Development and evaluation of a dynamically scaled testbed aircraft for a visual inertial odometry dataset
Figueroa, Felipe
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https://hdl.handle.net/2142/104948
Description
Title
Development and evaluation of a dynamically scaled testbed aircraft for a visual inertial odometry dataset
Author(s)
Figueroa, Felipe
Issue Date
2019-04-26
Director of Research (if dissertation) or Advisor (if thesis)
Bretl, Timothy
Department of Study
Aerospace Engineering
Discipline
Aerospace Engineering
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
M.S.
Degree Level
Thesis
Keyword(s)
Distributed Electric Propulsion, DEP, Dynamically Scaled, UAV, Visual Inertia Odometry, VIO, Dataset, Model, System Identification, Parameter Estimation
Abstract
In this thesis we describe the design, manufacturing, and testing of a dynamically scaled aircraft, which is a scaled model of a general aviation vehicle that dynamically behaves in a similar manner as the full-scale aircraft. This scaled model (Cirrus SR22T) is to serve as a testbed for both Distributed Electric Propulsion (DEP) aircraft research and for Visual Inertial Odometry (VIO) research. The aircraft is used as a baseline to compare with the DEP aircraft, to draw conclusion regarding the effect of changing to a DEP configuration, and to provide a way to measure the effect that a DEP configuration would have on a full-scale aircraft. The aircraft is also used to collect data from various onboard sensors to provide a data set for the VIO research community to use.
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