Full State Estimation for Helicopter Slung Load System

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Abstract

This paper presents the design of a state estimator system for a generic helicopter based slung load system. The estimator is designed to deliver full rigid body state information for both helicopter and load and is based on the unscented Kalman filter. Two different approaches are investigated: One based on a parameter free kinematic
model and one based on a full aerodynamic helicopter and slung load model.
The kinematic model approach uses acceleration and rate information from two Inertial Measurement Units, one on the helicopter and one on the load, to drive a simple kinematic model. A simple and effective virtual sensor method is developed to maintain the constraints imposed by the wires in the system.
The full model based approach uses a complex aerodynamical model to describe the helicopter together with a generic rigid body model. This rigid body model is based on a redundant coordinate formulation and can be used to model all body to body slung load suspension systems. Both estimators include bias estimation for the accelerometers and gyros and the model based estimator furthermore includes estimation of external wind disturbances. A vision system is used to measure the motion of the load relative to the helicopter. A method is devised to reduce the execution time of the process model in the unscented Kalman filter. The two approaches are tested through simulation and compared. The full model based approach shows better results than the kinematic model aproach, but at the cost of a larger
computational burden.

Original languageEnglish
Title of host publicationAIAA Guidance, Navigation and Control Conference and Exhibit
Number of pages15
PublisherAmerican Institute of Aeronautics and Astronautics
Publication date20 Aug 2007
DOIs
Publication statusPublished - 20 Aug 2007
EventAIAA Guidance, Navigation and Control Conference - Hilton Head, United States
Duration: 20 Aug 200723 Aug 2007
Conference number: 2007

Conference

ConferenceAIAA Guidance, Navigation and Control Conference
Number2007
CountryUnited States
CityHilton Head
Period20/08/200723/08/2007

Fingerprint

Slings
State estimation
Helicopters
Kinematics
Kalman filters
Units of measurement
Accelerometers

Keywords

  • Helicopter
  • Estimation
  • Sensor Fusion
  • Slung load

Cite this

Bisgaard, M., la Cour-Harbo, A., & Bendtsen, J. D. (2007). Full State Estimation for Helicopter Slung Load System. In AIAA Guidance, Navigation and Control Conference and Exhibit American Institute of Aeronautics and Astronautics. https://doi.org/10.2514/6.2007-6762
Bisgaard, Morten ; la Cour-Harbo, Anders ; Bendtsen, Jan Dimon. / Full State Estimation for Helicopter Slung Load System. AIAA Guidance, Navigation and Control Conference and Exhibit. American Institute of Aeronautics and Astronautics, 2007.
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Bisgaard, M, la Cour-Harbo, A & Bendtsen, JD 2007, Full State Estimation for Helicopter Slung Load System. in AIAA Guidance, Navigation and Control Conference and Exhibit. American Institute of Aeronautics and Astronautics, Hilton Head, United States, 20/08/2007. https://doi.org/10.2514/6.2007-6762

Full State Estimation for Helicopter Slung Load System. / Bisgaard, Morten; la Cour-Harbo, Anders; Bendtsen, Jan Dimon.

AIAA Guidance, Navigation and Control Conference and Exhibit. American Institute of Aeronautics and Astronautics, 2007.

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

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Bisgaard M, la Cour-Harbo A, Bendtsen JD. Full State Estimation for Helicopter Slung Load System. In AIAA Guidance, Navigation and Control Conference and Exhibit. American Institute of Aeronautics and Astronautics. 2007 https://doi.org/10.2514/6.2007-6762