A navigation method that combined strap-down inertial navigation system (SINS) with vision is proposed for fixed-wing UAV's autonomous landing in this paper. Firstly, landing trajectory is designed, which consists of glide phase and flare phase. Secondly, the outputs of inertial device can be acquired via trajectory generator and inertial device simulator. Navigation parameters is calculated by SINS simulator. Thirdly, in the glide phase, a cooperative object is put on the runway whose images are utilized to estimate the position of UAV. The SINS's errors is corrected via Kalman filter. In the flare phase, the UAV recognizes the images of runway edges and center line to obtain the offset distance from center line and height of UAV. Finally, the effectiveness of the presented method is demonstrated by simulation.


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    Title :

    Vision-aided navigation for fixed-wing UAV's autonomous landing


    Contributors:
    Yelin Zhang (author) / Yangzhu Wang (author) / Zhen Han (author)


    Publication date :

    2016-08-01


    Size :

    238153 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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