Maritime operation of an unmanned rotorcraft with tethered ship deck landing system
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ORIGINAL PAPER
Martitime operation of an unmanned rotorcraft with tethered ship deck landing system B. I. Schuchardt1 · T. Dautermann1 · A. Donkels2 · S. Krause2 · N. Peinecke1 · G. Schwoch1 Received: 26 November 2019 / Revised: 21 July 2020 / Accepted: 3 September 2020 © The Author(s) 2020
Abstract In security-critical situations in the maritime area, ship-based deployment of remotely piloted aircraft systems could enable automated acquisition of aerial images and other sensor data. If intervention is required, response times of federal institutions could be shortened significantly without endangering personnel. This paper gives an overview of research undertaken at DLR in cooperation with the German Federal Police for Maritime Tasks. For a safe ship deck landing of an unmanned rotorcraft a combination of precise navigation and tethered landing system has been developed and patented. Relative doubledifference algorithms are used for precise navigation of the rotorcraft to a hover point over the ship deck. From there, an electromagnetic winch is lowered from the rotorcraft that connects to the ship deck. The resulting cable connection is used for aligning the rotorcraft during landing and securing it on the ship deck afterwards. First demonstrations on a real ship deck show the feasibility of the system. Keywords Unmanned aerial vehicle · Drone · Ship deck landing · Cable landing · Precise navigation Abbreviations ARTIS Autonomous Research Testbed for Intelligent Systems DC Direct current GNSS Global Navigation Satellite System GPS Global positioning system RAST Recovery Assist, Secure and Traverse RPAS Remotely Piloted Aircraft System UAV Unmanned Aerial Vehicle b⃗ Baseline Vector c Speed of light e⃗ Unit Vector DD Double Difference pseudo range H Geometry Matrix ρ Pseudorange Q Noise r Geometric Range SD Single Difference pseudo range S Pseudo Inverse * B. I. Schuchardt [email protected] 1
DLR Institute of Flight Guidance, German Aerospace Center, Lilienthalplatz 7, 38108 Brunswick, Germany
DLR Institute of Flight Systems, German Aerospace Center, Lilienthalplatz 7, 38108 Brunswick, Germany
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β Angle between two Paths of Propagation γ Error δ Clock Bias
1 Introduction The German Federal Police for Maritime Tasks (Bundespolizei See) is responsible for border control in North and Baltic Sea, surveillance of maritime traffic, and investigation of violations against environmental or fishing regulations [1]. Maritime police operations can be enhanced by remotely piloted aircraft systems (RPAS) operated from ships. Highly automated unmanned systems can for example provide realtime surveillance also in geographically or climatically challenging, or safety-critical situations. The DLR Institutes of Flight Guidance and Flight Systems have been cooperating with the German Federal Police to explore the potential of maritime RPAS operations. In two consecutive projects named MaRPAS (Maritime Operation of RPAS) requirements and possibilities for the deployment of RPAS in the mar
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