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.


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    Titel :

    Helicopter GNC system for autonomous landing by using a tether in a GPS denied scenario


    Beteiligte:


    Erscheinungsdatum :

    01.06.2015


    Format / Umfang :

    1006521 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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