2019
DOI: 10.3390/s19040886
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Abstract: This article presents a precise landing system that allows rotary-wing UAVs to approach and land safely on moving platforms, without using GNSS at any stage of the landing maneuver, and with a centimeter level accuracy and high level of robustness. This system implements a novel concept where the relative position and velocity between the aerial vehicle and the landing platform are calculated from the angles of a cable that physically connects the UAV and the landing platform. The use of a cable also incorpora… Show more

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Cited by 17 publications
(7 citation statements)
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“…Tethered landing systems are usually more complex but offer the additional benefit of stabilisation during take-off and landing as well as on the deck. Successful cable landings for unmanned systems on a (land-based) moving platform have recently been reported by Alarcón et al in [8].…”
Section: Related Workmentioning
confidence: 99%
See 2 more Smart Citations
“…Tethered landing systems are usually more complex but offer the additional benefit of stabilisation during take-off and landing as well as on the deck. Successful cable landings for unmanned systems on a (land-based) moving platform have recently been reported by Alarcón et al in [8].…”
Section: Related Workmentioning
confidence: 99%
“…The connection unit aboard the RPAS consists of a 3-axis force sensor (1). The sensor is used to determine the cable force and direction, which may be used in the future as an additional navigation source, as shown in [8]. An electromagnet (2) is mounted on the force sensor and is used for emergency decoupling from the cable (4).…”
Section: Tethered Landing Systemmentioning
confidence: 99%
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“…From Sec. 4.6.1, notice that (y a 1 , y a 1 , y a 1 , y a 1 (3) ) is a function of (x, X 4 C ). Furthermore, replacing (4.53) into (4.66) we obtain: In order to simplify the notation, let us define…”
Section: Attitude-related Feedback Linearizing Outputmentioning
confidence: 99%
“…Model (6.1) holds as long as the aerial vehicle is not in contact with the surface. In this last case, i.e., P RL ≡ P S , (6.1) has to be extended taking into account the reaction force of the surface, denoted by f N ∈ R, and the static friction force, denoted by f S ∈ R 3 , thus obtaining: 3) where f N ≥ f N , z S f S = 0 and f S ≤ f S . For a standard surface f N = 0 and f S = µ f N where µ ∈ R ≥0 is the characteristic friction coefficient of the contact between P RL and P S .…”
Section: Model In Free (Non-tethered) Flightmentioning
confidence: 99%