Title :
Laser interferometry-based tracking of multirotor helicopters
Author :
Porter, Robert ; Shirinzadeh, Bijan ; Man Ho Choi ; Bhagat, Umesh
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Monash Univ., Clayton, VIC, Australia
Abstract :
This paper presents the development and implementation of laser interferometry-based sensing and measurement for precise positioning and tracking of multirotor helicopters. A control architecture is developed, which incorporates position feedback from a laser interferometry-based sensing and measurement system. A dynamics model of multirotor helicopters is established in order to achieve position and motion control. The control architecture facilitates auto-alignment of the laser-beam and cat-eye retroreflector mounted on the multirotor helicopter. A theoretical analysis of laser interferometry-based sensing and measurement for positioning of multirotor helicopters is performed. Further, an experimental research facility is established with a laser system and 4-rotor helicopter. Experimental study and error analysis offer evidence that the laser based system maintains laser-beam and retroreflector alignment, facilitating continuous, real-time precise position measurements.
Keywords :
aerospace control; helicopters; light interferometry; measurement by laser beam; motion control; optical sensors; optical tracking; position control; position measurement; retroreflectors; 4-rotor helicopter; cat-eye retroreflector; error analysis; laser interferometry-based sensing; laser interferometry-based tracking; laser-beam autoalignment; motion control; multirotor helicopter; position control; position feedback; position measurement; Helicopters; Laser beams; Mathematical model; Measurement by laser beam; Quaternions; Rotors; Sensors;
Conference_Titel :
Advanced Intelligent Mechatronics (AIM), 2015 IEEE International Conference on
DOI :
10.1109/AIM.2015.7222764