Title :
Helicopter GNC system for autonomous landing by using a tether in a GPS denied scenario
Author :
Alarcon, Francisco ; Santamaria, Daniel ; Viguria, Antidio ; Ollero, Anibal ; Heredia, Guillermo
Author_Institution :
Center for Adv. Aerosp. Technol., La Rinconada, Spain
Abstract :
This paper presents a Guidance, Navigation and Control (GNC) system for the autonomous landing of a Remotely Piloted Aircraft Helicopter (RPAS) in a GPS-denied scenario by using a tether in the landing. A new control and sensor fusion strategy has been designed for landing accurately by means of relative position and velocity commands. The system uses on-board the RPAS a device with a cardan joint providing the angles between the tether and the helicopter frame and a force sensor giving the tension of the tether.
Keywords :
Global Positioning System; helicopters; navigation; telecontrol; GPS; RPAS; autonomous landing; guidance; helicopter GNC system; navigation; remotely piloted aircraft helicopter; tether; Aircraft navigation; Global Positioning System; Helicopters; Joints; Switches; Tethered autonomous helicopter; autonomous landing; control systems; navigation systems; sensor fusion;
Conference_Titel :
Unmanned Aircraft Systems (ICUAS), 2015 International Conference on
Conference_Location :
Denver, CO
Print_ISBN :
978-1-4799-6009-5
DOI :
10.1109/ICUAS.2015.7152398
