Vision aided state estimator for helicopter slung load system

Morten Bisgaard, Anders La Cour-Harbo, Eric N. Johnson, Jan Dimon Bendtsen

Research output: Chapter in Book/Report/Conference proceedingConference contribution

31 Scopus citations


This paper presents the design and verification of a state estimator for a helicopter based slung load system. The estimator is designed to augment the IMU driven estimator found in many helicopter UAV's and uses vision based updates only. The process model used for the estimator is a simple 4 state acceleration driven pendulum. Sensor input for the filter is provided by a vision based system that measures the position of the slung load. The estimator needs no prior knowledge of the system as it estimates the length of the suspension system together with the system states. Finally the estimator is verified using flight data and it is shown that it is capable of reliably estimating the slung load states.

Original languageEnglish (US)
Title of host publicationACA' 2007 - 17th IFAC Symposium on Automatic Control in Aerospace - Proceedings
PublisherIFAC Secretariat
Number of pages6
EditionPART 1
ISBN (Print)9783902661241
StatePublished - 2007

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
NumberPART 1
ISSN (Print)1474-6670

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering


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