A visual/inertial integrated landing guidance method for UAV landing on the ship

Yu, Mengsun; Wang, Wei; Han, Hao; Ban, Jingxuan

doi:10.1016/j.ast.2018.12.030

Cited by 81 publications

(37 citation statements)

References 10 publications

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“…Although the accuracy of the presented method has been validated, it lacks integration of the system to perform a fully autonomous landing. Similar infrared-based methods may also be found in [ 13 , 38 , 44 ]. These active-sourced markers have shown preferable performance against environmental limitations, including low illumination and bad weather conditions.…”

Section: Literature Reviewmentioning

confidence: 82%

“…However, autonomous nighttime landing is still a challenging task. Researchers have introduced supplementary means, such as applying active light sources to markers [ 12 ], or using a shipdeck-deployed infrared light array [ 13 ], so that the vision systems may see the highlighted landing spots through the darkness. Nonetheless, an obvious drawback of the active-marker-based methods is that it requires additional ground-based infrastructures to be deployed.…”

Section: Introductionmentioning

confidence: 99%

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Real-Time Monocular Vision System for UAV Autonomous Landing in Outdoor Low-Illumination Environments

Lin

Jin

Chen

2021

Sensors

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Landing an unmanned aerial vehicle (UAV) autonomously and safely is a challenging task. Although the existing approaches have resolved the problem of precise landing by identifying a specific landing marker using the UAV’s onboard vision system, the vast majority of these works are conducted in either daytime or well-illuminated laboratory environments. In contrast, very few researchers have investigated the possibility of landing in low-illumination conditions by employing various active light sources to lighten the markers. In this paper, a novel vision system design is proposed to tackle UAV landing in outdoor extreme low-illumination environments without the need to apply an active light source to the marker. We use a model-based enhancement scheme to improve the quality and brightness of the onboard captured images, then present a hierarchical-based method consisting of a decision tree with an associated light-weight convolutional neural network (CNN) for coarse-to-fine landing marker localization, where the key information of the marker is extracted and reserved for post-processing, such as pose estimation and landing control. Extensive evaluations have been conducted to demonstrate the robustness, accuracy, and real-time performance of the proposed vision system. Field experiments across a variety of outdoor nighttime scenarios with an average luminance of 5 lx at the marker locations have proven the feasibility and practicability of the system.

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Section: Literature Reviewmentioning

confidence: 82%

Section: Introductionmentioning

confidence: 99%

Real-Time Monocular Vision System for UAV Autonomous Landing in Outdoor Low-Illumination Environments

Lin

Jin

Chen

2021

Sensors

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“…In order to improve the efficiency of the algorithm, an autoregressive (AR) prediction algorithm is selected to predict the deck motion. The AR prediction model of p -th order can be simplified as [40] is the regulatory factor. The reason for the introduction of  is that when the carrier-based aircraft approaches the ideal landing point, the value of gp K becomes rather large due to the small value of r t .…”

Section: ) Prediction Of Aircraft Carrier Deck Motionmentioning

confidence: 99%

Receding Horizon Longitudinal Control Technology for Automatic Carrier Landing With Variable Reference Trajectory Based on Sliding Rate Information

et al. 2020

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In this paper, the longitudinal control of automatic carrier landing is studied. First, the carrier landing control problem is transformed into an optimal control problem of trajectory tracking. Considering the constraints of the control variables and the rate of change of control variables in the realistic landing process, the original linear small disturbance model is expanded. Based on the symplectic pseudospectral method and the adaptive regression prediction technology, a fast receding horizon carrier landing control technology with a variable reference trajectory is developed. Finally, the effectiveness of the control algorithm is verified by simulations at different sea states, initial deviations, and reference trajectory selection strategies. The simulation results demonstrate that the introduction of deck motion prediction can greatly reduce the phase delay of the control system and enhance the tracking ability of the carrier-based aircraft and improve the control effectiveness significantly. The proposed algorithm can precisely control the carrier landing trajectory under initial deviations, the external continuous wind disturbances, and random error of the state variables. Additionally, the calculation efficiency of the present control algorithm is sufficient for real-time online tracking.

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“…Meng et al presented a visual/inertial integrated guidance method for UAV’s shipboard landing. Here, the Extended Kalman Filter algorithm is used to fuse the information to estimate the UAV’s position, attitude and velocity relative to the runway and the ship motion in real-time (Meng et al , 2019).…”

Section: Introductionmentioning

confidence: 99%

Integrated design of fault-tolerant control for flight control systems using observer and fuzzy logic

Unal

2021

AEAT

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Purpose Fault detection, isolation and reconfiguration of the flight control system is an important problem to obtain healthy flight. This paper aims to propose an integrated approach for aircraft fault-tolerant control. Design/methodology/approach The integrated structure includes a Kalman filter to obtain without noise, a full order observer for sensor fault detection, a GOS (generalized observer scheme) for sensor fault isolation and a fuzzy controller to reconfigure of the healthy sensor. This combination is simulated using the state space model of a lateral flight control system in case of disturbance and under sensor fault scenario. Findings Using a dedicated observer scheme, the detection and time of sensor fault are correct, but the sensor fault isolation is evaluated incorrectly while the faulty sensor is isolated correctly using GOS. The simulation results show that the suggested approach works affectively for sensor faults with disturbance. Originality/value This paper proposes an integrated approach for aircraft fault-tolerant control. Under this framework, three units are designed, one is Kalman filter for filtering and the other is GOS for sensor fault isolation and another is fuzzy logic for reconfiguration. An integrated approach is sensitive to faults that have disturbances. The simulation results show the proposed integrated approach can be used for any linear system.

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A visual/inertial integrated landing guidance method for UAV landing on the ship

Cited by 81 publications

References 10 publications

Real-Time Monocular Vision System for UAV Autonomous Landing in Outdoor Low-Illumination Environments

Real-Time Monocular Vision System for UAV Autonomous Landing in Outdoor Low-Illumination Environments

Receding Horizon Longitudinal Control Technology for Automatic Carrier Landing With Variable Reference Trajectory Based on Sliding Rate Information

Integrated design of fault-tolerant control for flight control systems using observer and fuzzy logic

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