Tension Estimation and Localization for a Tethered Micro Aerial Robot

TL;DR

This paper presents methods for estimating tension and localizing a tethered micro quadcopter using inertial data and tether shape, enabling better control and interaction with ground stations.

Contribution

It introduces a tether model based on the catenary curve, a tension estimation method from IMU and thrust data, and a novel localization technique exploiting tether shape.

Findings

Methods validated in simulation and real-world tests.

Accurate tension estimation from inertial and thrust data.

Effective localization leveraging tether shape and tension.

Abstract

This work focuses on the study of tethered fights of a micro quadcopter, with the aim of supplying continuous power to a small-sized aerial robot. Multiple features for facilitating the interaction between a tethered micro quadcopter and a ground base are described in this paper. Firstly, a tether model based on the catenary curve is presented that describes a quadcopter tethered to a point in space. Furthermore, a method capable of estimating the tension applied to the quadcopter, based only on the inertial information from the IMU sensors and the motor thrusts, is presented. Finally, a novel method for localizing the quadcopter by exploiting the tension imposed by the tether and the shape of the tether is described. The proposed methods are evaluated both in simulation and in real world prototype.