Precision Landing Research Articles

Extremum Seeking-Based Radio Signal Strength Optimization Algorithm for Hoverable UAV Path Planning

For the safe autonomous operations of unmanned aerial vehicles (UAVs) and ground control stations (GCS), including autonomous battery replacement, wireless power transfer, and more, the precise landing of UAVs on GCS is essential. Accurate landing is only possible when the link capacity strength exceeds a certain threshold, but this is often disturbed due to complex terrain. To address this, we developed an extremum seeking (ES)-based radio signal strength optimization (RSSO) algorithm, ES-RSSO, designed to find the optimal positions of the UAV using radio communication signals. This ensures energy-efficient path planning while guaranteeing the minimum received signal strength indication (RSSI) capacity. This algorithm is particularly useful in obstacle-rich environments, where UAVs are limited in power resources. Simulation results demonstrate a 2.37% decrease in the mean, a 62.08% improvement in variance, and a 3.72% decrease in the integration strength of the link capacity when ES-RSSO is applied. These results confirm that the RADIO.rssi maintenance ability remains above a critical boundary level, supporting robust communication links and energy-efficient path planning. Throughout the study, we showed how, in many cases, simply moving the UAV a few meters can significantly improve the communication link.

Research on Precise Landing of Rotor UAV Based on Multi-Sensor Fusion

With the rapid development of drone technology, the autonomous landing of drones has become a current research hotspot. This article introduces an autonomous drone landing system based on multi-sensor fusion. The system combines GPS, IMU, visual sensors, LiDAR, and other sensor data through Kalman filtering to achieve data fusion and improve the positioning accuracy and stability of the drone during landing.

무인항공기의 적외선 기반 정밀착륙

무인항공기의 적외선 기반 정밀착륙

Using Reinforcement Learning and Error Models for Drone Precise Landing

We propose a novel framework for achieving precision landing in drone services. The proposed framework consists of two distinct decoupled modules, each designed to address a specific aspect of landing accuracy. The first module is concerned with intrinsic errors, where new error models are introduced. This includes a spherical error model that takes into account the orientation of the drone. Additionally, we propose a live position correction algorithm that employs the error models to correct for intrinsic errors in real time. The second module focuses on external wind forces and presents an aerodynamics model with wind generation to simulate the drone’s physical environment. We utilize reinforcement learning to train the drone in simulation with the goal of landing precisely under dynamic wind conditions. Experimental results, conducted through simulations and validated in the physical world, demonstrate that our proposed framework significantly increases landing accuracy while maintaining a low onboard computational cost.

Precision Landing of Unmanned Aerial Vehicle under Wind Disturbance Using Derivative Sliding Mode Nonlinear Disturbance Observer-Based Control Method

Unmanned aerial vehicles (UAVs) are extensively employed in civilian and military applications because of their excellent maneuverability. Achieving fully autonomous quadrotor flight and precision landing on a wireless charging station in the presence of wind disturbance has become a crucial research topic. This paper presents a composite control technique for UAV altitude and attitude tracking in harsh environments, i.e., wind disturbance. A composite controller was developed based on nonlinear disturbance observer (NDOB) control theory to allow the UAV to land in the presence of random external wind disturbances and ground effects. The NDOB estimated the unknown wind disturbance, and the estimation was fed into the derivative sliding mode nonlinear disturbance observer-based control (DSMNDOBC), allowing the UAV to perform autonomous precision landing. Two loop designs were applied: the inner loop for stabilization and the outer loop for altitude tracking. The quadrotor model dynamics and the proposed controller, DSMNDOBC, were simulated employing MATLAB/Simulink®, and the results were compared with the one obtained by the proportional derivative (PD) controller and the sliding mode controller (SMC). The simulation results indicated that the DSMNDOBC has superior altitude and attitude control compared to the PD and SMC controllers and better disturbance estimation and attenuation performance.

Dynamic-model-based closed-loop guidance and control for heavy parafoil system precision landing

Emerging payload delivery missions bring the need to improve the landing accuracy of the autonomous heavy parafoil system. However, traditional parafoil guidance and control algorithms are based on the simplified three-degree-of-freedom (3-DOF) kinematic model. This unavoidably deteriorates the terminal landing accuracy and hinders the flare maneuver. To address this issue, this work proposes a novel parafoil guidance and control algorithm based on the six-degree-of-freedom (6-DOF) dynamic model. Firstly, the parafoil terminal landing process is formulated as a 6-DOF trajectory optimization problem. To generate the terminal landing reference trajectory, a two-step trajectory optimization framework is introduced, which incorporates a trajectory initialization step to improve the computation efficiency of the following trajectory optimization step. On this basis, the guidance and control framework based on the 6-DOF parafoil system dynamic model is designed. In the proposed framework, the guidance trajectory is updated using a receding-horizon mechanism, the control command is generated through the advanced-step nonlinear model predictive control method, and the model inaccuracy is dealt with by the moving horizon model correction method. Simulation results demonstrate the effectiveness of the proposed dynamic-model-based guidance and control framework and its superior touchdown performance.

Characterization of High-priority Landing Sites for Robotic Exploration Missions in the Apollo Basin, Moon

The South Pole–Aitken (SPA) basin is the oldest and largest visible impact structure on the Moon, making it a high priority science site for exploration missions. The 492 km diameter Apollo peak-ring basin is one of the youngest and largest basins within the SPA basin. We selected three regions of interest (ROIs) in the Apollo basin for which the landing and operational hazards are minimized and evaluated their science and in situ resource utilization (ISRU) potential. We examined topography, slope, crater density, rock abundance, geologic mapping, mineralogy, and inferred subsurface stratigraphy within each ROI. The results show that the terrain is safe for landing without precision landing (within a few hundred meters). The mare materials have high ISRU potential with relatively high FeO (∼16–20 wt%) and TiO2 (∼3–10 wt%) contents. Two robotic exploration mission architectures were examined for their scientific potential: (1) lander and rover with a dedicated payload suite and (2) the same architecture with sample return capability. In situ observations can address six of seven National Research Council concepts (1–3, 5–7) and Campaigns 1 and 5 of the European Space Agency’s Strategy for Science at the Moon.

High-Altitude Precision Landing by Smartphone Video Guidance Sensor and Sensor Fusion

This paper describes the deployment, integration, and demonstration of the Smartphone Video Guidance Sensor (SVGS) as novel technology for autonomous 6-DOF proximity maneuvers and high-altitude precision landing of UAVs via sensor fusion. The proposed approach uses a vision-based photogrammetric position and attitude sensor (SVGS) to support the precise automated landing of a UAV from an initial altitude above 100 m to ground, guided by an array of landing beacons. SVGS information is fused with other on-board sensors at the flight control unit to estimate the UAV’s position and attitude during landing relative to a ground coordinate system defined by the landing beacons. While the SVGS can provide mm-level absolute positioning accuracy depending on range and beacon dimensions, the proper operation of the SVGS requires a line of sight between the camera and the beacon, and readings can be disturbed by environmental lighting conditions and reflections. SVGS readings can therefore be intermittent, and their update rate is not deterministic since the SVGS runs on an Android device. The sensor fusion of the SVGS with on-board sensors enables an accurate and reliable update of the position and attitude estimates during landing, providing improved performance compared to state-of-art automated landing technology based on an infrared beacon, but its implementation must address the challenges mentioned above. The proposed technique also shows significant advantages compared with state-of-the-art sensors for High-Altitude Landing, such as those based on LIDAR.

Evaluation of the Success of Simulation of the Unmanned Aerial Vehicle Precision Landing Provided by a Newly Designed System for Precision Landing in a Mountainous Area

Unmanned aerial vehicle technology is the most advanced and helpful in almost every area of interest in human work. These devices become autonomous and can fulfil a variety of tasks, from simple imaging and obtaining data to search and rescue operations. The most challenging environment for search and rescue operations is the mountainous area. This article is devoted to the theoretical description and simulation tests of a prototype method of landing the light and the medium-weight UAVs used as supplementary devices for SAR (search and rescue) and HEMS (helicopter emergency medical service) in hard-to-reach mountainous terrains. The autonomous flight of a UAV in mountainous terrain has many specifics, and it is usually performed according to predetermined map points (pins) uploaded directly into the control software of the UAV. It is necessary to characterise each point flown on the chosen flight route line in advance and therefore to know its exact geographical coordinates (longitude, latitude and height of the point above the terrain), and the control system of UAV must react to the change in the weather and other conditions in real time. Usually, it is difficult to make this forecast with sufficient time in advance, mainly when UAVs are used as supplementary devices for the needs of HEMS or MRS (mountain rescue service). The most challenging phase is the final approach and landing of the UAV, especially if a loss of GNSS (global navigation satellite system) signal occurs, like in the determined area of the Little Cold Valley in the Slovak High Tatras—which is infamous for the widespread loss of GNSS signals or communication/controlling connection between the UAV and the pilot-operator at the operational station. To solve the loss of guidance, a new method for guiding and controlling the UAV in its final approach and landing in a determined area is tested. An alternative landing navigation system for UAVs in a specific mountainous environment—the authors’ designed frequency Doppler landing system (FDLS)—is briefly described but thoroughly tested with the help of artificial intelligence. An estimation of dynamic stability is used based on the time recording of the current position of the UAV, with the help of a frequency-modulated or amplitude-modulated signal based on the author’s prototype of a precision landing system designed for mountainous terrain. This solution could overcome the problems of GNSS signal loss. The presented research primarily evaluates the success of the simulation flights for the supplementary UAV. The success of navigating the UAV to land in the mountainous environment at an exact landing point using the navigation signals from the FDLS was evaluated at more than 95%.

Precise Landing on Moving Platform for Quadrotor UAV via Extended Disturbance Observer

Precise Landing on Moving Platform for Quadrotor UAV via Extended Disturbance Observer

Development of a Controlled Dynamics Simulator for Reusable Launcher Descent and Precise Landing

This paper introduces a Reusable Launch Vehicle (RLV) descent dynamics simulator coupled with closed-loop guidance and control (G&C) integration. The studied vehicle’s first-stage booster, evolving in the terrestrial atmosphere, is steered by a Thrust Vector Control (TVC) system and planar fins through gain-scheduled Proportional–Integral–Derivative controllers, correcting the trajectory deviations until precise landing from the reference profile computed in real time by a successive convex optimisation algorithm. Environmental and aerodynamic models that reproduce realistic atmospheric conditions are integrated into the simulator for enhanced assessment. Comparative performance results were achieved in terms of control configuration (TVC-only, fins-only, and both) for nominal conditions as well as with external disturbances such as wind gusts or multiple uncertainties through a Monte Carlo analysis to assess the G&C system. These studies demonstrated that the configuration combining TVC and steerable planar fins has sufficient control authority to provide stable flight and adequate uncertainties and disturbance rejection. The developed simulator provides a preliminary assessment of G&C techniques for the RLV descent and landing phase, along with examining the interactions that occur. In particular, it paves the way towards the development and assessment of more advanced and robust algorithms.

Rocket Landing Guidance Based on Linearization-Free Convexification

The landing problem of a reusable rocket is generally a highly constrained and nonconvex optimization problem. In this paper, we will convexify the problem without relying on any linearization. Specifically, we propose to quickly determine some of the state variables in advance so that the nonlinearity of the dynamics is greatly reduced, and then we accurately convexify the problem by change of variables and transformation of the optimization objective. This convexification process enables us to design an iterative algorithm that can converge very reliably, and the convergence does not rely on any trust region constraint. It should be highlighted that the algorithm is very efficient, generally taking just milliseconds to converge on a personal computer. Furthermore, by ensuring the recursive feasibility of calling the iterative algorithm in each guidance cycle, we can design a landing guidance algorithm that is able to achieve precise landing under various uncertainties and disturbances. Numerical examples are provided to demonstrate the high performance of the iterative algorithm and the landing guidance algorithm.

Acoustic Localization of Drones in Precise Landing: The Research and Practice with MicNest

Delivery drones have the potential to revolutionize transportation and distribution of goods. With their autonomous navigation capabilities, they offer an efficient solution to bypass the challenges posed by complex urban traffic and enable instant package delivery. Many industrial firms are actively exploring the commercial feasibility of instant drone deliveries. Meituan, one of the largest companies in this area, devised a systematic approach to instant delivery using drones. The process begins with loading the package onto the drone, which then takes off, ascends to cruising altitude, and sets a direct course towards the designated destination. Typically, this destination is a Meituan-operated self-collection station located near the customer.

Autonomous multicopter landing on a moving vehicle based on RSSI

AbstractCurrently, most of the studies on unmanned aerial vehicle (UAV) automatic landing systems mainly depend on image information to determine the landing location. However, the system requires a camera, a gimbal system and a separate image-processing device, which increases the weight and power consumption of the UAV, resulting in a shorter flight time. In addition, a large amount of computation and slow reaction speed can cause the camera to miss a proper landing moment. To solve these problems, in this study, the moving direction and relative distance between an object and the automatic landing system were measured using a receive signal strength indicator of the radio-frequency (RF) signal. To improve the movement direction and relative distance estimation accuracy, the noise in the RF signal was minimised using a low pass filter and moving average filter. Based on the filtered RF signal, the acceleration of the multicopter to reach the object was estimated by adopting the proportional navigation algorithm. The performance of the proposed algorithm for precise landing on a moving vehicle was demonstrated through experiments.

NMPC-based UAV-USV cooperative tracking and landing

The study aims to solve the problem of real time tracking and precise landing of unmanned aerial vehicle (UAV) during unmanned surface vehicle (USV) navigation. In this paper, a UAV-USV cooperative tracking and landing control strategy based on nonlinear model predictive control (NMPC) is proposed. Firstly, the UAV-USV heterogeneous intelligent body collaborative system is constructed based on the mathematical model of UAV and USV; secondly, the tracking controller is designed based on NMPC algorithm to ensure that the UAV can track the USV in real time; finally, a UAV-USV cooperative landing control strategy is proposed to realize the heave motion of the USV to the peak vertex, thus, the UAV completes the precise landing with the minimum impact. As the simulation experimental results show, the UAV-USV cooperative tracking and landing control scheme proposed in this paper can provide effective solution against real time tracking and accurate landing of UAV during the navigation of USV.

Multiple-Sliding-Surface Guidance and Control for Terminal Atmospheric Reentry and Precise Landing

The development of an effective guidance and attitude control architecture for terminal descent and landing represents a crucial issue for the design of reusable vehicles capable of performing a safe atmospheric planetary entry. The sliding mode control represents a nonlinear technique able to generate an effective real-time closed-loop guidance law, even in the presence of challenging contingencies. This work proposes a multiple sliding-surface guidance control law that is able to drive a lifting vehicle toward safe landing conditions, associated with a desired downrange, crossrange, runway heading, and final vertical velocity at touchdown, even starting from challenging initial conditions. The time derivatives of the lift coefficient and the bank angle are used as the control inputs, whereas the sliding surfaces are defined so that these two inputs are involved simultaneously in the lateral and the vertical guidance. The commanded attitude is pursued by the attitude control system, which employs a feedback nonlinear control law that enjoys quasi-global stability properties. Effectiveness and accuracy of the guidance and control strategy at hand are proven numerically by means of a Monte Carlo campaign, in the presence of stochastic wind and large dispersions on the initial conditions.

ArTuga: A novel multimodal fiducial marker for aerial robotics

For Vertical Take-Off and Landing Unmanned Aerial Vehicles (VTOL UAVs) to operate autonomously and effectively, it is mandatory to endow them with precise landing abilities. The UAV has to be able to detect the landing target and to perform the landing maneuver without compromising its own safety and the integrity of its surroundings. However, current UAVs do not present the required robustness and reliability for precise landing in highly demanding scenarios, particularly due to their inadequacy to perform accordingly under challenging lighting and weather conditions, including in day and night operations.This work proposes a multimodal fiducial marker, named ArTuga (Augmented Reality Tag for Unmanned vision-Guided Aircraft), capable of being detected by an heterogeneous perception system for accurate and precise landing in challenging environments and daylight conditions. This research combines photometric and radiometric information by proposing a real-time multimodal fusion technique that ensures a robust and reliable detection of the landing target in severe environments.Experimental results using a real multicopter UAV show that the system was able to detect the proposed marker in adverse conditions (such as at different heights, with intense sunlight and in dark environments). The obtained average accuracy for position estimation at 1 m height was of 0.0060 m with a standard deviation of 0.0003 m. Precise landing tests obtained an average deviation of 0.027 m from the proposed marker, with a standard deviation of 0.026 m. These results demonstrate the relevance of the proposed system for the precise landing in adverse conditions, such as in day and night operations with harsh weather conditions.

From the ‘naked Spirit’ to a Nusantara contextual theology formula

Many contextual theology models have been shared, but no formula applies to all contexts, because each culture has specific and unique features. Indonesia shares a complex context and requires a proper approach for precise landing. This study aimed to formulate a contextual theology model on the Spirit suitable for Indonesians. It moves from the ‘naked Spirit’, a term provided by Vincent Donovan, originally ‘naked gospel’, highlighting the essence of the scripture or Spirit itself, to the Nusantara contextual formula. The Nusantara model is a promising formula that could contribute inputs to the tension. The local contextual model is a bright sketch that could help Indonesians to engage with pneumatology in the church traditions. This study analysed and described articles, journals and other related sources with a sensitive approach. Additionally, it proposed argumentations and provided a prospective contextual theology model for the Spirit. The findings showed that the Nusantara formula is a significant model for the Spirit to engage in an Indonesian context.Contribution: Through the examination of contextual theology model globally, and especially speaking of the ‘naked Spirit’ insight, the study provided an alternative contribution to the contextual theology model. The result showed that the Nusantara contextual theology formula offers an alternative contribution to an Indonesian context.

A Morphing Deployable Mechanism for Re-Entry Capsule Aeroshell

Morphing technology is increasingly emerging as a novel and alternative approach for performing the controlled re-entry and precise landing of space vehicles by using adaptive aeroshell structure designs. This work is intended as a preliminary conceptual design of an innovative shape-changing mechanism for the controlled re-entry and safe recovery of CubeSat class systems aimed at recovering payloads and data from LEO at low cost for post flight inspections and experimentations. Such an adaptive and mechanically deployable aeroshell consists of a multi-hinge assembly based on a set of finger-like articulations having two-modal capabilities. The deployable surface can be modulated by a single translational actuator in order to adapt the lift-to-drag ratio for guided entry. Furthermore, once deployed, the system can activate eight small movable aerodynamic flaps that can be individually morphed via an SMA-based actuation to enhance the capsule maneuverability during the re-entry trajectory, by using exclusively aerodynamic forces to guarantee additional precision in landing. Multi-body simulations on retraction/deployment of the system are addressed to investigate the most critical aspects for actual implementation of the concept. Additionally, the morphing behavior and the control effect of the shape memory alloy actuation are preliminary assessed through parametric analysis. This paper is framed within a scientific cooperation between Italy and Brazil in the framework of the SPLASH project, funded in part for the Italian side by a grant from the Italian Ministry of Foreign Affairs and International Cooperation (MAECI), and by CONFAP through the involved State Funding Agencies (FAPs) for the Brazilian side.

Precision Landing Tests of Tethered Multicopter and VTOL UAV on Moving Landing Pad on a Lake.

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.