Autonomous Flight and Landing for Multi-Rotor using Integrated Navigation and Vision Detection
In this paper,we design an INS/GPS integrated navigation system based on federal Kalman filter for autonomous flight of multi-rotor which contains several parallel subfilter and guarantee the stability of system.At the same time,we present a discrete path generation algorithm for the multi-rotor trajectory tracking.During the autonomous landing stage,on-board computer runs a real-time land-marker detection algorithm and fuses IMU data to improve the landing precision.We also use a compensator to compensate the position controller and present a landing strategy to avoid the systems instability brought from frequent switch of controllers while landing.
federal Kalman filter discrete path generation autonomous fight and landing controller conpensation
Ruizhi Qiao Xinming Li Yongji Wang Lei Liu
School of Automation Huazhong University of Science and Technology Wuhan,China Beijing Aerospace Automatic Control Institute Beijing,China
国际会议
重庆
英文
36-40
2017-03-25（万方平台首次上网日期，不代表论文的发表时间）