Precision Landing Tests of Tethered Multicopter and VTOL UAV on Moving Landing Pad on a Lake
Author:
Kownacki Cezary1ORCID, Ambroziak Leszek1ORCID, Ciężkowski Maciej2ORCID, Wolniakowski Adam2ORCID, Romaniuk Sławomir2ORCID, Bożko Arkadiusz1ORCID, Ołdziej Daniel1ORCID
Affiliation:
1. Robotics and Mechatronics Department, Faculty of Mechanical Engineering, Bialystok University of Technology, Wiejska St. 45C, 15-351 Bialystok, Poland 2. Automatic Control and Robotics Department, Faculty of Electrical Engineering, Bialystok University of Technology, Wiejska St. 45C, 15-351 Bialystok, Poland
Abstract
Autonomous take-off and landing on a moving landing pad are extraordinarily complex and challenging functionalities of modern UAVs, especially if they must be performed in windy environments. The article presents research focused on achieving such functionalities for two kinds of UAVs, i.e., a tethered multicopter and VTOL. Both vehicles are supported by a landing pad navigation station, which communicates with their ROS-based onboard computer. The computer integrates navigational data from the UAV and the landing pad navigational station through the utilization of an extended Kalman filter, which is a typical approach in such applications. The novelty of the presented system is extending navigational data with data from the ultra wide band (UWB) system, and this makes it possible to achieve a landing accuracy of about 1 m. In the research, landing tests were carried out in real conditions on a lake for both UAVs. In the tests, a special mobile landing pad was built and based on a barge. The results show that the expected accuracy of 1 m is indeed achieved, and both UAVs are ready to be tested in real conditions on a ferry.
Funder
National Center of Research and Development, Poland Department of Mechanical Engineering Department of Electrical Engineering
Subject
Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry
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