Shop : Details
Shop
Details
Martin Trittler
Automatic Landing for Fixed-Wing Unmanned Aerial Vehicles with Optical Sensors
An autopilot for the landing of fixed-wing mini unmanned aerial vehicles is presented in this work. The objective is to realize a landing autopilot which allows a coordinated landing along a predefined approach path without any map data or previously measured landing coordinates as well as in the absence of global positioning system measurements. Optical sensors for the perception of the landing site and the true ground onboard the MAV are utilized in a direct feedback scheme based on the MAVs basic controllers, rather than fusing the sensor information to a navigation filter. This ensures a minimum implementation effort for the landing autopilot.
The landing control is separated in two parts, the landing approach and the touchdown phase.
For the landing approach, a visual servoing controller has been developed. It uses direct feedback from, at minimum, an inertial navigation system, an airspeed sensor and a camera. The landing site has to be marked with three artificial visual markers placed by the operator in a defined triangular shape.
During the final stage of the landing, the base markers of the marker triangle leave the camera's field of view. In addition to the inertial navigation system and airspeed sensor, the remaining single optical marker at the top of the triangle and two additional optical flow sensors are applied to control the touchdown phase.
Finally, the implementation of the automatic landing system on a real mini unmanned aerial vehicle system is outlined. The presented flight tests demonstrate the fully automatic landing of a fixed-wing mini unmanned aerial vehicle along a predefined path relative to an artificially marked landing site and a coordinated touchdown relative to the true ground based on optical sensors.
The landing control is separated in two parts, the landing approach and the touchdown phase.
For the landing approach, a visual servoing controller has been developed. It uses direct feedback from, at minimum, an inertial navigation system, an airspeed sensor and a camera. The landing site has to be marked with three artificial visual markers placed by the operator in a defined triangular shape.
During the final stage of the landing, the base markers of the marker triangle leave the camera's field of view. In addition to the inertial navigation system and airspeed sensor, the remaining single optical marker at the top of the triangle and two additional optical flow sensors are applied to control the touchdown phase.
Finally, the implementation of the automatic landing system on a real mini unmanned aerial vehicle system is outlined. The presented flight tests demonstrate the fully automatic landing of a fixed-wing mini unmanned aerial vehicle along a predefined path relative to an artificially marked landing site and a coordinated touchdown relative to the true ground based on optical sensors.
Schlagwörter: unmanned aircraft;; automatic landing; visual servoing
Fortschrittsberichte des Instituts für Flugmechanik und Flugregelung
Herausgegeben von Univ.-Prof. Dr.-Ing. Walter Fichter, Stuttgart
Band 7
Verfügbare Online-Dokumente zu diesem Titel
Sie benötigen den Adobe Reader, um diese Dateien ansehen zu können. Hier erhalten Sie eine kleine Hilfe und Informationen, zum Download der PDF-Dateien.
Bitte beachten Sie, dass die Online-Dokumente nicht ausdruckbar und nicht editierbar sind.
Bitte beachten Sie auch weitere Informationen unter: Hilfe und Informationen.
Bitte beachten Sie auch weitere Informationen unter: Hilfe und Informationen.
| Dokument |  | Gesamtdokument | ||
| Dateiart |  | |||
| Kosten |  | 34,35 € | ||
| Aktion |  | Zahlungspflichtig kaufen und anzeigen der Datei | ||
| Aktion |  | Zahlungspflichtig kaufen und download der Datei | ||
| Dokument |  | Inhaltsverzeichnis | ||
| Dateiart | | |||
| Kosten |  | frei | ||
| Aktion |  | Anzeigen der Datei | ||
| Aktion |  | Download der Datei | ||
Benutzereinstellungen für registrierte Online-Kunden (Online-Dokumente)
Sie können hier Ihre Adressdaten ändern sowie bereits georderte Dokumente erneut aufrufen.
Benutzer
Nicht angemeldet
Export bibliographischer Daten
Shaker Verlag GmbHAm Langen Graben 15a52353 Düren
Mo. - Do. 8:00 Uhr bis 16:00 UhrFr. 8:00 Uhr bis 15:00 Uhr
Kontaktieren Sie uns. Wir helfen Ihnen gerne weiter.
