liu.seSearch for publications in DiVA
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Vision and GPS based autonomous landing of an unmanned aerial vehicle
Linköping University, Department of Electrical Engineering, Automatic Control.
2010 (English)Independent thesis Advanced level (professional degree), 30 credits / 45 HE creditsStudent thesis
Abstract [en]

A control system for autonomous landing of an unmanned aerial vehicle (UAV)with high precision has been developed. The UAV is a medium sized model he-licopter. Measurements from a GPS, a camera and a compass are fused with anextended Kalman filter for state estimation of the helicopter. Four PID-controllers,one for each control signal of the helicopter, are used for the helicopter control.During the final test flights fifteen landings were performed with an average land-ing accuracy of 35 cm.    A bias in the GPS measurements makes it impossible to land the helicopter withhigh precision using only the GPS. Therefore, a vision system using a camera anda pattern provided landing platform has been developed. The vision system givesaccurate measurement of the 6-DOF pose of the helicopter relative the platform.These measurements are used to guide the helicopter to the landing target. Inorder to use the vision system in real time, fast image processing algorithms havebeen developed. The vision system can easily match up the with the camera framerate of 30 Hz.

Abstract [sv]

Ett kontrolsystem för att autonomt landa en modellhelikopter har utvecklats.Mätdata från en GPS, en kamera samt en kompass fusioneras med ett Extend-ed Kalman Filter för tillståndsestimering av helikoptern. Fyra PID-regulatorer,en för varje kontrolsignal på helikoptern, har används för regleringen. Under densista provflygningen gjordes tre landingar av vilken den minst lyckade slutade35 cm från målet.    På grund av en drift i GPS-mätningarna är det omöjligt att landa helikopternmed hög precision med bara en GPS. Därför har ett bildbehandlingssystem som an-vänder en kamera samt ett mönster på platformen utvecklats. Bidbehandlingssys-temet mäter positionen och orienteringen av helikoptern relativt platformen. Dessamätningar används kompensera för GPS-mätningarnas drift. Snabba bildbehan-dlingsalgoritmer har utvecklats för att kunna använda bildbehandlingssystemet irealtid. Systemet är mycket snabbare än 30 bilder per sekund vilket är kameranshastighet.

Place, publisher, year, edition, pages
2010. , 58 p.
Keyword [en]
Vertical Take-Off and Landing, Unmanned Aerial Vehicle, helicopter, autonomous landing, vision, image processing, Extended Kalman filter, control
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-57735ISRN: LiTH-ISY-EX- -10/4313- -SEOAI: oai:DiVA.org:liu-57735DiVA: diva2:327648
Presentation
2010-04-16, Glashuset, Linköpings Universitet, 581 83 Linköping, Östergötlands län, Linköpings University, 10:15 (Swedish)
Uppsok
Technology
Supervisors
Examiners
Available from: 2010-07-01 Created: 2010-06-30 Last updated: 2011-03-24Bibliographically approved

Open Access in DiVA

fulltext(2625 kB)686 downloads
File information
File name FULLTEXT02.pdfFile size 2625 kBChecksum SHA-512
b6b179b25be9a940e077687bfee78735d23360d868f24fd8ead4c622f64ad753434afd70c29ba6b5720a509f795f2e023e553099697fc663b132b9cceaaf70f7
Type fulltextMimetype application/pdf

Search in DiVA

By author/editor
Hermansson, Joel
By organisation
Automatic Control
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 686 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

urn-nbn

Altmetric score

urn-nbn
Total: 556 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf