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Measurements
Maneuver
Input
Optimized
Input
Actual
Response
FlightVehicle
Data Collection
& Compatibility
Methods
APrioriValues,
lower/upper
bounds
Estimation
Algorithm/
Optimization
Models
Model
Structure
Mathematical
Model/
Simulation
Identification
Criteria
Response
Error
Parameter
Adjustments
ModelResponse
Identification Phase
Complementary
Model
Flight Data
Validation
Dr. Ravindra Jategaonkar
Validation Phase
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
Measurements/1
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
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General Aspects
Parameters
Control surface deflections
- Potentiometers, LVDT
Linear accelerometers
Data Consistency
Calibration errors
Flight path reconstruction
- Accelerometers, INS
Angular rates
- Rate Gyros, INS
strap-down platform
Attitude angles
- INS
Engine parameters
Current trends
Flush airdata sensing system
- multi-hole probes
GPS/DGPS
- position, attitude, wind
Pilot forces
- force transducer
Air data
- flow angles - vanes
- Airspeed
- Pressure sensors
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
Measurements/3
Velocitycomponents
(u,v,w)
Attitudeangles
pd m = K
pd m = K
pdyn nb + pd
pdyn nb + pd
Time delay
pd m( t ) = K pdyn ( t q )nb( t ) + pd
Parameter estimation
- Output error method for nonlinear systems
- Bounded-Variable Gauss-Newton algorithm
- Multiple experiment evaluation
Initialconditions:u 0,v0,w0,p0,q0,r0
Scalefactors:K p,Kq,K r
Bias: ax,ay,az,p,q,r
Dr. Ravindra Jategaonkar
K , pd , K , pd , , , q
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
Measurements/4
u ( 0) = u 0
v ( 0) = v 0
w ( 0) = w 0
(0) = 0
( 0) = 0
( 0) = 0
h ( 0) = h 0
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
Measurements/5
= ( q q) w + ( r r )v g sin + ( a x a x )
u (0) = u0
v&
= ( r r )u + ( p p ) w + g cos sin + ( a y a y )
v (0) = v0
w(0) = w0
&
( 0) = 0
&
= ( q q) cos ( r r ) sin
( 0) = 0
&
( 0) = 0
h&
h (0) = h0
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
Measurements/6
m
m
pd ,m
Vm
m
m
m
hm
=
=
=
=
=
K local +
K local +
V
K +
K +
pd ,m
pdyn,m
= K pdyn local + pd
= K pdyn local + pd
2
= 12 Vlocal
= K +
= h + K h local + K h local
Accountfortimedelays:e.g. m = K (t ) +
Dr. Ravindra Jategaonkar
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
Measurements/7
x (t 0 ) = x 0
y (t ) = g[ x (t ), ]
z (t k ) = y (t k ) + v (t k )
x = [ u v w h ]T
u = [a x a y a z p q r ]T
y = [V h ]T
x 0 = [ u 0 v 0 w 0 0 0 0 h 0 ]T
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
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x (t 0 ) = x 0
Note:
The noise w(t ) in this context is not the same as the atmospheric turbulence
Presence of input noise makes system stochastic:
Simple numerical integration not possible (due to nonmeasurable input noise).
Needs state estimator (Extended Kalman filter)
EKF will be addressed later
Another approach: EBM (Estimation-Before-Modeling)
For details see Ref. 1.
Dr. Ravindra Jategaonkar
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
Measurements/9
20
deg
0
-5
300
kt
V
100
0.3
g
ax
0
-0.1
0
g
az
-2
0
400
time
800
1200
1600
To avoid correlation:
1) Combination of dynamic maneuvers are different trim points and of
dynamic and quasi-steady maneuvers
2) Reformulate the observation equation: m = K ( 0 ) + 0 +
Dr. Ravindra Jategaonkar
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
Measurements/10
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
Measurements/11
Outputs: y = [V , NB , NB , , , , h]
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
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Input variables:
ay
(m/s 2)
-2
5
0
az
(m/s 2)
-5
0
-10
p
(/s)
-20
50
0
0
-10
10
r
(/s)
q
(/s)
-50
10
0
-10
10
20
30
40
50
Time in sec
60
70
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
80
90
Measurements/13
140
120
()
100
10
()
-10
5
0
()
-5
50
0
()
-50
10
0
()
-10
20
10
4
0 x 10
h
(ft)
1.7
1.6
1.5
10
20
30
40
50
Time in sec
60
70
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
80
90
Measurements/14
135
130
()
125
6
()
0
-3
5
0
-5
()
40
0
()
()
-40
10
0
-5
20
10
h
(ft)
0 x 10
1.65
1.6
1.55
10
20
30
40
50
Time in sec
60
70
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
80
90
Measurements/15
p,q,r
Attitudeangles
0.4
rad
0
-0.6
0
Initialconditions: p0,q0,r0
Scalefactors:Kp,Kq,Kr
Bias:p,q,r
Bankangle
20
+ve error
40
sec
time
Pitch attitude
0
-0.4
0
20
0.6
rad
time
40
sec
40
sec
Pitch attitude
-ve error
-0.4
0
20
time
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
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Kinematic Equations
LinearAccelerations
Rotationalrates
ax,ay,az,p,q,r
Velocitycomponents
(u,v,w)
Attitudeangles
20
10
m/s
v
0
-5
8
m/s
w 0
Initialconditions:u0,v0,w0,p0,q0,r0
Scalefactors:Kp,Kq,Kr
Bias:ax,ay,az,p,q,r
-8
0
Trueairspeed- measured
40
60
time
80
100
sec
100
sec
Engineering judgement
45
m/s
20
0
20
40
m/s
u
20
40
60
time
80
100
sec
20
10
m/s
v
0
-5
8
m/s
w 0
-8
20
40
time
60
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
80
Measurements/17
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
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Maneuver1
Maneuver2
Maneuver3
Angles of Attack
AoA1
0
13
deg
AoA2
-2
20
deg
AoA3
5
100
200
Time
300
400
Flightmeasured
Dr. Ravindra Jategaonkar
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
Estimated
Measurements/19
AoA3
AoA2
20
AoA1
AOA1VersusAOA1
10
AOA2VersusAOA1
0
-5
-5
10
15
20
deg
25
AoA1
Dr. Ravindra Jategaonkar
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
Measurements/20
PositionofPitot #2
for Flight No.V3320
PositionofPitot #2
for Flight Nos.V3321,
3322and3323
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
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10
Angle
of
Sideslip
deg
0
-10
30
Angle
of
attack
aoa1
+ F1N min( , 0) + F1P max( , 0)
aoa1
0
-10
2.4
deg
Prediction deg
error on
0
AoA
-2.4
0
200
Time
400
600
400
600
2.4
Prediction
error on
AoA
deg
0
-2.4
0
200
Time
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
Measurements/22
Flight Log
4
deg
Flight log
2
Flap
FLog =1.153+FLog
0
IN(-6)
SP(1)
5
14
35
-1
120
160
200
240
kt
4
deg
RMP =1.407+RMP
2
Flap
Vane
IN(-6)
SP(1)
5
14
35
0
-1
120
Vane
200
160
240 kt
CAS
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
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Angleof attack:
Pt
P Angleof sideslip:
2
Flow sensors
P P
= 1 2
qc K
P P2
= 1
qc K
Flight log
Dynamicpressure: qc = Pt Ps
0.06
5 Hole Probe
K
0.04
0.02
0
0.4 0.6
1.0
2.0
Mach number
Dr. Ravindra Jategaonkar
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
Measurements/24
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
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330m
Tower;
Camera
109m
NN(Sealevel)
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
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Static pressure
1,SP
-6,IN
120-190Kt
140-240Kt
5 Flaps
145-240Kt
Altitude,ft
160
140
120
1,SP
140-240Kt
-6,IN
5 Flaps
145-240Kt
130-210KIAS
Aircraftbasis
Radioaltitude
5Holeprobe
130-210KIAS
Staticpressure,hPa
180
14
14
120-190Kt
1000
996
Altitude,Camera1
Altitude,Camera2
Radioaltimeter
100
0
12
16
992
12
16
Towerfly-by,-
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
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Position error,(Pa)
800
600
400
200
100
150
250
kts
250
Trueairspeed
Dr. Ravindra Jategaonkar
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
Measurements/28
PDALFA
0
3000
PA
PDBETA 0
-3000
20
40
60
time
5000
PA
PDALFA
0
3000
PA
PDBETA 0
-3000
20
40
60
time
Dr. Ravindra Jategaonkar
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
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AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
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time
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
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0.08
0.084
ATTAS
0.06
0.077
Scale
factor
K
0.04
0.070
0.02
0
0.4 0.6
1.0
2.0
Machnumber
Calibration factors independent of configuration
Dr. Ravindra Jategaonkar
0.063
20
Flap
40
deg
60
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
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12
11
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
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References
Jategaonkar, R. V.,
Flight Vehicle System Identification: A Time Domain Methodology,
Volume 216, AIAA Progress in Astronautics and Aeronautics Series
Published by AIAA Reston, VA, Aug. 2006, ISBN: 1-56347-836-6
http://www.aiaa.org/content.cfm?pageid=360&id=1447
Etkin, B., Dynamics of Atmospheric Flight, John Wiley & Sons, Inc. New York, 1972.
Evans, R. J., Goodwin, G. C., Feik, R. A., Martin, C., and Lozano-Leal, R, Aircraft Flight Data Compatibility
Checking Using Maximum Likelihood and Extended Kalman Filter Estimation, Proceedings, 7th IFAC
Symposium on Identification and System Parameter Estimation, York, UK, July 1985, pp. 487-492.
Jategaonkar, R. V., Identification of the Aerodynamic Model of the DLR Research Aircraft ATTAS from
Flight Test Data, DLR-FB 90-40, July 1990.
Keskar, D. A. and Klein, V., Determination of Instrumentation Errors from Measured Data Using Maximum
Likelihood Method, AIAA 80-1602, 1980.
Klein, V. and Schiess, J. R., Compatibility Check of Measured Aircraft Responses using Kinematic Equations
and Extended Kalman Filter, NASA TN D-8514, Aug. 1977.
Maine, R. E. and Iliff, K. W., Identification of Dynamic Systems - Applications to Aircraft. Part 1:
The Output Error Approach, AGARD AG-300, Vol. 3, Pt. 1, Dec. 1986.
McRuer, D., Ashkenas, I., and Graham, D., Aircraft Dynamics and Automatic Control, Princeton University
Press, Princeton, NJ, 1973.
Mulder, J. A., Jonkers, H. L., Horsten, J. J., Breeman, J. H., and Simon, J. L., Analysis of Aircraft Performance,
Stability and Control Measurements, AGARD LS-104, Nov. 1979, Paper No. 5.
Parameswaran, V., Jategaonkar, R. V. and Press, M., Calibration of Five-Hole Probe from Dynamic and Tower
Fly-By Maneuvers, Journal of Aircraft, Vol. 42, No. 1, 2005, pp. 80-86.
Dr. Ravindra Jategaonkar
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