1.

General
1.1. The propose of the proposed system is to enable non-GPS navigation for a tethered system in
high altitudes.
1.2. The approach mainly focuses on proven concepts from non-GPS indoor navigation.
1.3. Multiple solutions will be fused together in a Kalman Filter or a similar approach to generate a
single accurate position estimation without GPS.

2. Catenary equation calculation

2.1. The shape of a hanging rope can be estimated using the mathematical catenary equation.
2.2. This equation describes the complete shape of the cable and allows estimating the XYZ location
of every point on the cable.
2.3. More specifically, when calculating the end of the cable, we get the drone’s position.
2.4. This method is expected to have altitude and weather limitations.
2.5. It was tested in several detailed articles which proved the concept for low altitude:
2.5.1.https://cs.gmu.edu/~xiao/papers/localization_ssrr.pdf
2.5.2.http://robotics.ucsd.edu/pubs/tob18.pdf
2.5.3.http://k-nagatani.org/pdf/2017-SSRR-KED-online.pdf
2.6. Further work shall be done to extend the altitude envelope.