RT Journal Article
T1 Error Reduction in Vision-Based Multirotor Landing System
A1 Llerena Caña, Juan Pedro
A1 García Herrero, Jesús
A1 Molina López, José Manuel
AB New applications are continuously appearing with drones as protagonists, but all ofthem share an essential critical maneuver—landing. New application requirements have led thestudy of novel landing strategies, in which vision systems have played and continue to play akey role. Generally, the new applications use the control and navigation systems embedded in theaircraft. However, the internal dynamics of these systems, initially focused on other tasks such as thesmoothing trajectories between different waypoints, can trigger undesired behaviors. In this paper,we propose a landing system based on monocular vision and navigation information to estimate thehelipad global position. In addition, the global estimation system includes a position error correctionmodule by cylinder space transformation and a filtering system with a sliding window. To conclude,the landing system is evaluated with three quality metrics, showing how the proposed correctionsystem together with stationary filtering improves the raw landing system.
PB MDPI AG
SN 1424-3210
YR 2022
FD 2022-05-10
LK https://hdl.handle.net/10016/35012
UL https://hdl.handle.net/10016/35012
LA eng
NO This research was partially funded by public research projects of Spanish Ministry ofScience and Innovation, references PID2020-118249RB-C22 and PDC2021-121567-C22—AEI/10.13039/501100011033, and by the Madrid Government (Comunidad de Madrid, Spain) under the MultiannualAgreement with UC3M in the line of Excellence of University Professors, reference EPUC3M17.
DS e-Archivo
RD 1 sept. 2024