Dead Reckoning System for UAV Using RSSI and Extremum Seeking Control
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Motivated by the vulnerability of Unmanned Aerial Vehicles (UAVs) to loss of GNSS, thismaster thesis investigates the development of a backup navigation system. The system canbe used by the UAV to navigate back to the base station that the communication signalis transmitted from. The backup system is based on an extremum seeking controller thattakes the RSSI and the current estimated heading as input, and outputs the heading thatsteers 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, theSIL 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.