{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/129339"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/129339","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Geofencing trajectory estimation for small-scale fixed-wing UAVs","abstract":"Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2025-10-19 without embargo terms","abstract_html":"Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2025-10-19 without embargo terms","abstract_has_math":false,"creators":["Yu, Simon"],"institution":"University of Illinois Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Electrical & Computer Engr","degree_department":null,"school":null,"contributors":["Sha, Lui Raymond"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2025,"date_issued":"2025-05-08","date_published":"2025-05-08","updated_at":"2026-07-22T22:25:05Z","subjects":["Trajectory Estimation","Geofencing","Unmanned Aerial Vehicles"],"languages":["en","eng"],"rights":["Copyright 2025 Simon Yu"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"https://hdl.handle.net/2142/129339","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Sha, Lui Raymond"]},{"key":"dc:creator","label":"Author","values":["Yu, Simon"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2025-05-08","2025-05"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Electrical & Computer Engr"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["M.S."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Trajectory Estimation","Geofencing","Unmanned Aerial Vehicles"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en","eng"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2025 Simon Yu"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["https://hdl.handle.net/2142/129339"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2025-10-19 without embargo terms","The student, Simon Yu, accepted the attached license on 2025-05-07 at 14:00.","The student, Simon Yu, submitted this Thesis for approval on 2025-05-07 at 14:46.","This Thesis was approved for publication on 2025-05-08 at 13:44.","DSpace SAF Submission Ingestion Package generated from Vireo submission #22253 on 2025-10-19 at 18:13:46","The rapid rise in the popularity of unmanned aerial vehicles (UAVs) has opened new frontiers in fields such as environmental monitoring, agriculture surveying, and infrastructure inspection. However, the proliferation of UAVs also brings increased safety and regulatory concerns, particularly with regard to keeping aircraft within designated airspace boundaries, commonly enforced through geofencing techniques. While geofencing strategies have been extensively studied for rotary-wing UAVs, applying them to fixed-wing platforms introduces unique challenges, due to their kinematic constraints. This thesis presents a novel trajectory estimation model explicitly designed for geofencing applications involving small-scale fixed-wing UAVs. At the core of the proposed method is the Beta Trajectory, a kinematic model that accounts not only for curvature constraints, bounded by the maximum roll angle of the aircraft, but also for constraints in the change of curvature, bounded by the maximum roll rate of the aircraft. This work demonstrates that such additional constraints, i.e., finite roll rate, account for the forward displacement of a fixed-wing aircraft during roll maneuvers and thus are critical for accurate trajectory estimation and precise evasive maneuvers. The proposed model is integrated with real-time geofencing algorithms and implemented using an open-source autopilot framework. The efficacy of the method is demonstrated through a high-fidelity, software-in-the-loop (SITL) emulation environment, as well as through physical flight testing on a real-world, small-scale, fixed-wing aircraft. Comparative studies against conventional approaches show that the Beta Trajectory provides significantly more accurate trajectory estimations under realistic roll rate constraints."]},{"key":"dc:format","label":"Dc Format","values":["application/pdf"]},{"key":"dc:title","label":"Title","values":["Geofencing trajectory estimation for small-scale fixed-wing UAVs"]}]}],"canonical_facts":{"dc:contributor":["Sha, Lui Raymond"],"dc:creator":["Yu, Simon"],"dc:date":["2025-05-08","2025-05"],"dc:description":["Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2025-10-19 without embargo terms","The student, Simon Yu, accepted the attached license on 2025-05-07 at 14:00.","The student, Simon Yu, submitted this Thesis for approval on 2025-05-07 at 14:46.","This Thesis was approved for publication on 2025-05-08 at 13:44.","DSpace SAF Submission Ingestion Package generated from Vireo submission #22253 on 2025-10-19 at 18:13:46","The rapid rise in the popularity of unmanned aerial vehicles (UAVs) has opened new frontiers in fields such as environmental monitoring, agriculture surveying, and infrastructure inspection. However, the proliferation of UAVs also brings increased safety and regulatory concerns, particularly with regard to keeping aircraft within designated airspace boundaries, commonly enforced through geofencing techniques. While geofencing strategies have been extensively studied for rotary-wing UAVs, applying them to fixed-wing platforms introduces unique challenges, due to their kinematic constraints. This thesis presents a novel trajectory estimation model explicitly designed for geofencing applications involving small-scale fixed-wing UAVs. At the core of the proposed method is the Beta Trajectory, a kinematic model that accounts not only for curvature constraints, bounded by the maximum roll angle of the aircraft, but also for constraints in the change of curvature, bounded by the maximum roll rate of the aircraft. This work demonstrates that such additional constraints, i.e., finite roll rate, account for the forward displacement of a fixed-wing aircraft during roll maneuvers and thus are critical for accurate trajectory estimation and precise evasive maneuvers. The proposed model is integrated with real-time geofencing algorithms and implemented using an open-source autopilot framework. The efficacy of the method is demonstrated through a high-fidelity, software-in-the-loop (SITL) emulation environment, as well as through physical flight testing on a real-world, small-scale, fixed-wing aircraft. Comparative studies against conventional approaches show that the Beta Trajectory provides significantly more accurate trajectory estimations under realistic roll rate constraints."],"dc:format":["application/pdf"],"dc:identifier":["https://hdl.handle.net/2142/129339"],"dc:language":["en","eng"],"dc:rights":["Copyright 2025 Simon Yu"],"dc:subject":["Trajectory Estimation","Geofencing","Unmanned Aerial Vehicles"],"dc:title":["Geofencing trajectory estimation for small-scale fixed-wing UAVs"],"dc:type":["text"],"thesis:degree_discipline":["Electrical & Computer Engr"],"thesis:degree_level":["Thesis"],"thesis:degree_name":["M.S."],"thesis:institution_name":["University of Illinois Urbana-Champaign"]},"updated_at":"2026-07-22T22:25:05Z"}