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- Title
Robuste Positionsstützung von automatisierten fliegenden Systemen durch Referenzmarker für die Präzisionslandung sowie Ortung in Bereichen ohne GNSS-Empfang.
- Authors
Kathe, Endres; do Carmo Lucas, Amilcar; Neumann, Enrico; Isaac Delso, Pedro Miguel
- Abstract
Landing represents a particularly critical flight phase in automation of unmanned aerial vehicles (UAV). Depending on the size of the usable flight corridor and the landing site, accuracies in the centimeter range are required for the repeatability of the flight path and landing position. Also electromagnetic disturbances can hinder the use of conventional systems like GNSS especially in the landing areas. The comprehensive landing system developed by IAV consists of an optical system that includes the landing platform, the integration and hardware control of the camera, the image processing and position calculation to the integration into the flight control system. This results in a high level of robustness against changes of the environment. System integrity is ensured by estimating the (position) accuracy and reporting the status of the overall system. Through calibration of the landing tags and the usage of the Extended Kalman Filter, an absolute localization is enabled. The system was developed and tested both in simulation and under real flight conditions.
- Subjects
FLIGHT control systems; DRONE aircraft; IMAGE processing; KALMAN filtering; SYSTEM integration; AUTOMATION; LANDING (Aeronautics)
- Publication
Technisches Messen, 2021, Vol 88, Issue 7/8, p463
- ISSN
0171-8096
- Publication type
Article
- DOI
10.1515/teme-2021-0022