Assuming you are comfortable climbing the tower, the first thing you need is a safety harness.
not a belt, not a rope with some creative knot tying, and not that old harness that your buddy has had in the back of his pickup for a decade.
You are trusting your LIFE to this thing, so if you can't afford to buy one, you can't afford to have a tower.
you want something like this:
the next thing you need is a lanyard to connect yourself to the tower.
all the rules above still apply.
something like this:
This fluorescent 6 foot single leg, shock absorbing lanyard with rebar hook, meets strict .13 ANSI standards. Harness Land has them in stock, with $99 free shipping!
www.harnessland.com
now you need an item called a "gin pole". this is basically a length of steel or aluminum tubing that has a couple of clamps on the bottom, and a pulley on top.
the length needs to be a foot or so longer than each tower section is.
you can make your own, and there are lots of videos and such on how to build one.
im sure you can buy one but i dont know where from.
next you need enough strong rope to tie the tower off up to the level above the one you are working at so that it can't come down. three points of contact is the minimum.
you'll also want some WD-40 or other penetrating oil to spray on the section connections as they will be oxidized and otherwise stuck together.
once the tower is secure, you climb up, always connecting to a point above your head, and you attach your gin pole to the section just below the top section.
making sure the ropes are secure, you can now climb up to the top of the tower and run your rope over the gin pole and down through the center of the tower section. Tie it securely.
now climb down the tower and move the ropes to the lower section.
un bolt the top section, and climb down the tower.
use the rope to pull up on the tower section, removing it from the lower section.
tie the rope off securely and climb back up the tower to guide the top section as someone else lowers it with the rope.
rinse and repeat.
all that being said, i do somewhat similar work in rigging professionally, and can't imagine a non-pro doing this dangerous type of work. However i also know that it is done successfully all the time and has been for a long long time.
good luck with your project!
LC