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Localization Framework for Real-Time UAV Autonomous Landing: An On-Ground Deployed Visual Approach.

Weiwei Kong1,2, Tianjiang Hu3, Daibing Zhang4

  • 1College of Mechatronics and Automation, National University of Defense Technology, Changsha 410073, China. kongww.nudt@gmail.com.

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Summary

This study presents a ground-based visual landing system for fixed-wing unmanned aircraft vehicles (UAVs) in GPS-denied areas. The novel long-baseline stereo system enhances landing accuracy and safety.

Keywords:
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Area of Science:

  • Robotics
  • Aerospace Engineering
  • Computer Vision

Background:

  • Safe landing is a critical challenge for fixed-wing unmanned aircraft vehicles (UAVs).
  • Global Navigation Satellite System (GNSS)-denied environments pose significant limitations for conventional UAV navigation and landing.
  • Existing visual landing systems often lack the flexibility and field of view required for robust operation.

Purpose of the Study:

  • To develop an on-ground deployed visual guidance system for safe fixed-wing UAV landing.
  • To enable UAV operations in Global Navigation Satellite System (GNSS)-denied environments.
  • To introduce and evaluate a novel separate long baseline stereo architecture for enhanced visual localization.

Main Methods:

  • A ground-based visual approach utilizing ground computing resources for real-time localization feedback to the UAV's autopilot.
  • Proposal and theoretical modeling of a separate long baseline stereo architecture with an extendable baseline and wide-angle field of view (FOV).
  • Accuracy evaluation through computational analysis and dataset-driven experimental validation.

Main Results:

  • The developed visual approach effectively guides fixed-wing UAVs for safe landing in GNSS-denied conditions.
  • The proposed long baseline stereo architecture demonstrates superior performance compared to traditional fixed baseline systems.
  • Experimental results confirm the feasibility and effectiveness of the visual landing system.

Conclusions:

  • The ground-deployed visual landing system offers a viable solution for UAVs operating without GNSS.
  • The novel long baseline stereo architecture enhances localization accuracy and operational flexibility for UAVs.
  • This approach significantly advances the capability of fixed-wing UAVs for autonomous landing in challenging environments.