Vision Aided State Estimation for Helicopter Slung Load System

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

Publikation: Bidrag til bog/antologi/rapport/konference proceedingKonferenceartikel i proceedingForskningpeer review

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Resumé

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

Fingerprint

Slings
State estimation
Helicopters
Pendulums
Unmanned aerial vehicles (UAV)
Sensors

Emneord

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

Citer dette

Bisgaard, M., Bendtsen, J. D., la Cour-Harbo, A., & N. Johnson, E. (2007). Vision Aided State Estimation for Helicopter Slung Load System. I Seventeenth IFAC Symposium on Automatic Control in Aerospace (2007) (Bind 17). Pergamon Press. IFAC-PapersOnLine
Bisgaard, Morten ; Bendtsen, Jan Dimon ; la Cour-Harbo, Anders ; N. Johnson, Eric. / Vision Aided State Estimation for Helicopter Slung Load System. Seventeenth IFAC Symposium on Automatic Control in Aerospace (2007). Bind 17 Pergamon Press, 2007. (IFAC-PapersOnLine).
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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.",
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Bisgaard, M, Bendtsen, JD, la Cour-Harbo, A & N. Johnson, E 2007, Vision Aided State Estimation for Helicopter Slung Load System. i Seventeenth IFAC Symposium on Automatic Control in Aerospace (2007). bind 17, Pergamon Press, IFAC-PapersOnLine, IFAC Symposium on Automatic Control in Aerospace, Toulouse, Frankrig, 25/06/2007.

Vision Aided State Estimation for Helicopter Slung Load System. / Bisgaard, Morten; Bendtsen, Jan Dimon; la Cour-Harbo, Anders; N. Johnson, Eric.

Seventeenth IFAC Symposium on Automatic Control in Aerospace (2007). Bind 17 Pergamon Press, 2007. (IFAC-PapersOnLine).

Publikation: Bidrag til bog/antologi/rapport/konference proceedingKonferenceartikel i proceedingForskningpeer 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

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

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

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Bisgaard M, Bendtsen JD, la Cour-Harbo A, N. Johnson E. Vision Aided State Estimation for Helicopter Slung Load System. I Seventeenth IFAC Symposium on Automatic Control in Aerospace (2007). Bind 17. Pergamon Press. 2007. (IFAC-PapersOnLine).