Software for Flight Vehicle System Identification
ESTIMA / FITLAB / FVSysID
at DLR
Dr. Ravindra Jategaonkar
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
Software/1
This page is left intentionally blank.
Dr. Ravindra Jategaonkar
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
Software/2
Overview of Software Tools (1)
MMLE3: Modified Maximum Likelihood Estimation: A general Fortran
program for Maximum Likelihood Parameter Estimation (1980)
NASA Dryden, Edwards, CA (Richard Maine and Ken Iliff)
pEst:
Parameter Estimation (1987)
interactive parameter estimation for nonlinear dynamic systems.
NASA, Ames/Dryden (James Murray and Richard Maine)
ESTIMA: Integrated Software tool for parameter estimation (1983 / 1998)
and simulation of dynamic systems.
DLR Institute of Flight Systems, Braunschweig, Germany
(Ravindra Jategaonkar)
IDEAS:
Integrated Data Evaluation and Analysis System (1998)
Science Applications International Corporation, California, MD
(Dennis Linse)
Software packages used at Aerospace industries are not included:
Boeing, Airbus, Embraer, ..
Dr. Ravindra Jategaonkar
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
Software/3
Overview of Software Tools (2)
MATLAB based software packages:
SIDPAC: System Identification Programs for AirCraft (2002)
NASA, Langley, VA (Gene Morelli)
FITLAB
Tools box for Linear and Nonlinear parameter estimation (2001)
DLR Institute of Flight Systems, Braunschweig, Germany (Susanne Weiss)
FVSysID Flight Vehicle System IDentification: A Time Domain Methodology.
(Author: Ravindra Jategaonkar) 2006, AIAA Book
Frequency Domain
CIFER:
Comprehensive Identification from FrEquency Responses
Identification of transfer-function models, Spectral signal analysis,HQ analysis.
Mark Tischler, NASA Ames
DIVA
MIMO Analysis and Transfer function approximations
DLR Institute of Flight Systems, Braunschweig, Germany
FITLAB
Matlab Tools box for parameter estimation in frequency domain Linear systems
DLR Institute of Flight Systems, Braunschweig, Germany (Susanne Weiss)
Dr. Ravindra Jategaonkar
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
Software/4
FVSysID: Matlab based software (1)
Part of AIAA Book: Flight Vehicle System Identification:
A Time Domain Methodology
Specially tailored software for system identification in time domain
- Developed using basic Matlab (No special Toolbox required)
- Provides source codes (m-files of all the methods / functions)
- Provides sample flight data
- Chapter wise sorted
- Applicable to any general linear / Nonlinear dynamic system
- Multiple run evaluation
- Off-line algorithms:
- Output Error Method (Linear / Nonlinear systems)
- Filter Error Method (Linear / Nonlinear systems)
- Recursive algorithms:
- Recursive least squares (RLS)
- Fourier transform regression (FTR)
- Extended / Unscented Kalman filters (EKF / UKF)
Dr. Ravindra Jategaonkar
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
Software/5
FVSysID: Matlab based software (2)
AIAA Book: Flight Vehicle System Identification: A Time Domain Methodology
- Unstable aircraft:
- LS, TLS, FEM, EKF, UKF
- Stabilized OEM
- Eigenvalue transformation
- Equation Decoupling
- Utility programs
- Integration method (Runge-Kutta 2nd, 3rd, 4th order)
- Differentiation of measured variables (multiple run)
- Smoothing / Filtering of measured data (multiple runs)
USER Interface
- mDefCasexx.m Definition of model, flight data, initial values etc.
- state_eq function to code rhs of state equations x& (t ) = f [ x(t ), u (t ), x ]
- obser_eq function to code observation equations y (t ) = g[ x(t ), u (t ), x , y ]
Dr. Ravindra Jategaonkar
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
Software/6
FVSysID: Matlab based software (3)
AIAA Book: Flight Vehicle System Identification: A Time Domain Methodology
Example: Estimation of lift, drag, pitching moment Derivatives
State equations
F
qS
C D + g sin( ) + e cos( + T )
V& =
m
m
F
qS
g
C L + q + cos( ) e sin( + T )
& =
V
mV
mV
& = q
q& =
F
q Sc
C m + e ( l tx sin T + l tz cos T )
Iy
Iy
Observation equations
C D = C D 0 + C DV
C L = C L0 + C LV
V
+ C D
V0
V
+ C L
V0
Cm = Cm 0 + CmV
V
qc
+ Cm + Cmq
+ Cme e
2Vo
V0
Vm = V
m =
m =
qm = q
q& m =
F
q Sc
C m + e ( l tx sin T + l tz cos T )
Iy
Iy
F
qS
C X + e cos T
m
m
F
qS
C Z e sin T
=
m
m
a xm =
a zm
Dr. Ravindra Jategaonkar
C X = C L sin C D cos
C Z = C L cos C D sin
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
Software/7
FVSysID: Matlab based software (4)
AIAA Book: Flight Vehicle System Identification: A Time Domain Methodology
Example: Estimation of lift, drag, pitching moment Derivatives
The unknown parameter vector
= [C D0 C DV C D C L0 C LV C L C m0 C mV C m C mq C me ]T
V , ,, q
States:
State equation: xdot_TC04_hfb_lon
Observations: V , , , q, q& , a x , a z Obs. Equations: obs_TC04_hfb_lon
e , Fe
Inputs:
test_case = 4;
state_eq
% Integer flag for the test case
= xdot_TC04_hfb_lon; % function for state equations
See m-files
obser_eq = obs_TC04_hfb_lon; % function for observation equations
Nx
= 4;
% Number of states
Ny
= 7;
% Number of observation variables
Nu
= 2;
% Number of input (control) variables
NparSys
= 11;
% Number of system parameters
Dr. Ravindra Jategaonkar
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
Software/8
FVSysID: Matlab based software (5)
AIAA Book: Flight Vehicle System Identification: A Time Domain Methodology
Example: Estimation of lift, drag, pitching moment Derivatives
Run the test case:
Output Error method:
/FVSysID/chapter04/
ml_oem: test_case = 4
Filter Error method
/FVSysID/chapter05/
ml_fem: test_case = 4
Recursive estimation methods (EKF, UKF, UKFaug)
/FVSysID/chapter07/
mainRPE: test_case = 4
Several test cases and sample flight data provided
Dr. Ravindra Jategaonkar
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
Software/9
ESTIMA (1)
Integrated Software Tool for
System Identification and Simulation of Dynamic Systems
Modeling, estimation and simulation
Modeling
Standardmodels
Usermodels
(FPR,Lon,Lat,6DOF,2nd)
(completely flexible)
Flight Data
CDF
or
ASCII
Online
interactive
mode with
graphical
display
Results
Nucleus
Sys Id andsimulation
7Optimization methods
6Integrationformulas
Largescale systems
.....
Logfile:
estimates,correlation,
standard deviation,...
THPLOT:Timehistory plots
CRSPLOT:Crossplots
Timehistories:cdf,Ascii
Convergence
Linearized system
Commonenvironment
Front end and command procedures
Scripts:
Utility,SysID,Plotprograms
(Commontoallplatforms)
Post processing
(time and frequency domain)
Eigenvalues/vectors
Commercial aspects
Availability:
Fourplatforms-IBM-AIX,
SG-IRIX,SunOS-Solaris,Linux
CONPLOT:Convergence plots PSDPLOT:Powerspectral density
Graphic:Gnuplot/GVorGINO
Licensed software:
-No.ofconcurrentuser
-Industry,Researchorg./Univs.
Completelyconfigurable
Unix/X-windowsbased
"xfiles"
Dr. Ravindra Jategaonkar
Support:
Demoprograms,Initial
familiarization,shortcourses
EIGPLOT:Eigenvalues/vectors BODEPLOT:Frequency response
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
Software/10
ESTIMA (2)
Front End
Command procedures
Scripts:
Utility,SysID,Plotprograms
(Commontoallplatforms)
Completelyconfigurable
Unix/X-windowsbased
"xfiles"
Dr. Ravindra Jategaonkar
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
Software/11
ESTIMA (3)
Core
Modeling, estimation and simulation
Modeling
Standardmodels
Usermodels
(FPR,Lon,Lat,6DOF,2nd)
(completely flexible)
Flight Data
CDF
or
ASCII
Online
interactive
mode with
graphical
display
Dr. Ravindra Jategaonkar
Results
Nucleus
Sys Id andsimulation
7Optimization methods
6Integrationformulas
Largescale systems
.....
Logfile:
estimates,correlation,
standard deviation,...
Timehistories:cdf,Ascii
Convergence
Linearized system
Commonenvironment
Eigenvalues/vectors
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
Software/12
ESTIMA (4)
User Interface
Models
Modeling
Standard models
User models
(FPR,Lon,Lat,6DOF,2nd)
(completelyflexible)
Program control file
ChannelNos.for
inputandoutputvariables
A/cmasscharacteristics
Aerodynamicparameters
Keyword: mod_sub = lat
Statevariables:p, r,, , v
Controlinputs:a, r, 3, 4, f, ....
Observations: ay,,p,r,, , ayc
CY = CY 0 + CY + CYp p + CYr r + CY a a + CY r r + CY 3 3 + CY 4
4
C =C +C +C p +C r +C
+C
+C
+C
l l0 l
lp
lr
l a a l r r l 3 3 l 4 4
Fixed structure
Control via Input file C =C + C + C p +C r + C & + C + C + C + C
n n0 n
np
nr
n a a n r r n3 3 n 4 4
n&
Dr. Ravindra Jategaonkar
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
Software/13
ESTIMA (5)
Algorithmic Features
Nucleus
SysIdandsimulation
7Optimizationmethods
6Integrationformulas
Largescalesystems
.....
Output error method
Optimization Methods
UnconstrainedGauss-Newton
Bounded-VariableGauss-Newton
Levenberg-Marquardt
Jacob'sHeuristicsearchEXTREM
ConjugatedirectionsPOWELL
SIMPLEX(Nelder andMead)
SUBPLEX(ROWAN)
Integration Methods
Hybridization
Euler
Runge-Kutta 2ndorder
ofoptimizationandIntegrationmethods
Runge-Kutta 3rdorder
Runge-Kutta 4thorder
Large scale systems
Runge-Kutta-Fehlberg withstepsizecontrol 30States,60outputs,60inputs,
Backwarddifferentiationformula
80timeslices,80000datapoints
Dr. Ravindra Jategaonkar
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
Software/14
FITLAB: Toolbox for Sys ID under MATLAB (1)
FITLAB Features & Functionality
Matlab Toolbox
Identification of nonlinear models
m-Files
Simulink-Models
S-Functions
Identification of linear models
time and frequency domain
startup algorithm
Maximum-Likelihood cost function
Optimization using
bounded Gauss-Newton method
subspace-simplex search method
Multiple maneuvers can be evaluated together
Graphical user interface
Dr. Ravindra Jategaonkar
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
Software/15
FITLAB: Toolbox for Sys ID under MATLAB (2)
FITLAB GUI Graphical User Interface
Menu-driven system identification
Operation via mouse
Standard plots
quicklook plots for
measured data
report plots for results
Restart option
Generation of batch files
for repeating tasks
Dr. Ravindra Jategaonkar
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
Software/16
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
Jategaonkar, R. V., ESTIMA: A Modular and Integrated Software Tool for Parameter Estimation and
Simulation of Dynamic Systems - Users Manual, Version 1.0, DLR IB 111-2001/29, July 2001.
Jategaonkar, R. V. and Thielecke, F., ESTIMA - an Integrated Software Tool for Nonlinear Parameter
Estimation, Journal of Aerospace Science and Technology, Vol. 6, Issue 8, Dec. 2002, pp.565-578.
Linse, D. J., Aircraft System Identification Using Integrated Software Tools, RTO-MP-11,
Paper 11, March 1999.
Maine, R. E., and Iliff, K. W., Users Manual for MMLE3, a general FORTRAN Program for
Maximum Likelihood Estimation, NASA TP-1563, Nov. 1980.
Murray, J. E. and Maine, R. E., The pEst Version 2.1 Users Manual, NASA TM-88280, Sept. 1987.
Morelli, E. A., System Identification Programs for AirCraft (SIDPAC), AIAA Paper 2002-4704,
August 2002.
Tischler, M. B., CIFER version 2.2 Comprehensive Identification from Frequency Responses,
NASA CP-3226, Sept. 1994.
Weiss, S.
Dr. Ravindra Jategaonkar
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
Software/17
This page is left intentionally blank.
Dr. Ravindra Jategaonkar
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
Software/18
