Abstract
An accurate close-range positioning and navigation system is the key to autonomous cruise and the fine operations of multi-rotor UAVs. In this paper, a dynamic electromagnetic positioning system is designed and implemented to accurately navigate a UAV to a very small landing zone. The system is composed of three quasi-static electromagnetic field generators (EGs) installed around the landing zone, and one electromagnetic field sensor (ES) mounted on the UAV. The ES adaptively controls its gain and adjusts the power of the EGs, so it can detect electromagnetic signals under a high SNR (signal-to-noise ratio) condition and has an anti-saturation ability. Consequently, the coordinate and azimuthal angle of the UAV can be measured during the process of the UAV approaching the landing zone. Hardware experiments demonstrate that the prototype system can effectively navigate a UAV to a small landing zone that is slightly larger than the size of the UAV, and the terminal positioning error is less than 2 cm.
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