Analytics for Real-Time Inertial Localization of the Tethered Aircraft Unmanned System

Daniel A. Rico, Francisco Muñoz-Arriola, Justin M. Bradley, Carrick J Detweiler

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

Abstract

The Tethered Aircraft Unmanned System enables long-term distributed sampling at altitude via an array of sensor suites embedded along the power tether. As the aircraft traverses the location of the sensors along the tether and during operation remains unknown. In this work, we propose an inertial-based method for estimating real-time localization of the sensor array. We have integrated an inertial measurement unit into each sensor suite and the orientation of each sensor is transformed into the world frame using a Madgwick estimator. The power tether is modeled as an asymmetric catenary which enables us to define a subspace of the explorable volume for system initialization and periodic online re-calibrations. The system flew numerous curvilinear trajectories in a laboratory setting. Analysis of the intercomparison between our approach and Vicon ground truth positional data shows average RMSE of 0.524, 0.493, and 0.625 m in the N, E, and D axes after 10 s, respectively.

Original languageEnglish (US)
Title of host publicationExperimental Robotics - The 18th International Symposium
EditorsMarcelo H. Ang Jr, Oussama Khatib
PublisherSpringer Nature
Pages469-480
Number of pages12
ISBN (Print)9783031635953
DOIs
StatePublished - 2024
Event18th International Symposium on Experimental Robotics, ISER 2023 - Chiang Mai, Thailand
Duration: Nov 26 2023Nov 30 2023

Publication series

NameSpringer Proceedings in Advanced Robotics
Volume30
ISSN (Print)2511-1256
ISSN (Electronic)2511-1264

Conference

Conference18th International Symposium on Experimental Robotics, ISER 2023
Country/TerritoryThailand
CityChiang Mai
Period11/26/2311/30/23

Keywords

  • Field robotics
  • Inertial localization
  • Power-over-tether
  • sUAS

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Engineering (miscellaneous)
  • Mechanical Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering
  • Artificial Intelligence
  • Applied Mathematics

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