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 proceedingArticle in proceedingResearchpeer-review

1 Downloads (Pure)

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 languageEnglish
Title of host publicationSeventeenth IFAC Symposium on Automatic Control in Aerospace (2007)
Number of pages6
Volume17
PublisherPergamon Press
Publication date2007
Publication statusPublished - 2007
EventIFAC Symposium on Automatic Control in Aerospace - Toulouse, France
Duration: 25 Jun 200729 Jun 2007
Conference number: 17

Conference

ConferenceIFAC Symposium on Automatic Control in Aerospace
Number17
CountryFrance
CityToulouse
Period25/06/200729/06/2007
SeriesIFAC-PapersOnLine

Fingerprint

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

Keywords

  • Helicopter
  • Estimation
  • Vision
  • Klman filter
  • Sung load

Cite this

Bisgaard, M., Bendtsen, J. D., la Cour-Harbo, A., & N. Johnson, E. (2007). Vision Aided State Estimation for Helicopter Slung Load System. In Seventeenth IFAC Symposium on Automatic Control in Aerospace (2007) (Vol. 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). Vol. 17 Pergamon Press, 2007. (IFAC-PapersOnLine).
@inproceedings{fae30650cc9411db9e19000ea68e967b,
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",
booktitle = "Seventeenth IFAC Symposium on Automatic Control in Aerospace (2007)",
publisher = "Pergamon Press",

}

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

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

VL - 17

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

PB - Pergamon Press

ER -

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