Development and evaluation of a dynamically scaled testbed aircraft for a visual inertial odometry dataset

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.

Name thesis:degree_name

M.S.

Level thesis:degree_level

Thesis

Discipline thesis:degree_discipline

Aerospace Engineering

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

2019

Author dc:creator

• Figueroa, Felipe

Contributors dc:contributor

• Bretl, Timothy

• Distributed Electric Propulsion, DEP, Dynamically Scaled, UAV, Visual Inertia Odometry, VIO, Dataset, Model, System Identification, Parameter Estimation

Statement dc:rights

• Copyright 2019 Felipe Figueroa

Language dc:language

en

Handle dc:identifier

http://hdl.handle.net/2142/104948

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/104948