Comprehensive System Identification of Ducted Fan UAVs - Cal Poly

Figure 3.48 – Magnetometer Depiction at 5 Gauss for 5 Seconds .................................102Figure 3.49 – Pressure Altimeter Model.........................................................................103Figure 3.50 – Pressure Altimeter at 15 feet for 5 seconds ..............................................103Figure 4.1 – Simulink MAV Model................................................................................105Figure 4.2 – Custom PC and COTS Simulation Environment .......................................106Figure 4.3 – Simulink Sweep Generator GUI Built for Sweeps.....................................107Figure 4.4 – Simulink GUI Generated Sweep ................................................................108Figure 4.5 – MAV Flight Test Cross Coherence between Pitch and Roll controls ........109Figure 4.6 – Cross Control Decoupling Block Diagram.................................................111Figure 4.7 – LINMOD and Simulated Sweep Roll Frequency Response ......................115Figure 4.8 – Effect of Removing Cross Control Coupling to Response.........................116Figure 4.9 – Coupling Removed Illustrating linmod and Simulated Sweep Results......117Figure 4.10 – Comparison of linmod and Flight Test Pitch Responses..........................118xi