QGyro : Schlussbericht zum Verbundvorhaben Quanten-Inertialsensorsystem (QGyro)

Das Verbundvorhaben QGyro (Quanten-Inertialsensorsystem) ist ein Teil der High-Tech-Strategie der Bundesregierung und erhält Finanzierung durch das Bundesministerium für Wirtschaft und Klimaschutz (BMWK) mit Unterstützung der Raumfahrtagentur am Deutschen Zentrum für Luft- und Raumfahrt DLR e.V. (Förderkennzeichen 50RK1957). Im Rahmen dieses Forschungsvorhabens wurden mithilfe der Quantentechnologie innovative Konzepte für die Navigation von Plattformen entwickelt. Das Hauptziel des Projekts ist die Untersuchung von Hybridansätzen zur Inertialsensorik, bei der Quantensensoren mit klassischen inertialen Messeinheiten miteinander kombiniert werden um Fehler in der Positionsbestimmung zu reduzieren. Ein Hauptaugenmerk lag auf der Entwicklung neuartiger Quantensensoren. Ein erster Ansatz war die Schaffung eines einachsigen, quantenbasierten Inertialsensors als Proof-of-Concept. Dies beinhaltet den Sensorkopf, aber auch die Perepherie, wie Lasersysteme und Elektronik. Darüber hinaus wurden Entwicklungen in Richtung von sechsachsigen quantenbasierten Intertialsensoren angestoßen und Realisierungskonzepte erarbeitet. Ein besonderer Fokus lag auf der Stabilisierung und aktiven Ausrichtung des entwickelten Messkopfes, was durch Simulationen und experimentelle Tests nachgewiesen werden konnte. Dies beinhaltete die Entwicklung eines Teststandes, die Erarbeitung eines Atom-StrapDown-Algorithmus zur Kombination von Quanten-Inertialsensoren und klassischer Inertialsensorik sowie die Umsetzung einer stabilisierten Plattform für den Sensorkopf. Die erfolgreiche Umsetzung wurde in enger Zusammenarbeit mit Forschungseinrichtungen an der Leibniz Universität Hannover (Institut für Erdmessung, Institut für Quantenoptik) sowie etablierten Unternehmen wie der iMAR GmbH erreicht. Das Projekt QGyro trägt dazu bei, die High-Tech-Strategie der Bundesregierung im Bereich der Quantentechnologie und Navigation voranzutreiben.The collaborative project QGyro (quantum inertial sensor system) is part of the German Federal Government’s High-Tech Strategy and receives funding from the German Federal Ministry of Economics and Climate Protection (BMWK) with support from the Space Agency at the German Aerospace Center DLR e.V. (funding code 50 RK 1957). This research project used quantum technology to develop innovative concepts for the navigation of kinematic platforms. The main goal of the project is to investigate hybrid approaches for inertial sensors, combining quantum technology with classical inertial measurement devices in order to reduce errors in positioning. A primary focus has been the development of novel quantum sensors. A first approach considered the creation of a single-axis, quantum-based inertial sensor as a proof-of-concept. This includes the sensor head, and also the peripherals, such as laser systems and electronics. Furthermore, developments towards a six-axis quantum-based inertial sensor were initiated and realization concepts were elaborated. Further focus was on the stabilization and active alignment of the developed sensing head. For this purpose, a stabilized platform was designed and built that can compensate linear accelerations during the measurement time of the quantum sensor. A so-called Atom Strapdown algorithm was designed and implemented for inertial navigation for the combination of quantum inertial sensors and classical inertial sensors. This algorithm has been tested, optimized and validated in extensive simulation studies. Moreover, a successful application of the algorithm to real data was achieved by emulating the CAI observations with a navigation-grade IMU during the generation of the hybrid scenario. Algorithms for determining the uncertainties of the atomic interferometer were further developed and validated on prototype measurement series. Successful implementation was achieved in close collaboration with research institutions at Leibniz Universität Hannover (Institute of Geodesy, Institute of Quantum Optics) as well as established companies such as iMAR GmbH. The QGyro project contributes to advancing the German government’s high-tech strategy in the field of quantum technology and navigation.Deutsche Raumfahrtagentur im Deutschen Zentrum für Luft- und Raumfahrt e.V./Systemuntersuchungen und Technologie für die Satellitennavigation/BMWK 50 RK 1957/E

Automation of the UNICARagil Vehicles

The German research project UNICARagil is a collaboration between eight universities and six industrial partners funded by the Federal Ministry of Education and Research. It aims to develop innovative modular architectures and methods for new agile, automated vehicle concepts. This paper summarizes the automation approach of the driverless vehicle concept and its modular realization within the four demonstration vehicles to be built by the consortium. On-board each vehicle, this comprises sensor modules for environment perception and modelling, motion planning for normal driving and safe halts, as well as the respective control algorithms and base functionalities like precise localization. A control room and cloud functionalities provide off-board support to the vehicles, which are additionally addressed in this paper

CH53G Experiences with a Flight Director for Slung Load Handling

This paper describes the concept and the flight test results of a flight director for the large cargo helicopter CH53G with slung load. The flight director aims at providing the pilot with a convenient aid to effectively damp the load pendulum motion and to allow manoeuvring without exciting oscillatory load modes. Swinging helicopter external slung loads often lead to dangerous situations which not only can result in a total loss of the transported load itself but also can endanger the safety of the helicopter and its crew. The development of a demonstrator system on the DLR BO105 helicopter is outlined. The design and development of a prototype slung load flight director system for the large cargo helicopter CH53G is described in detail. Flight test results of the damping capability and increased manoeuvrability when flying a moderately stable external load are shown

Flight Director For Slung Load Handling - First Experiences on CH53 -

This paper describes the concept and the flight test results of flight director for helicopter with slung load. The flight director gives the pilot a convenient aid to effectively damp the load pendulum motion and to allow manoeuvring without exciting oscillatory load modes. Swinging helicopter external slung loads often lead to dangerous situations which not only can result in a total loss of the transported load itself but also can endanger the safety of the helicopter and its crew. The development and flight test results of a demonstrator system on the DLR BO105 are outlined. Further, the architecture of a slungload flight director system for the large cargo helicopter CH53 is described and preliminary flight test results are shown

Initial Flight Tests of an Automatic Slung Load Control System for the ACT/FHS

An automatic slung load control system for the research helicopter ACT/FHS (Active Control Technology / Flying Helicopter Simulator) of the German Aerospace Center (DLR) has been developed and initially tested in flight. The external load is suspended from a rescue hoist which was mounted at the ACT/FHS for flight test purposes. For the load motion detection an optical-inertial sensor system was developed. The sensor system provides estimations of the cable length and cable angle as well as cable angle rates for the slung load control system. Flight testing of the sensor system proved that the optical marker is detected consistently and accurately for cable length up to 50 m. Furthermore, the estimated load motion signals can be used for the control system. To demonstrate the overall system’s functionality, an initial control system for damping of the pendulum load motion was designed and flight tested. The automatic function of the control system was effective in damping the load pendulum motion for a fixed cable length. Under piloted control the slung load damping system showed deficiencies. When actively controlling the helicopter, the pilot acted against the control system resulting in an adverse effect in load damping. Overall, for the first time, a slung load control system for a load suspended from a rescue hoist could be demonstrated successfully

System Architecture of HALAS - A Helicopter Slung Load Stabilisation and Positioning System

To support helicopter pilots during slung load operations currently a pilot assistance system called Hubschrauber- Außenlast-Assistenzsystem (HALAS) is being developed within a cooperation of the German Aerospace Centre (DLR) and iMAR Navigation GmbH. The objective of this research is the demonstration of an automatic slung load stabilisation and positioning system during the flight test with DLR’s research helicopter Active Control Technology/ Flying Helicopter Simulator (ACT/FHS). The automatic slung load control system is being designed to extend the functionalities of the helicopter’s stability, control and augmentation system. The control system will be able to handle the challenges of rescue hoist operations. This means compensation of additional roll, pitch and yaw moments created by a significant distance of the load suspension point to the helicopter’s centre of gravity and the handling of a variable cable length. To measure the slung load motion, an optical-inertial sensor is being developed by iMAR Navigation GmbH. In this paper, the overall system architecture of HALAS as well as the hardware integration into the ACT/FHS is explained. The optical-inertial sensor used for the slung load dynamics measurement and estimation is described in detail. Furthermore, a first system analysis of a simulation model used for the later controller design is presented. The focus of the stability analysis is laid on variations of cable length, load mass and load suspension point position. The control law development process itself is not part of this paper but will be published later

Initial flight tests of an automatic slung load control System for the ACT/FHS

An automatic slung load control system for the research helicopter ACT/FHS (active control technology/ flying helicopter simulator) of the German Aerospace Center (Deutsches Zentrum für Luft- und Raumfahrt e.V.) has been developed and initially tested in flight. The external load is suspended from a rescue hoist which was mounted at the ACT/FHS for flight test purposes. For the load motion detection an optical-inertial sensor system was developed. The sensor system provides estimations of the cable length and cable angle as well as cable angle rates for the slung load control system. Flight testing of the sensor system proved that the optical marker is detected consistently and accurately for cable length up to 50 m. Furthermore, the estimated load motion signals can be used for the control system. To demonstrate the overall system’s functionality, an initial control system for damping of the pendulum load motion was designed and flight tested. The automatic function of the control system was effective in damping the load pendulum motion for a fixed cable length. Under piloted control the slung load damping System showed deficiencies. When actively controlling the helicopter, the pilot acted against the control system resulting in an adverse effect in load damping. Overall, for the first time, a slung load control system for a load suspended from a rescue hoist could be demonstrated successfully