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Erschienen in:
2016 | OriginalPaper | Buchkapitel
Tanker UAV for Autonomous Aerial Refueling
verfasst von : Jesús Martín, Hania Angelina, Guillermo Heredia, Aníbal Ollero
Erschienen in: Robot 2015: Second Iberian Robotics Conference
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Increasing flight endurance of Unmanned Aerial Vehicles (UAVs) is a main issue for many applications of these aircrafts. This paper deals with air to air refueling between UAVs. Relative estimation using only INS/GPS system is not sufficiently accurate to accomplish an autonomous dock for aerial refueling using a boom system in the tanker.In this paper we propose a quaternion based relative state estimator to fuse GPS and INS sensor data of each UAV with vision pose estimation of the receiver obtained from the tanker. Simulated results validate the approach and are the starting point for ground and flight tests in the next months.