Vision Aided State Estimation for Helicopter Slung Load System

Morten Bisgaard; Jan Dimon Bendtsen; Anders la Cour-Harbo; Eric N. Johnson

Vision Aided State Estimation for Helicopter Slung Load System

Morten Bisgaard, Jan Dimon Bendtsen, Anders la Cour-Harbo, Eric N. Johnson

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

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Abstract

This paper presents the design and verification of a state estimator for a helicopter based slung load system. The estimator is designed to augment the IMU driven estimator found in many helicopter UAV s and uses vision based updates only. The process model used for the estimator is a simple 4 state acceleration driven pendulum. Sensor input for the filter is provided by a vision based system that measures the position of the slung load. The estimator needs no prior knowledge of the system as it estimates the length of the suspension system together with the system states. Finally the estimator is verified using flight data and it is shown that it is capable of reliably estimating the slung load states.

Original language	English
Title of host publication	Seventeenth IFAC Symposium on Automatic Control in Aerospace (2007)
Number of pages	6
Volume	17
Publisher	Pergamon Press
Publication date	2007
Publication status	Published - 2007
Event	IFAC Symposium on Automatic Control in Aerospace - Toulouse, France Duration: 25 Jun 2007 → 29 Jun 2007 Conference number: 17

Conference

Conference	IFAC Symposium on Automatic Control in Aerospace
Number	17
Country/Territory	France
City	Toulouse
Period	25/06/2007 → 29/06/2007

Series	IFAC-PapersOnLine

Keywords

Helicopter
Estimation
Vision
Klman filter
Sung load

AUB Link

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Modelling, Estimation and Control for Helicopter Slung Load System
la Cour-Harbo, A., Bisgaard, M. & Bendtsen, J. D.
Aalborg University
01/09/2004 → 18/01/2008
Project: Research

Cite this

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title = "Vision Aided State Estimation for Helicopter Slung Load System",

abstract = "This paper presents the design and verification of a state estimator for a helicopter based slung load system. The estimator is designed to augment the IMU driven estimator found in many helicopter UAV s and uses vision based updates only. The process model used for the estimator is a simple 4 state acceleration driven pendulum. Sensor input for the filter is provided by a vision based system that measures the position of the slung load. The estimator needs no prior knowledge of the system as it estimates the length of the suspension system together with the system states. Finally the estimator is verified using flight data and it is shown that it is capable of reliably estimating the slung load states.",

keywords = "Helikopter, Estimation, Vision, Klman filter, Sung load, Helicopter, Estimation, Vision, Klman filter, Sung load",

author = "Morten Bisgaard and Bendtsen, {Jan Dimon} and {la Cour-Harbo}, Anders and {N. Johnson}, Eric",

year = "2007",

language = "English",

volume = "17",

series = "IFAC-PapersOnLine",

publisher = "Pergamon Press",

booktitle = "Seventeenth IFAC Symposium on Automatic Control in Aerospace (2007)",

note = "IFAC Symposium on Automatic Control in Aerospace ; Conference date: 25-06-2007 Through 29-06-2007",

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Vision Aided State Estimation for Helicopter Slung Load System. / Bisgaard, Morten; Bendtsen, Jan Dimon ; la Cour-Harbo, Anders et al.
Seventeenth IFAC Symposium on Automatic Control in Aerospace (2007). Vol. 17 Pergamon Press, 2007. (IFAC-PapersOnLine).

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

TY - GEN

T1 - Vision Aided State Estimation for Helicopter Slung Load System

AU - Bisgaard, Morten

AU - Bendtsen, Jan Dimon

AU - la Cour-Harbo, Anders

AU - N. Johnson, Eric

N1 - Conference code: 17

PY - 2007

Y1 - 2007

N2 - This paper presents the design and verification of a state estimator for a helicopter based slung load system. The estimator is designed to augment the IMU driven estimator found in many helicopter UAV s and uses vision based updates only. The process model used for the estimator is a simple 4 state acceleration driven pendulum. Sensor input for the filter is provided by a vision based system that measures the position of the slung load. The estimator needs no prior knowledge of the system as it estimates the length of the suspension system together with the system states. Finally the estimator is verified using flight data and it is shown that it is capable of reliably estimating the slung load states.

AB - This paper presents the design and verification of a state estimator for a helicopter based slung load system. The estimator is designed to augment the IMU driven estimator found in many helicopter UAV s and uses vision based updates only. The process model used for the estimator is a simple 4 state acceleration driven pendulum. Sensor input for the filter is provided by a vision based system that measures the position of the slung load. The estimator needs no prior knowledge of the system as it estimates the length of the suspension system together with the system states. Finally the estimator is verified using flight data and it is shown that it is capable of reliably estimating the slung load states.

KW - Helikopter

KW - Estimation

KW - Vision

KW - Klman filter

KW - Sung load

KW - Helicopter

KW - Estimation

KW - Vision

KW - Klman filter

KW - Sung load

M3 - Article in proceeding

VL - 17

T3 - IFAC-PapersOnLine

BT - Seventeenth IFAC Symposium on Automatic Control in Aerospace (2007)

PB - Pergamon Press

T2 - IFAC Symposium on Automatic Control in Aerospace

Y2 - 25 June 2007 through 29 June 2007

ER -

Vision Aided State Estimation for Helicopter Slung Load System

Abstract

Conference

Keywords

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Modelling, Estimation and Control for Helicopter Slung Load System

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