Vision aided state estimator for helicopter slung load system

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

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

12 Citations (Scopus)

Abstract

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
Pages425-430
Number of pages6
EditionPART 1
StatePublished - Dec 1 2007
Event17th IFAC Symposium on Automatic Control in Aerospace, ACA' 2007 - Toulouse, France
Duration: Jun 25 2007Jun 29 2007

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
NumberPART 1
Volume17
ISSN (Print)1474-6670

Other

Other17th IFAC Symposium on Automatic Control in Aerospace, ACA' 2007
CountryFrance
CityToulouse
Period6/25/076/29/07

Fingerprint

Slings
Helicopters
Pendulums
Unmanned aerial vehicles (UAV)
Sensors

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

Cite this

Bisgaard, M., La Cour-Harbo, A., Johnson, E., & Bendtsen, J. D. (2007). Vision aided state estimator for helicopter slung load system. In ACA' 2007 - 17th IFAC Symposium on Automatic Control in Aerospace - Proceedings (PART 1 ed., pp. 425-430). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 17, No. PART 1).
Bisgaard, Morten ; La Cour-Harbo, Anders ; Johnson, Eric ; Bendtsen, Jan Dimon. / Vision aided state estimator for helicopter slung load system. ACA' 2007 - 17th IFAC Symposium on Automatic Control in Aerospace - Proceedings. PART 1. ed. 2007. pp. 425-430 (IFAC Proceedings Volumes (IFAC-PapersOnline); PART 1).
@inproceedings{da91c87dd21c4213984a6610d30a3c79,
title = "Vision aided state estimator for helicopter slung load system",
abstract = "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.",
author = "Morten Bisgaard and {La Cour-Harbo}, Anders and Eric Johnson and Bendtsen, {Jan Dimon}",
year = "2007",
month = "12",
day = "1",
language = "English (US)",
isbn = "9783902661241",
series = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
number = "PART 1",
pages = "425--430",
booktitle = "ACA' 2007 - 17th IFAC Symposium on Automatic Control in Aerospace - Proceedings",
edition = "PART 1",

}

Bisgaard, M, La Cour-Harbo, A, Johnson, E & Bendtsen, JD 2007, Vision aided state estimator for helicopter slung load system. in ACA' 2007 - 17th IFAC Symposium on Automatic Control in Aerospace - Proceedings. PART 1 edn, IFAC Proceedings Volumes (IFAC-PapersOnline), no. PART 1, vol. 17, pp. 425-430, 17th IFAC Symposium on Automatic Control in Aerospace, ACA' 2007, Toulouse, France, 6/25/07.

Vision aided state estimator for helicopter slung load system. / Bisgaard, Morten; La Cour-Harbo, Anders; Johnson, Eric; Bendtsen, Jan Dimon.

ACA' 2007 - 17th IFAC Symposium on Automatic Control in Aerospace - Proceedings. PART 1. ed. 2007. p. 425-430 (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 17, No. PART 1).

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

TY - GEN

T1 - Vision aided state estimator for helicopter slung load system

AU - Bisgaard, Morten

AU - La Cour-Harbo, Anders

AU - Johnson, Eric

AU - Bendtsen, Jan Dimon

PY - 2007/12/1

Y1 - 2007/12/1

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=79960972845&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=79960972845&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:79960972845

SN - 9783902661241

T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)

SP - 425

EP - 430

BT - ACA' 2007 - 17th IFAC Symposium on Automatic Control in Aerospace - Proceedings

ER -

Bisgaard M, La Cour-Harbo A, Johnson E, Bendtsen JD. Vision aided state estimator for helicopter slung load system. In ACA' 2007 - 17th IFAC Symposium on Automatic Control in Aerospace - Proceedings. PART 1 ed. 2007. p. 425-430. (IFAC Proceedings Volumes (IFAC-PapersOnline); PART 1).