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Toward Autonomous UAV Landing Based on Infrared Beacons and Particle Filtering

  • Vsevolod Khithov
  • Alexander Petrov
  • Igor TishchenkoEmail author
  • Konstantin Yakovlev
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 447)

Abstract

Autonomous fixed-wing UAV landing based on differential GPS is now a mainstream providing reliable and precise landing. But the task still remains challenging when GPS availability is limited like for military UAVs. We discuss a solution of this problem based on computer vision and dot markings along stationary or makeshift runway. We focus our attempts on using infrared beacons along with narrow-band filter as promising way to mark any makeshift runway and utilize particle filtering to fuse both IMU and visual data. We believe that unlike many other vision-based methods, this solution is capable of tracking UAV position up to engines stop. System overview, algorithm description, and its evaluation on synthesized sequence along real recorded trajectory are presented.

Keywords

UAV Fixed-wing Autonomous landing Computer vision Particle filter Infrared markers Pattern detection Real-time Navigation Sensor fusing 

Notes

Acknowledgments

This work was supported by the Ministry of Education and Science of the Russian Federation (RFMEFI60714X0088) agreement for a grant on “Development of methods and means of processing and intelligent image analysis and flow of data obtained from a set of stationary and mobile sensors, using high-performance distributed computing for the tasks of monitoring the indoor placement and adjacent outdoor territories.”

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Copyright information

© Springer International Publishing Switzerland 2017

Authors and Affiliations

  • Vsevolod Khithov
    • 1
  • Alexander Petrov
    • 2
  • Igor Tishchenko
    • 3
    Email author
  • Konstantin Yakovlev
    • 4
  1. 1.Soloviev Rybinsk State Aviation Technical UniversityRybinskRussia
  2. 2.NPP SATEK PlusRybinskRussia
  3. 3.Program System Institute of Russian Academy of SciencesPereslavl-ZalesskyRussia
  4. 4.Institute for Systems Analysis of Russian Academy of SciencesMoscowRussia

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