Lidar-aided Autonomous Landing and Vision-based Taxiing for Fixed-Wing UAV
- PDF / 2,439,462 Bytes
- 12 Pages / 595.276 x 790.866 pts Page_size
- 45 Downloads / 178 Views
RESEARCH ARTICLE
Lidar-aided Autonomous Landing and Vision-based Taxiing for FixedWing UAV K. Senthil Kumar1 • M. Venkatesan1 • S. Karuppaswamy1 Received: 30 September 2020 / Accepted: 22 October 2020 Indian Society of Remote Sensing 2020
Abstract Autonomous UAV technology is limited in its ability to land safely at distinct airfields that have not been precisely surveyed and where GPS is unavailable. In this paper, we present a multi-sensor system for the automatic landing of fixedwing UAV. The system is composed of a high precision aircraft controller, a range finder (Lidar) and a vision module used for detection and tracking of runways. The estimation of the position of the fixed-wing UAV is by using Lidar and performs gliding till flaring. Then, a federated extended Kalman filter (EKF) structure is costumed and utilizes the solutions of the IMU, GPS and Lidar as independent measurements to estimate the position of the vehicle. The framework can be used to integrate the vision solutions and enables the estimation to be smooth and robust landing. For taxiing, the neural network is used such that from live video stream from the camera trains the UAV to land precisely along the runway. Keywords Fixed-wing UAV Autonomous landing Lidar Vision-based taxiing
Introduction Fixed-wing unmanned aerial vehicles (UAVs), referred to as drones, are aircraft that operate without a human pilot onboard. They are controlled either remotely by a human operator or autonomously via onboard computers, fixedwing UAVs fly by utilizing the lift generated by the aircraft’s forward motion and shape of its wings. Landing is an integral part of UAV mission. UAVs with autonomous landing reduce the pressure of the remote operator and the threat of an accident. Automatic landing control will also shorten the duration of landing and will improve the efficiency and ability of fixed-wing UAVs. Autonomous landing systems are designed to make landing possible in visibility too poor to permit any form of visual landing, although they can be used at any level of visibility. & K. Senthil Kumar [email protected] M. Venkatesan [email protected]
Auto landing systems are highly accurate. Autoland requires the use of precise range finder to determine the height of the aircraft. In this research, we achieve the landing control of the drone to be completely handled by the autopilot.
Objectives The autonomous landing of UAV is indispensable such that it reduces the pressure on the operator with accurate and real-time control of altitude, rate of descend and heading (McCarthy 2017). The failure of other landing aids due to electromagnetic interference has paved the way to the need for a range finder and vision sensor (Fig. 1). The basic motive of this project is to aid a range finder, i.e., Lidar in altitude estimation such that the slant distance can be determined for gliding the UAV. However, after touchdown, vision sensor, i.e., the camera is enabled for taxiing (Liu and Zhang 2016).
S. Karuppaswamy [email protected] 1
Department of Aer
Data Loading...
