To land on a moving ship automatically is very difficult for UAV. Vision based navigation is an effective and budget positioning method for UAV landing guidance. However, measurement noise statistics of vision based navigation vary with the distance from camera to object. This paper presents an integrated guidance method for UAV landing on a ship based on fusion of CDGPS, vision navigation and INS. The position of UAV relative to ship given by vision based navigation is integrated with the information of CDGPS, UAV INS and ship INS to improve the reliability of the landing guidance information. An adaptive Kalman filter is applied in the information fusion of the landing guidance system of which the period is as same as that of INS. Simulation results demonstrate that the position accuracy of our method is available for automatic carrier landing.
Autolanding System of Shipborne UAV Based on Fusion of INS, CDGPS and Vision-Based Navigation
Lect. Notes Electrical Eng.
2021-10-30
10 pages
Article/Chapter (Book)
Electronic Resource
English
Autolanding System of Shipborne UAV Based on Fusion of INS, CDGPS and Vision-Based Navigation
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