Vision Aided State Estimation for Helicopter Slung Load System

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

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Abstrakt

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.
OriginalsprogEngelsk
TitelSeventeenth IFAC Symposium on Automatic Control in Aerospace (2007)
Antal sider6
Vol/bind17
ForlagPergamon Press
Publikationsdato2007
StatusUdgivet - 2007
BegivenhedIFAC Symposium on Automatic Control in Aerospace - Toulouse, Frankrig
Varighed: 25 jun. 200729 jun. 2007
Konferencens nummer: 17

Konference

KonferenceIFAC Symposium on Automatic Control in Aerospace
Nummer17
LandFrankrig
ByToulouse
Periode25/06/200729/06/2007
NavnIFAC-PapersOnLine

Emneord

  • Helikopter
  • Estimation
  • Vision
  • Klman filter
  • Sung load

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