Helicopter Station Keeping.
Final task rept. 1 Sep 66-30 Dec 71,
PRINCETON UNIV N J
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ION, LEADS TO AN EMPHASIS ON THE STATION KEEPING CONTROL LOOP. The most essential topics are brought into focus in order to reveal and to emphasize the basic relationships which must be considered in decisions about formation flight system features and requirements. The significance of leader-to-follower data communication is explored in detail. Nominal station keeping trajectories are defined in terms of the motion of a nominal point coordinate system. The information available to the follower determines his ability to calculate the location and orientation of the nominal coordinate system, i.e., his position errors. The need to know the reference orientation at low speeds and hover is shown. Acceleration errors are estimated based on a simple model for the positioning control loop, and relatively narrow ranges of gains and bandwidth are found feasible. Improvements can be made if leader information is available and utilized. Author