UAV helicopter relative state estimation for autonomous landing on moving platforms in a GPS-denied scenario. Issue 9 (2015)

• Record Type: Journal Article
• Authors: Alarcon, Francisco; Santamaria, Daniel; Viguria, Antidio
• Is Part Of: IFAC-PapersOnLine. Volume 48:Issue 9(2015)
• Page Start: 37
• Page End: 42
• Publication Date: 2015
• Subjects: Navigation systems -- autonomous landing -- autonomous vehicles -- UAV -- sensor fusion -- rotatory wing UAV -- GPS denied; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2015.08.056
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: The objective of this work is to describe an innovative relative position and velocity state estimation approach for rotatory wing UAV linked with a rope. An autonomous landing of a UAV helicopter in a static and in mobile platform in absence of GPS are presented as application of this technology. The relative estimation is obtained using a device that provides rope orientation, and tension information, an altimeter and an IMU. All this information is combined using a sensor fusion strategy.