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Autonomous helicopter hover positioning byoptical tracking

Published online by Cambridge University Press:  04 July 2016

G. Bouwer ,
C-H. Oertel  and
W. von Grünhagen
G. Bouwer
Affiliation:
DLR, Braunschweig, Germany
C-H. Oertel
Affiliation:
DLR, Braunschweig, Germany
W. von Grünhagen
Affiliation:
DLR, Braunschweig, Germany
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Summary

The design of control systems for helicopters in hoverand at low speed is a basic requirement for theextension of mission profiles and new missiondemands. A special task for various applications isthe position hold under wind and gust conditionsabove a ground fixed or moving target, like ashipboard reference, or a small vessel or lifeboatin rescue missions. For the solution of this problema controller concept was developed and thefeasibility was proven and successfully demonstratedin flight tests.

The in-flight helicopter simulator ATTHeS of the DLRhas been equipped by the Institute of FlightMechanics with an innovative measurement system forthe hover position above a target. A video camera incombination with a highly parallel computer systemfor processing the optical information was used asan integra ted sensor system for the measurement ofthe relative position of the aircraft to a target.Based on the existing well-proven flight controllaws of ATTHeS for the forward flight condition,which are implemented for handling qualitiesinvestigations, these control laws were modified andadapted to fulfil the special requirements of theposition hold task, including altitude hold andheading hold capabilities. The integrated system ofoptical position sensor and control computer enablesthe helicopter to hover automatically above adefined target in constant altitude and withconstant heading. Flight tests above a moving carunder wind and gust conditions underline the futurepotential of the overall system to be used underoperational conditions.

Information

Type
Research Article
Information
The Aeronautical Journal , Volume 99 , Issue 984 , April 1995 , pp. 145 - 149
Copyright
Copyright © Royal Aeronautical Society 1995 

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