Laser interferometry-based tracking of multirotor helicopters

Abstract

This paper presents the development and implementation of laser interferometry-based sensing and measurement for precise positioning and tracking of multirotor helicopters. A control architecture is developed, which incorporates position feedback from a laser interferometry-based sensing and measurement system. A dynamics model of multirotor helicopters is established in order to achieve position and motion control. The control architecture facilitates auto-alignment of the laser-beam and cat-eye retroreflector mounted on the multirotor helicopter. A theoretical analysis of laser interferometry-based sensing and measurement for positioning of multirotor helicopters is performed. Further, an experimental research facility is established with a laser system and 4-rotor helicopter. Experimental study and error analysis offer evidence that the laser based system maintains laser-beam and retroreflector alignment, facilitating continuous, real-time precise position measurements.