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Support System for Landing with an Autonomous Unmanned Aerial Vehicle
Linköping University. Linköping University, Department of Electrical Engineering.
Linköping University. Linköping University, Department of Electrical Engineering.
2009 (English)Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

There are a number of ongoing projects developing autonomous vehicles, both helicopters and airplanes. The purpose of this thesis is to study a concept for calculating the height and attitude of a helicopter. The system will be active during landing. This thesis includes building an experimental setup and to develop algorithms and software.

The basic idea is to illuminate the ground with a certain pattern and in our case we used laser pointers to create this pattern. The ground is then filmed and the images are processed to extract the pattern. This provides us with information about the height and attitude of the helicopter. Furthermore, the concept implies that no equipment on the ground is needed. With further development the sensor should be able to calculate the movement of the underlying surface relative to the helicopter. This is very important when landing on a moving surface, e.g. a ship at sea.

To study the concept empirically an experimental setup was constructed. The setup provides us with the necessary information to evaluate how well the system could perform in reality. The setup is built with simple and cheap materials. In the setup an ordinary web camera and laser pointers that are avaliable for everyone have been used.

Abstract [sv]

Det finns flera pågående projekt inom autonomflygande farkoster, både för helikoptrar och flygplan. Syftet med vårt examensarbetet är att undersöka ett koncept för en landningssensor för autonom landning med helikopter. Examensarbetet innebär att bygga en fysisk modell för test av konceptet samt att utveckla mjukvara.

Konceptet för sensorn består av att belysa marken med ett speciellt mönster, i vårt fall skapas mönstret av laserpekare, som därefter fotograferas och bildbehandlas. Detta mönster ger sedan information om helikopterns höjd och attityd i luften. Vidare innebär konceptet också att ingen markutrustning krävs för att sensorn ska fungera. I förlängningen ska man med detta koncept kunna beräkna hur underlaget rör sig relativt helikoptern, vilket är väldigt viktigt vid landning på objekt som rör sig, till exempel ett fartyg.

För att undersöka hur bra sensorn presterar i verkligheten så har en rigg byggts. Riggen är byggd med enkla och billiga material. I det här fallet används en webbkamera och laserpekare som går att köpa i vanliga elektronikaffärer.

Place, publisher, year, edition, pages
2009. , 79 p.
Keyword
Helicopter, Skeldar, Landing, Autonomous, Positioning, UAV
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:liu:diva-16278ISRN: LiTH-ISY-EX--09/4261--SEOAI: oai:DiVA.org:liu-16278DiVA: diva2:133442
Presentation
2009-01-09, Glashuset, Linköpings universitet, Linköping, 13:15 (Swedish)
Uppsok
teknik
Supervisors
Examiners
Available from: 2009-01-12 Created: 2009-01-12 Last updated: 2009-01-12Bibliographically approved

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CiteExportLink to record
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