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ACTA AERONAUTICAET ASTRONAUTICA SINICA ›› 2019, Vol. 40 ›› Issue (6): 322601-322601.doi: 10.7527/S1000-6893.2018.22601

• Electronics and Electrical Engineering and Control • Previous Articles     Next Articles

Moving platform self-optimization landing technology for quadrotor based on hybrid landmark

XING Boyang1, PAN Feng1,2, WANG Wei1, FENG Xiaoxue1   

  1. 1. School of Automation, Beijing Institute of Technology, Beijing 100081, China;
    2. Kunming-BIT Industry Technology Research Institute INC, Kunming 650106, China
  • Received:2018-08-13 Revised:2018-11-02 Online:2019-06-15 Published:2018-12-06
  • Supported by:
    National Natural Science Foundation of China (61603040, 61433003); Yunnan Applied Basic Research Project of China (201701CF00037); Yunnan Provincial Science and Technology Department Key Research Program (Engineering) (2018BA070)

Abstract: To address visual loss, big dead zone, and low landing reliability in marker-based localization, a moving platform landing system based on hybrid landmark is proposed. The circular ring tag and two-dimensional tag are combined together to provide precise localization of camera in large space. An estimator based on extended Kalman filter is proposed to estimate the pose of moving platform online. Meanwhile, the unknown measurement bias of encoder is considered in the system model to improve the robustness of estimator under wheel-clip and reduce the calibration error from encoders. Finally, based on the statement estimation, an optimal landing strategy is designed using the minimum Jerk trajectory, and the efficient and stable landing of the quadrotor on the moving platform is realized. To verify the effectiveness of the proposed landing system, several simulation and actual landing experiments are given. The experimental results show that the hybrid landmark has small dead zone and realizes the complete and comprehensive localization from 0.5 m to 6.0 m, the estimator can obtain accurate pose of the moving platform under the unknown measurement bias of encoder, and the proposed optimal landing strategy can realize reliable landing on the moving platform.

Key words: quadrotor, visual landing, trajectory planning, moving platform, state estimation

CLC Number: