Sensors and Navigation Algorithms for Flight Control of Tethered Kites
For developers of tethered kite systems, this work provides a practical navigation solution, but it is incremental as it describes an existing operational system.
The paper presents the sensor setup and inertial navigation algorithm used for flight control of the SkySails towing kite system, validated with experimental flight data over years of operation. A modification is proposed to overcome limitations.
We present the sensor setup and the basic navigation algorithm used for the flight control of the SkySails towing kite system. Starting with brief summaries on system setup and equations of motion of the tethered kite system, we subsequently give an overview of the sensor setup, present the navigation task and discuss challenges which have to be mastered. In the second part we introduce in detail the inertial navigation algorithm which has been used for operational flights for years. The functional capability of this algorithm is illustrated by experimental flight data. Finally we suggest a modification of the algorithms as further development step in order to overcome certain limitations.