Autonomous Landing Guidance for Quad-UAVs Based on Visual Image and Altitude Estimation
In this paper, an autonomous landing guidance strategy is proposed for quad-UAVs, including landing marker detection, altitude estimation, and adaptive landing commands generation. A double-layered nested marker is designed to ensure that the marker can be captured both in high and low altitudes. A...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-01-01
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| Series: | Drones |
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| Online Access: | https://www.mdpi.com/2504-446X/9/1/57 |
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| author | Lingxia Mu Shaowei Cao Youmin Zhang Xielong Zhang Nan Feng Yuan Zhang |
| author_facet | Lingxia Mu Shaowei Cao Youmin Zhang Xielong Zhang Nan Feng Yuan Zhang |
| author_sort | Lingxia Mu |
| collection | DOAJ |
| description | In this paper, an autonomous landing guidance strategy is proposed for quad-UAVs, including landing marker detection, altitude estimation, and adaptive landing commands generation. A double-layered nested marker is designed to ensure that the marker can be captured both in high and low altitudes. A deep learning-based marker detection method is designed where the intersection of union is replaced by the normalized Wasserstein distance in the computation of non-maximum suppression to improve the detection accuracy. The UAV altitude measured by inertial measurement unit is fused with vision-based altitude estimation data to improve the accuracy during the landing process. An image-based visual servoing method is designed to guide the UAV approach to the landing marker. Both simulation and flight experiments are conducted to verify the proposed strategy. |
| format | Article |
| id | doaj-art-454ed7739ae74abe957a043cbc874cf6 |
| institution | Kabale University |
| issn | 2504-446X |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Drones |
| spelling | doaj-art-454ed7739ae74abe957a043cbc874cf62025-01-24T13:29:49ZengMDPI AGDrones2504-446X2025-01-01915710.3390/drones9010057Autonomous Landing Guidance for Quad-UAVs Based on Visual Image and Altitude EstimationLingxia Mu0Shaowei Cao1Youmin Zhang2Xielong Zhang3Nan Feng4Yuan Zhang5Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing, Xi’an University of Technology, Xi’an 710048, ChinaShaanxi Key Laboratory of Complex System Control and Intelligent Information Processing, Xi’an University of Technology, Xi’an 710048, ChinaDepartment of Mechanical, Industrial and Aerospace Engineering, Concordia University, Montreal, QC H3G 1M8, CanadaShaanxi Key Laboratory of Complex System Control and Intelligent Information Processing, Xi’an University of Technology, Xi’an 710048, ChinaSchool of Intelligence Science and Technology, University of Science and Technology Beijing, Beijing 100083, ChinaShaanxi Key Laboratory of Complex System Control and Intelligent Information Processing, Xi’an University of Technology, Xi’an 710048, ChinaIn this paper, an autonomous landing guidance strategy is proposed for quad-UAVs, including landing marker detection, altitude estimation, and adaptive landing commands generation. A double-layered nested marker is designed to ensure that the marker can be captured both in high and low altitudes. A deep learning-based marker detection method is designed where the intersection of union is replaced by the normalized Wasserstein distance in the computation of non-maximum suppression to improve the detection accuracy. The UAV altitude measured by inertial measurement unit is fused with vision-based altitude estimation data to improve the accuracy during the landing process. An image-based visual servoing method is designed to guide the UAV approach to the landing marker. Both simulation and flight experiments are conducted to verify the proposed strategy.https://www.mdpi.com/2504-446X/9/1/57unmanned aerial vehicle (UAV)landing marker detectionaltitude fusionvision-based autonomous landing |
| spellingShingle | Lingxia Mu Shaowei Cao Youmin Zhang Xielong Zhang Nan Feng Yuan Zhang Autonomous Landing Guidance for Quad-UAVs Based on Visual Image and Altitude Estimation Drones unmanned aerial vehicle (UAV) landing marker detection altitude fusion vision-based autonomous landing |
| title | Autonomous Landing Guidance for Quad-UAVs Based on Visual Image and Altitude Estimation |
| title_full | Autonomous Landing Guidance for Quad-UAVs Based on Visual Image and Altitude Estimation |
| title_fullStr | Autonomous Landing Guidance for Quad-UAVs Based on Visual Image and Altitude Estimation |
| title_full_unstemmed | Autonomous Landing Guidance for Quad-UAVs Based on Visual Image and Altitude Estimation |
| title_short | Autonomous Landing Guidance for Quad-UAVs Based on Visual Image and Altitude Estimation |
| title_sort | autonomous landing guidance for quad uavs based on visual image and altitude estimation |
| topic | unmanned aerial vehicle (UAV) landing marker detection altitude fusion vision-based autonomous landing |
| url | https://www.mdpi.com/2504-446X/9/1/57 |
| work_keys_str_mv | AT lingxiamu autonomouslandingguidanceforquaduavsbasedonvisualimageandaltitudeestimation AT shaoweicao autonomouslandingguidanceforquaduavsbasedonvisualimageandaltitudeestimation AT youminzhang autonomouslandingguidanceforquaduavsbasedonvisualimageandaltitudeestimation AT xielongzhang autonomouslandingguidanceforquaduavsbasedonvisualimageandaltitudeestimation AT nanfeng autonomouslandingguidanceforquaduavsbasedonvisualimageandaltitudeestimation AT yuanzhang autonomouslandingguidanceforquaduavsbasedonvisualimageandaltitudeestimation |