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  • 标题:UAV helicopter relative state estimation for autonomous landing on moving platforms in a GPS-denied scenario
  • 本地全文:下载
  • 作者:Francisco Alarcon ; Daniel Santamaria ; Antidio Viguria
  • 期刊名称:IFAC PapersOnLine
  • 印刷版ISSN:2405-8963
  • 出版年度:2015
  • 卷号:48
  • 期号:9
  • 页码:37-42
  • DOI:10.1016/j.ifacol.2015.08.056
  • 语种:English
  • 出版社:Elsevier
  • 摘要:AbstractThe objective of this work is to describe an innovative relative position and velocity state estimation approach for rotatory wing UAV linked with a rope. An autonomous landing of a UAV helicopter in a static and in mobile platform in absence of GPS are presented as application of this technology. The relative estimation is obtained using a device that provides rope orientation, and tension information, an altimeter and an IMU. All this information is combined using a sensor fusion strategy.
  • 关键词:KeywordsNavigation systemsautonomous landingautonomous vehiclesUAVsensor fusionrotatory wing UAVGPS denied
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