This thesis addresses the driving forces behind the Swedish state?s procurement of Helicopters 14 and 16 and the decommissioning of Helicopter 4. These actions have significantly affected the Swedish Armed Forces, especially the Helicopter Wing, in carrying out their operational tasks. On numerous occasions the Helicopter Wing has been unable to perform its tasks. For instance, the Nordic Battle Group 08 had no helicopters to exercise with and, until recently, Sweden had completely lacked the ability to hunt submarines with helicopters for almost ten years.This thesis also aims to compare the decisions in 1999-2000 regarding Helicopter 14 with the decisions in 2010-2011 regarding the acquisition of Helicopter 16, to find if there is a general trend and how much the Armed Forces were able to influence decisions.

When a helicopter is flying, the dynamics vary depending on, for example, speed and position. Hence, a time-invariant linear model cannot describe its properties under all flight conditions. It is therefore desirable to update the linear helicopter model continuously during the flight. In this thesis, two different recursive estimation methods are presented, LMS (Least Mean Square) and adaptation with a Kalman filter. The main purpose of the system estimation is to get a model which can be used for feedback control.

AbstractThis report is about the creation of a test system for development of a control system for a off the shelf RC-helicopter, which can be bought for about two thousand SEK. The test system consists of both electronics for controlling the helicopter and mechanical constrainer. The constrainer is used for mounting the helicopter so that it won´t crash.A circuit board including processor and sensors was manufactured. This was used for doing test of the different control algorithms. In this way were we able to analyze the quality of the sensors chosen, and what other sensors that could contribute to the control of the system.Basic helicopter control have been studied and presented in the report.

At the department of Electronic Warfare Assessments at the Swedish Defence Research Agency in Linköping one of the activities is modelling and simulation of the duel between a robot and a target. The aim with this Master's thesis is to develop a simulation model of an hovering helicopter. First a theoretical description of the forces and moments acting on an helicopter is given. Then the equations of motion are derived. These equations are simplified to be valid only for a hovering helicopter and the result is a mathematical model.

In Abisko National Park there are a numberof weather stations. To be able toretrieve the data from the nodes in thefuture a Quadrocopter-prototype has beendeveloped during this master thesisproject as a first step. A quadrocopter isa helicopter with four rotors placed in across formation. The quadrocopter cannavigate autonomous between different GPSpositionsthat are updated during flighttrough Xbee-modules. All levels fromsources code, design of the electronics todevelopment of the chassis was performedduring the project.

This report consists of a discussion about suitable methods for studying complex sociotechnical systems that are still being developed. There are large economical advantages with studying new systems before they are completely developed since problems can be discovered early and thereby avoided. It is, however, difficult to study developing systems, there are methodological limitations. These limitations are discussed and recommendations for studying non-existing complex sociotechnical systems are presented.The report is based on experiences from a study of the introduction of a shipboard helicopter on the corvettes that the Swedish Armed Forces are developing. A shipboard helicopter implies high requirements on the hosting ship.

This report describes the construction work of a radar antenna for the radar systemCARABAS. CARABAS is a long wave airborne ground radar that has been developed bySAAB Microwave Systems and will now be mounted on a small helicopter, Schweizer 300.The antenna should be able to fold up and down. When the radar is in use the antenna islowered and under transport, start and landing the antenna is folded up. An emergency dropfunction should also be included in the design of CARABAS III.The extent of this report includes construction of the antenna, frame structure attached to thehelicopter, mechanism for folding the antenna up and down and mechanism for emergencydrop function. The mechanical design of the antenna and frame structure is based on modaland stress analysis, vibration measurement of Schweizer 300 and frequency analysis, andcalculations regarding aerodynamic drag and mechanics.The exciting frequencies of the helicopter and accelerations at those frequencies weredetermined by vibration measurement and frequency analysis.

This study was carried out as a commission from Holmen Skog, district ?Egen skog? in Norrköping. During October 2006 several stands were inventoried by aerial photos from helicopter. The stands were those for which the next action proposed was plant inventory or plant check. The photos were interpreted and the number of stems was calculated.

Mellan år 1987 och 2000 fanns ett beväpnat helikopterförband inom arméflyget. Dessa två pansarvärnshelikopterkompanier användes för att bekämpa stridsfordon. Efter nedläggningen har Sverige inte haft en helikopter med beväpning för annat än egenskydd.Uppsatsen syftar till att utifrån William S. Linds teori om manöverkrigföring utvärdera om pansarvärnshelikopterkompanierna framgångsrikt bidrog till att besegra motståndaren.Det framkommer att pansarvärnshelikopterkompaniernas taktik väl stämmer överrens med Linds teori vilket pekar på att bestyckade helikoptrar är ett mycket användbart instrument inom manöverkrigföringen.  .

A helicopter based system equipped with a millimetre-wave fire control radar is studied for improvement of the detection probability for moving ground targets. The system is a pulse doppler radar that sends out the electromagnetic wave in repetitive pulses. The frequency in which radar sends this pulse is called Pulse Repetition Frequency (PRF). The velocity of the moving targets is measured by spectral analysis of the pulses received. With this sort of system some targets will not be possible to detect.

This thesis has been written at Linköping University for the company Instrument Control Sweden AB (ICS).ICS is a small company located in Linköping that develops software and hardware for Unmanned Aerial Vehicles, UAV. At present, ICS has a fully functional autopilot called EasyPilot but they want to reduce the autopilot?s size to make it more attractive.The purpose of this thesis was to investigate if it was possible to reduce the size of the autopilot and how, in that case, it would be done. It was also necessary to examine whether the old processors should be replaced by new ones and how hard it would be to convert the old software to these new processors.To succeed with the goals many of the old components had to be changed for new, smaller ones. Some less necessary parts were also completely removed.

En karta är en färskvara som är i ständigt behov av ajourhållning. Ajourhållning görs normalt med traditionella metoder: fotogrammetriska och/eller geodetiska. Men i och med att utvecklingen går framåt har intresset för en ny metod, UAS (Unmanned Aerial Systems), ökat. UAS är en relativt ny fotogrammetrisk metod där obemannade flygfarkoster används. Detta examensarbete har utvärderat vilken osäkerhet vanligt förekommande detaljer i en karta kan få i framställda "produkter" som genererats med hjälp av UAS-bilder som georefererats med naturliga stödpunkter.

In time with HolmenSkog district Egenskog Norrköping´s decreasing mountain of cleaning, the office started to look around for new alternative cleaning strategies to lower the costs connected with cleaning. One option was to make the inventory strategy more effective and after a phonecall with the head of the district, Jonnie Friberg, the planning started to try inventory in pictures taken from a helicopter. The pictures was at last taken from a digtal camera and the vegetationheight was mesured with a laser. The gear was supplied from Kallax Flyg AB, Luleå. In the trial 15 stands was selected depended on age and different mixtures between pine (Pinus sylvestris), spruce (Picea abies) and birch (Betula pubescense and Betula pendula).

SammanfattningDenna uppsats beskriver design och implementering av en mer effektiv metod att styrakameraförsedda radiostyrda markfordon (UGV av engelskans Unmanned GroundVehicle). Det åstadkoms genom att införa samma kontroller som är vanliga i actionspel iförsta persons perspektiv, så kallat Free Look Control (FLC). Miljontals spelare kommeratt känna igen och vara bekväma med styrprincipen, vilket borde reducera dengenomsnittliga träningstiden samt förbättra prestationsförmågan. FLC gör det möjligt föroperatören att kontrollera kamerans läge direkt istället för via fordonet den sitter på.Detta görs genom att i mjukvara sammankoppla fordonets och kamerans rörelser.Utöver författandet av denna uppsats byggs en fungerande UGV-prototyp som kanstyras enligt både FLC och dagens standard, Tank Control (TC). Detta gör det lätt attdemonstrera skillnader mellan metoderna.Arbetet utförs åt institutionen Flyg- och systemteknik inom FOI, Totalförsvaretsforskningsinstitut, för att demonstrera och marknadsföra konceptet att använda FLC förstyrning av obemannade markfordon.Nyckelord: Odometri, Kalman filter, UGV, Unmanned Ground Vehicle, obemannademarkfordon, FLC, Free Look Control, FPS, First Person Shooter, fjärrstyrning..

Unmanned Aerial Vehicles (UAVs) är obemannade flygfarkoster som främst använts och utvecklats inom det militära. Under senare år har användandet även tagit fart inom den civila sektorn, däribland mätningsbranschen. För att samla in geodata används Unmanned Aircraft Systems (UAS), vilka är system som består av fler komponenter än endast luftfarkosten t.ex. även kamera och kontrollstation. UAS är ett bra alternativ till traditionell flygfotografering då högupplösta bilder kan genereras till en låg kostnad.