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These two helicopters are equiped with an autopilot that allow us to send it high-level control commands free greeley dating simplifies the control task. In this step, the real movement of a free greeley dating on the sea is simulated. This movement, depends on the Sea State, the wave direction and of course, the ship. Once we have the article source simulated movement of the ship, it has to be implemented in the motion platform calculating the Inverse Kinematics and avoiding the singular configurations.

This step consist on measure the pose position and orientation of the UAV, respect to the pose to the ship deck.

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Our first proposal is use a computer vision system made up for a single Point Gray, Inc camera. As the size of the landing platform is known, the 3D reconstruction is feasible. As the measure could have noise, and free greeley dating be lost during a period of time, a State Estimator is needed, to achieve a reliable state estimation for the next steps.

In this step the controller is designed and tested thanks to the previous simulation of the ship deck and a simulation of the VTOL UAV. See www.

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