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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    Title :

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


    Contributors:


    Publication date :

    2015-06-01


    Size :

    1006521 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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