A Precise and GNSS-Free Landing System on Moving Platforms for Rotary-Wing UAVs

Area of Science:

• Robotics
• Aerospace Engineering
• Control Systems

Background:

• Global Navigation Satellite System (GNSS)-denied environments pose challenges for Unmanned Aerial Vehicle (UAV) operations.
• Precise landing on dynamic platforms is critical for many UAV applications, including maritime operations and logistics.

Purpose of the Study:

• To develop and validate a novel landing system for rotary-wing UAVs that achieves centimeter-level accuracy on moving platforms.
• To demonstrate a GNSS-independent approach for safe and robust UAV landings.

Main Methods:

• A physical cable connecting the UAV and the landing platform was used to derive relative position and velocity.
• The system utilizes angles from the cable to calculate state information, enhancing altitude control and stability.
• The developed system was implemented on an unmanned helicopter for extensive testing.

Main Results:

• Achieved centimeter-level landing accuracy using only local sensors, without GNSS.
• Demonstrated robustness across various test conditions and platform trajectories.
• The system enabled the helicopter to accurately follow the moving landing platform at different velocities.

Conclusions:

• The proposed cable-based system offers a precise, robust, and GNSS-independent solution for UAV landings on moving platforms.
• The system provides enhanced control over UAV altitude, centering, and post-contact stability.
• This technology significantly advances the capabilities of rotary-wing UAVs in challenging operational environments.