SimKite

SimKite Architecture

1. Emulation
2. Simulation
3. Aux Functions (Set-up, Export, Display, Interact)

SimKite Design

1. Open - Source
2. Modular / Extendable
3. Interactive
4. Applicable

Core Subsystems

Two distinct subsystems,

• one mimicing reality
• one modeling the system from the scope of the user

The emulation subsystem receives control actions calculated by the simulation subsystem, evolves the system "in shadow" and returns observations as probed by the simulation subsystem.

The shadow values produced in emulation are stored, can be displayed and used for validation purposes.

Duplicate Modules

Modules that exist both in the emulation and simulation subsystems. They can be the same, differ in parameters or vary structurally.

Atmospherics

In respect to the inertial reference frame. Evolve in time (t). Evolve in space (x,y,z) 

• Wind speed and direction (u,v) - Evolve in time and spatially
• Temperature (scalar) - Varies with height
• Air density (scalar) - Varies with height
• Air pressure (scalar) - Varies with height

Can accomodate 1) full generation, 2) forecast, 3) forecast error generation

They can be numerically calculated 1) at the point of interest, 2) at the path of interest, 3) at a lattice in a volume of interest

Updated by a deterministic or stochastic model.

Kite Dynamics

1. Airfoil Dynamics (6 DOF)

2. Tether Dynamics (Drag & Weight)

3. Ground Station (Tether Tension)

Control Module

This module exists only in the simulation subsystem. It provides part of the inputs for the emulation subsystem and the kite dynamics module.

1. Filtering
2. Predicting
3. Control