摘要 :
Parsing the flight test data is an important process that is required to analyze airplane performance and stability characteristics, build high fidelity flight dynamics models using the System Identification (SysID) techniques and...
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Parsing the flight test data is an important process that is required to analyze airplane performance and stability characteristics, build high fidelity flight dynamics models using the System Identification (SysID) techniques and investigate airplane accidents and incidents. Flight Data Recorders (FDR) are devices used to preserve the history of the flight by recording its measured parameters. Eagle Tree, ArduPilot Mega (APM), and Pixhawk are examples of the available commercial FDR for Unmanned Aerial Vehicles (UAV) where the latter is the widely used one. Pixhawk can preserve the flight history via two methods. The first is to record the flight parameters using an onboard SD memory card with 'ulog' file format while the second is to send the flight parameters via MAVlink protocol and save it with 'tlog' format. Typically, reading, analyzing, and extracting useful flight data from both kinds of files is a laborious task as they include a huge number of lines representing the measurement of different sensors recorded with different sampling rates (e.g. IMU, GPS, Pitot system). Although the availability of some tools that partly include the features necessary to perform a complete analysis of Pixhawk log-files, a comprehensive user-friendly tool that support all these features (e.g. parse both kinds of files (ulog and t-log), 2D Mapping, 3D trajectory with altitude, plot different parameter together, resampling data, and record input signal) is still needed which is the main purpose of this paper. Finally, a real flight test is performed on a case study UAV and the measured data are used to demonstrate the capabilities of the developed software.
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