This master thesis studied methods for tracking and localising a moving target from an autonomous seeker drone. Feasible methods for automatic control of the seeker drone and different antenna configurations were explored as well. Two different tracking filters and two different controllers were tested for this purpose. The algorithm was developed in Python and MATLAB. The evaluation of the filters and controllers was done both theoretically with simulations but also practically with flight tests. Performance and robustness were measured by examining the estimated target position and the smoothness of the seeker path. Both filters performed satisfactorily, the same conclusion could be made for the automatic controllers as well. Regardless of the sufficient results, for future work there are several aspects which can be improved. The communication with the drone’s motors, the noise models and one of the automatic controllers are all examples of areas which canbe improved further.
| Identifer | oai:union.ndltd.org:UPSALLA1/oai:DiVA.org:liu-174172 |
| Date | January 2021 |
| Creators | Hanström, Anna, Verheij, Jet |
| Publisher | Linköpings universitet, Kommunikationssystem, Linköpings universitet, Kommunikationssystem |
| Source Sets | DiVA Archive at Upsalla University |
| Language | English |
| Detected Language | English |
| Type | Student thesis, info:eu-repo/semantics/bachelorThesis, text |
| Format | application/pdf |
| Rights | info:eu-repo/semantics/openAccess |
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