Abstract: This article focuses on vision based autonomous landing of a fixed wing unmanned aerial vehicle (UAV). Computer vision algorithms are used as a feedback sensor in control loops. Design of flight management system (FMS) algorithms and control structure of UAV is described. FMS provides to apply specific missions like keeping trajectory points between two coordinates with keeping specific altitude and speed conditions. To be able to manage this condition, waypoints include latitude, longitude, heading, altitude and speed specifications. Therefore, to be able to process these waypoints; roll, pitch, altitude, heading and speed controller are designed. To be able to generate, load waypoints and activate designed algorithms to UAV, a ground control station (GCS) interface is designed. On the vision algorithms side, position of aircraft is detected with respect to known runway by using image processing algorithms supported by OpenCv library. Position information obtained from image processing is used by FMS. System has been successfully tested in flight simulation environment under several different wind and turbulence condition with different initial orientation of the UAV.
Keywords: Autonomous Landing, Unmanned Aerial Vehicles, Vision-based Control, Vision-based Navigation, Automatic Flight Control Systems, Flight Management System.
Title: Vision-Aided Landing Using Flight Management System for Fixed Wing Unmanned Aerial Vehicle
Author: Engin Esin, Asst.Prof.Dr. Ali Türker KUTAY
International Journal of Engineering Research and Reviews
ISSN 2348-697X (Online)
Research Publish Journals
