More information on the system I developed can be found in my SciTech 2018 paper.
Also feel free to contact me via email!
Han-Hsun (Jack) Lu
A Man who loves learning and traveling