Hovering control of a miniature helicopter attached to a platform

In recent years, many researchers have been working in unmanned aerial vehicle to execute a large variety of tasks. The first step to reach it is the development of a sensing and communication structure capable to control such vehicles. In this context, this work presents a system designed to control a miniature helicopter during an autonomous hover flight in a platform. The proposed structure allows getting and transmitting data related to the current state of the aircraft to a ground station and transmit the control signals necessary to command it during the flight. A fusion algorithm and the strategy used to obtain the helicopter orientation using an Inertial Measurement Unit (EMU) is also presented. Finally, experimental results are presented and discussed, validating the proposal.