Unmanned Aerial Vehicles Research Articles

Transition flight of a concept of lifting-wing quadcopter

Abstract This paper presents the concept of a lifting-wing quadcopter unmanned aerial vehicle (UAV), a vertical take-off and landing vehicle (VTOL) with a rear wing, a canard at its front and four propellers. The aerodynamic surfaces are designed so that their mounting angle can be adjusted and fixed before flight, so its performance in transition flight can be studied for a combination of wing and canard mounting angles. A dynamic model using rigid-body equations of motion is presented, which is used to compute the transition flight trajectory from hover to cruise in horizontal flight. The trim conditions were computed for a range of fixed wing and canard mounting angles to study the effects of these variables on transition trajectory parameters such as required power, body pitch angle and propeller rotation speeds as a function of flight speed. Furthermore, a transition flight control algorithm is presented, which has a cascaded PID controller and a reference scheduler to switch between the proper reference states, controls and control allocation matrix. Finally, the transition control algorithm of the conceptual UAV is numerically simulated. Results show that this configuration can perform a fast and smooth transition from hover to cruise flight using the proposed flight control algorithm, substantially reducing required propulsive power in cruise of up to 64%. The application of the control algorithm made notable a transition manoeuver that consists of negatively inclining the aircraft at a negative pitch angle, initially at high intensity, and as the final cruising speed approaches, the inclination is attenuated until the equilibrium pitch angle is reached. Simultaneously with the negative inclination of the pitch angle, there is a slight drop in altitude, which is quickly resumed as the trajectory develops until the final cruising speed. Lastly, this aircraft configuration can be widely used in applications where performance gains in operations currently carried out by multicopters, which cover large distances and need long flight time, would bring great operational advantages.

Model‐based systems engineering and safety assessment: A workflow for mechatronic systems design

AbstractMechatronic systems become ever more complex because of their increasing number of interconnected safety critical components and sophistication. MBSE (Model‐based Systems Engineering) and MBSA (Model‐Based Safety Assessment) are the most commonly adopted approaches to deal with the design and safety analysis of mechatronic systems. Unfortunately, both approaches are normally adopted separately, especially in the earlier phases of system design, thus leading to a lack of communication between system engineers and the safety team. This work aims to fill that gap at a high level, that is, through process interaction. This paper proposes an enhanced V‐model for the design of safety‐critical mechatronic systems. It relates a system development process with specific safety assessment methods. Specifically, the proposed workflow details exchange flows between the RFLP (Requirements, Functional, Logical, Physical) method, the FHA (Functional Hazard Analysis), the FMEA (Failure Mode and Effects Analysis), the MBSA and simulation, and the FTA (Fault Tree Analysis). These analyses are complemented with multiphysics modeling and simulation to observe system behavior in functional and failure scenarios, with the aim of requirements verification. The design workflow has been applied to a winged Unmanned Aerial Vehicle to apply the parallel process and the necessary interaction of MBSE and MBSA approaches. The information flows between the individual activities proved effective for designing a safe system before the verification phase. The main benefit of the proposed workflow is providing both the design and safety team with some interaction points, thus avoiding a lack of safety‐critical analysis in the early phases of system design.

Retraction Note: Big data tracking and automatic measurement technology for unmanned aerial vehicle trajectory based on MEMS sensor

Retraction Note: Big data tracking and automatic measurement technology for unmanned aerial vehicle trajectory based on MEMS sensor

Drones and Technopreneurship in Malaysia: Unlocking the Economic Potential of Drones in Built Environment Development

Drones, with diverse technological capabilities, are poised to revolutionise various traditional tasks, particularly in-built environment development while driving economic growth, innovation, and job creation. Within the Malaysian context, drones have evolved beyond recreational use to become sophisticated unmanned aerial vehicles with untapped business potential. Against this backdrop, this paper explores a comprehensive review of drone development in Malaysia. Using a multidisciplinary approach, the review includes selected publication data from academic journals and online media published between 2018 and 2023, complemented with insights gathered from expert interviews. Aiming to bridge the discursive gap surrounding emerging drone technologies, the review focuses on identifying patterns and trends in recent Malaysian publications on drone applications, as well as understanding current issues related to its technology adoption. The thematic findings reveal a notable surge in interest in drone-related publications and draw clear connections between drone applications and diverse industrial sectors over the past six years. The paper emphasises critical issues such as community acceptance, the transforming landscape of business, diverse industry applications of drone technology, and government strategies for advancing drone technology. As a preliminary study, this paper establishes the foundation for leveraging the benefits of drone technology within the broader context of the built environment, social, and economic landscape. By shedding light on the evolving drone ecosystem in Malaysia, the paper contributes to fostering informed discussions and strategic initiatives in the integration and advancement of drone technologies. Thus, it offers valuable insights for professionals, economists, engineers, policymakers, and researchers alike.

Individual Tree Crown Detection and Classification of Live and Dead Trees Using a Mask Region-Based Convolutional Neural Network (Mask R-CNN)

Mapping the distribution of living and dead trees in forests, particularly in ecologically fragile areas where forests serve as crucial ecological environments, is essential for assessing forest health, carbon storage capacity, and biodiversity. Convolutional neural networks, including Mask R-CNN, can assist in rapid and accurate forest monitoring. In this study, Mask R-CNN was employed to detect the crowns of Casuarina equisetifolia and to distinguish between live and dead trees in the Pingtan Comprehensive Pilot Zone, Fujian, China. High-resolution images of five plots were obtained using a multispectral Unmanned Aerial Vehicle. Six band combinations and derivatives, RGB, RGB-digital surface model (DSM), Multispectral, Multispectral-DSM, Vegetation Index, and Vegetation-Index-DSM, were used for tree crown detection and classification of live and dead trees. Five-fold cross-validation was employed to divide the manually annotated dataset of 21,800 live trees and 7157 dead trees into training and validation sets, which were used for training and validating the Mask R-CNN models. The results demonstrate that the RGB band combination achieved the most effective detection performance for live trees (average F1 score = 74.75%, IoU = 70.85%). The RGB–DSM combination exhibited the highest accuracy for dead trees (average F1 score = 71.16%, IoU = 68.28%). The detection performance for dead trees was lower than for live trees, which may be due to the similar spectral features across the images and the similarity of dead trees to the background, resulting in false identification. For the simultaneous detection of living and dead trees, the RGB combination produced the most promising results (average F1 score = 74.18%, IoU = 69.8%). It demonstrates that the Mask R-CNN model can achieve promising results for the detection of live and dead trees. Our study could provide forest managers with detailed information on the forest condition, which has the potential to improve forest management.

SOD-YOLO: A lightweight small object detection framework

Currently, lightweight small object detection algorithms for unmanned aerial vehicles (UAVs) often employ group convolutions, resulting in high Memory Access Cost (MAC) and rendering them unsuitable for edge devices that rely on parallel computing. To address this issue, we propose the SOD-YOLO model based on YOLOv7, which incorporates a DSDM-LFIM backbone network and includes a small object detection branch. The DSDM-LFIM backbone network, which combines Deep-Shallow Downsampling Modules (DSD Modules) and Lightweight Feature Integration Modules (LFI Modules), avoids excessive use of group convolutions and element-wise operations. The DSD Module focuses on extracting both deep and shallow features from feature maps using fewer parameters to obtain richer feature representations. The LFI Module, is a dual-branch feature integration module designed to consolidate feature information. Experimental results demonstrate that the SOD-YOLO model achieves an AP50 of 50.7% and a FPS of 72.5 on the VisDrone validation set. Compared to YOLOv7, our model reduces computational costs by 20.25% and decreases the number of parameters by 17.89%. After scaling the number of channels in the model, it achieves an AP50 of 33.4% with an inference time of 27.3ms on the Atlas 200I DK A2. These experimental results indicate that the SOD-YOLO model can effectively perform small object detection tasks in a large number of aerial images captured by UAVs.

Autonomous Landing Strategy for Micro-UAV with Mirrored Field-of-View Expansion

Positioning and autonomous landing are key technologies for implementing autonomous flight missions across various fields in unmanned aerial vehicle (UAV) systems. This research proposes a visual positioning method based on mirrored field-of-view expansion, providing a visual-based autonomous landing strategy for quadrotor micro-UAVs (MAVs). The forward-facing camera of the MAV obtains a top view through a view transformation lens while retaining the original forward view. Subsequently, the MAV camera captures the ground landing markers in real-time, and the pose of the MAV camera relative to the landing marker is obtained through a virtual-real image conversion technique and the R-PnP pose estimation algorithm. Then, using a camera-IMU external parameter calibration method, the pose transformation relationship between the UAV camera and the MAV body IMU is determined, thereby obtaining the position of the landing marker’s center point relative to the MAV’s body coordinate system. Finally, the ground station sends guidance commands to the UAV based on the position information to execute the autonomous landing task. The indoor and outdoor landing experiments with the DJI Tello MAV demonstrate that the proposed forward-facing camera mirrored field-of-view expansion method and landing marker detection and guidance algorithm successfully enable autonomous landing with an average accuracy of 0.06 m. The results show that this strategy meets the high-precision landing requirements of MAVs.

Multi-Batch Carrier-Based UAV Formation Rendezvous Method Based on Improved Sequential Convex Programming

The limitations of the existing catapults necessitate multiple batches of take-offs for carrier-based unmanned aerial vehicles (UAVs) to form a formation. Because of the differences in takeoff time and location of each batch of UAVs, ensuring the temporal and spatial consistency and rendezvous efficiency of the formation becomes crucial. Concerning the challenges mentioned above, a multi-batch formation rendezvous method based on improved sequential convex programming (SCP) is proposed. A reverse solution approach based on the multi-batch rendezvous process is developed. On this basis, a non-convex optimization problem is formulated considering the following constraints: UAV dynamics, collision avoidance, obstacle avoidance, and formation consistency. An SCP method that makes use of the trust region strategy is introduced to solve the problem efficiently. Due to the spatiotemporal coupling characteristics of the rendezvous process, an inappropriate initial solution for SCP will inevitably reduce the rendezvous efficiency. Thus, an initial solution tolerance mechanism is introduced to improve the SCP. This mechanism follows the idea of simulated annealing, allowing the SCP to search for better reference solutions in a wider space. By utilizing the initial solution tolerance SCP (IST-SCP), the multi-batch formation rendezvous algorithm is developed correspondingly. Simulation results are obtained to verify the effectiveness and adaptability of the proposed method. IST-SCP reduces the rendezvous time from poor initial solutions without significantly increasing the computing time.

Advances in Plant Disease Diagnostics and Surveillance- A review

Plant diseases pose a significant threat to global food security, leading to substantial yield losses and economic impacts. Early detection and effective monitoring are crucial for managing plant diseases, yet traditional diagnostic methods such as visual inspections, serological tests, and molecular assays face limitations in sensitivity, specificity, and scalability. In recent years, advancements in diagnostic and surveillance technologies have revolutionized plant health management. Next-Generation Sequencing (NGS) enables comprehensive pathogen profiling, while CRISPR-based diagnostics offer rapid and highly specific detection. Similarly, biosensors and portable devices provide on-site diagnostics, and machine learning and AI applications enhance the analysis of complex datasets, supporting automated disease identification and predictive modeling. Concurrently, advances in disease surveillance through remote sensing technologies, including satellites and Unmanned Aerial Vehicles (UAVs), enable large-scale, real-time monitoring of crop health, detecting disease outbreaks and facilitating targeted interventions. Integrating these diverse technologies into multi-platform systems offers a holistic approach to plant disease management, combining molecular diagnostics, environmental monitoring, and digital platforms to support data-driven decision-making. Several challenges remain, including high costs, technical complexities, and the need for standardized data integration. Addressing these barriers is essential to ensure that these technologies are accessible and effective across various agricultural systems, particularly in resource-limited settings. Future research should focus on enhancing the robustness, affordability, and scalability of these tools while promoting interdisciplinary collaborations.

Toward a Generic Framework for Mission Planning and Execution with a Heterogeneous Multi-Robot System

This paper presents a comprehensive framework for mission planning and execution with a heterogeneous multi-robot system, specifically designed to coordinate unmanned ground vehicles (UGVs) and unmanned aerial vehicles (UAVs) in dynamic and unstructured environments. The proposed architecture evaluates the mission requirements, allocates tasks, and optimizes resource usage based on the capabilities of the available robots. It then executes the mission utilizing a decentralized control strategy that enables the robots to adapt to environmental changes and maintain formation stability in both 2D and 3D spaces. The framework’s architecture supports loose coupling between its components, enhancing system scalability and maintainability. Key features include a robust task allocation algorithm, and a dynamic formation control mechanism, using a ROS 2 communication protocol that ensures reliable information exchange among robots. The effectiveness of this framework is demonstrated through a case study involving coordinated exploration and data collection tasks, showcasing its ability to manage missions while optimizing robot collaboration. This work advances the field of heterogeneous robotic systems by providing a scalable and adaptable solution for multi-robot coordination in challenging environments.

Adaptive Sliding Mode Control for Trajectory Tracking of Quadrotor Unmanned Aerial Vehicles Under Input Saturation and Disturbances

This paper addresses the challenging issue of trajectory tracking for uncertain quadrotor unmanned aerial vehicles (UAVs), particularly under the constraints of input saturation and external disturbances. It introduces adaptive laws for managing uncertainties in mass and inertia moments without requiring prior knowledge, ensuring effective control even with varying system parameters. To counteract the effects of input saturation, the study incorporates an auxiliary system designed to compensate for these limitations. Additionally, a disturbance observer (DO) is utilized to manage and mitigate the impact of time-varying external disturbances. The proposed control strategy integrates a sliding mode adaptive control approach with an inner–outer loop structure, enhancing robustness and adaptability. Numerical simulations demonstrate the effectiveness of the designed control strategy.

Multi-UAV Escape Target Search: A Multi-Agent Reinforcement Learning Method

The multi-UAV target search problem is crucial in the field of autonomous Unmanned Aerial Vehicle (UAV) decision-making. The algorithm design of Multi-Agent Reinforcement Learning (MARL) methods has become integral to research on multi-UAV target search owing to its adaptability to the rapid online decision-making required by UAVs in complex, uncertain environments. In non-cooperative target search scenarios, targets may have the ability to escape. Target probability maps are used in many studies to characterize the likelihood of a target’s existence, guiding the UAV to efficiently explore the task area and locate the target more quickly. However, the escape behavior of the target causes the target probability map to deviate from the actual target’s position, thereby reducing its effectiveness in measuring the target’s probability of existence and diminishing the efficiency of the UAV search. This paper investigates the multi-UAV target search problem in scenarios involving static obstacles and dynamic escape targets, modeling the problem within the framework of decentralized partially observable Markov decision process. Based on this model, a spatio-temporal efficient exploration network and a global convolutional local ascent mechanism are proposed. Subsequently, we introduce a multi-UAV Escape Target Search algorithm based on MAPPO (ETS–MAPPO) for addressing the escape target search difficulty problem. Simulation results demonstrate that the ETS–MAPPO algorithm outperforms five classic MARL algorithms in terms of the number of target searches, area coverage rate, and other metrics.

Benchmarking of Individual Tree Segmentation Methods in Mediterranean Forest Based on Point Clouds from Unmanned Aerial Vehicle Imagery and Low-Density Airborne Laser Scanning

Three raster-based (RB) and one point cloud-based (PCB) algorithms were tested to segment individual Aleppo pine trees and extract their tree height (H) and crown diameter (CD) using two types of point clouds generated from two different techniques: (1) Low-Density (≈1.5 points/m2) Airborne Laser Scanning (LD-ALS) and (2) photogrammetry based on high-resolution unmanned aerial vehicle (UAV) images. Through intensive experiments, it was concluded that the tested RB algorithms performed best in the case of UAV point clouds (F1-score > 80.57%, H Pearson’s r > 0.97, and CD Pearson´s r > 0.73), while the PCB algorithm yielded the best results when working with LD-ALS point clouds (F1-score = 89.51%, H Pearson´s r = 0.94, and CD Pearson´s r = 0.57). The best set of algorithm parameters was applied to all plots, i.e., it was not optimized for each plot, in order to develop an automatic pipeline for mapping large areas of Mediterranean forests. In this case, tree detection and height estimation showed good results for both UAV and LD-ALS (F1-score > 85% and >76%, and H Pearson´s r > 0.96 and >0.93, respectively). However, very poor results were found when estimating crown diameter (CD Pearson´s r around 0.20 for both approaches).

Evapotranspiration measurements in pasture, crops, and native Brazilian Cerrado based on UAV-borne multispectral sensor.

In Brazil, agriculture consumes most of the available freshwater, especially in the Cerrado biome, where the rain cycle is marked by long periods of drought. This study, conducted at the Brazilian Agricultural Research Corporation (Embrapa) Research Corporation unit in Santo Antônio de Goiás, Goiás, Brazil, estimated evapotranspiration (ET) in different crops and soil cover. Using multispectral unmanned aerial vehicle (UAV) images, Sentinel satellite data, weather station information, and towers employing the eddy covariance method, we applied the "Simple Algorithm for Evapotranspiration Retrieving" (SAFER) to calculate ET in common bean, pasture, and semideciduous seasonal forest areas. The results showed a good agreement between UAV and satellite data, with R2 = 0.84, also validated with flow towers by the eddy covariance method. UAV-based ET was observed to correspond well to tower (EC) during full vegetative development of beans but is underestimated at the beginning of planting and in the final periods of plant senescence, due to the influence of soil or straw cover. These findings contribute to a better understanding of water dynamics in the system and to enhancing sustainable agricultural practices. This method, adapted for multispectral aerial imaging, can be applied flexibly and on-demand, in different contexts and ground cover. The study highlights the importance of integrated agricultural practices for better management of water resources and preservation of the Cerrado in balance with cultivation areas.

Mapping Forest Parameters to Model the Mobility of Terrain Vehicles

This study aims to evaluate the feasibility of using non-contact data collection methods—specifically, UAV (unmanned aerial vehicle)-based and terrestrial laser scanning technologies—to assess forest stand passability, which is crucial for military operations. The research was conducted in a mixed forest stand in the Březina military training area, where the position of trees and their DBHs (Diameter Breast Heights) were recorded. The study compared the effectiveness of different methods, including UAV RGB imaging, UAV-LiDAR, and handheld mobile laser scanning (HMLS), in detecting tree positions and estimating DBH. The results indicate that HMLS data provided the highest number of detected trees and the most accurate positioning relative to the reference measurements. UAV-LiDAR showed better tree detection compared to UAV RGB imaging, though both aerial methods struggled with canopy penetration in densely structured forests. The study also found significant variability in DBH estimation, especially in complex forest stands, highlighting the challenges of accurate tree detection in diverse environments. The findings suggest that while current non-contact methods show promise, further refinement and integration of data sources are necessary to improve their applicability for assessing forest passability in military or rescue contexts.

Monitoring of Broccoli Flower Head Development in Fields Using Drone Imagery and Deep Learning Methods

For different broccoli materials, it used to be necessary to manually plant in a large area for the investigation of flower ball information, and this method is susceptible to subjective influence, which is not only time-consuming and laborious but may also cause some damage to the broccoli in the process of investigation. Therefore, the rapid and nondestructive monitoring of flower heads is key to acquiring high-throughput phenotypic information on broccoli crops. In this study, we used an unmanned aerial vehicle (UAV) to acquire hundreds of images of field-grown broccoli to evaluate their flower head development rate and sizes during growth. First, YOLOv5 and YOLOv8 were used to complete the position detection and counting statistics at the seedling and heading stages. Then, UNet, PSPNet, DeepLabv3+, and SC-DeepLabv3+ were used to segment the flower heads in the images. The improved SC-DeepLabv3+ model excelled in segmenting flower heads, showing Precision, reconciled mean F1-score, mean intersection over union, and mean pixel accuracy values of 93.66%, 95.24%, 91.47%, and 97.24%, respectively, which were 0.57, 1.12, 1.16, and 1.70 percentage points higher than the respective values achieved with the DeepLabv3+ model. Flower head sizes were predicted on the basis of the pixel value of individual flower heads and ground sampling distance, yielding predictions with an R2 value of 0.67 and root-mean-squared error of 1.81 cm. Therefore, the development rate and sizes of broccoli flower heads during growth were successively estimated and calculated. Compared with the existing technology, it greatly improves work efficiency and can help to obtain timely information on crop growth in the field. Our methodology provides a convenient, fast, and reliable way for investigating field traits in broccoli breeding.

Estimation of Tree Diameter at Breast Height from Aerial Photographs Using a Mask R-CNN and Bayesian Regression

A probabilistic estimation model for forest biomass using unmanned aerial vehicle (UAV) photography was developed. We utilized a machine-learning-based object detection algorithm, a mask region-based convolutional neural network (Mask R-CNN), to detect trees in aerial photographs. Subsequently, Bayesian regression was used to calibrate the model based on an allometric model using the estimated crown diameter (CD) obtained from aerial photographs and analyzed the diameter at breast height (DBH) data acquired through terrestrial laser scanning. The F1 score of the Mask R-CNN for individual tree detection was 0.927. Moreover, CD estimation using the Mask R-CNN was acceptable (rRMSE = 10.17%). Accordingly, the probabilistic DBH estimation model was successfully calibrated using Bayesian regression. A predictive distribution accurately predicted the validation data, with 98.6% and 56.7% of the data being within the 95% and 50% prediction intervals, respectively. Furthermore, the estimated uncertainty of the probabilistic model was more practical and reliable compared to traditional ordinary least squares (OLS). Our model can be applied to estimate forest biomass at the individual tree level. Particularly, the probabilistic approach of this study provides a benefit for risk assessments. Additionally, since the workflow is not interfered by the tree canopy, it can effectively estimate forest biomass in dense canopy conditions.

A Deep Learning-based Method of Investigating Rammed-earth Wall Damage on the Ming Great Wall Military Defense System

The collection, detection, and statistical analysis of massive damage information from large cultural heritage sites is an important issue that affects the progress, depth, and quality of cultural heritage protection efforts. The Ming Great Wall of China, known for its vast size, poses a significant challenge to protection efforts. Conventional methods for collecting and recognizing damage information from the wall are nearly impossible due to its scale. The limitation has significantly hindered efforts to safeguard the vulnerable rammed-earth walls of the Ming Great Wall. To address this issue, we developed new technical schemes that combine the efficiency of unmanned aerial vehicles (UAV) for low-altitude surveying and mapping with the accuracy of artificial intelligence detection. This enables the efficient collection, detection, and statistical analysis of a massive amount of damage data from the Great Wall sites. The system achieved an average damage detection accuracy of 0.838, as measured by the average precision (AP). Additionally, the system's average effective detection range exceeded 91.5%, while reducing manual labor time by about 95%. These results provide accurate, efficient, and timely data and technical support for efforts such as status investigation, condition evaluation, protection and maintenance, and budgeting for the Great Wall sites. Furthermore, this research proposes a potential approach for gathering and analyzing data from other large-scale cultural heritage sites.

Optimization and Application Analysis of the UAV "Last Mile" Mobile Terminal Distribution Station in Rural Area under the Background of E-Commerce

With the booming demands of global consumers, the grand total of international e-commercial procurement in 2024 will be expected to exceed 6.3 trillion USD. Under the pressure of huge orders and shipping lag, figuring out a cost-effective last mile delivery achieving real door-to-door service, especially in rural areas, has become one of the focuses in the international e-commercial market. To better solve this problem, this paper starts with the analysis of international e-commercial status and the feasibility of UAV mobile terminal station launch, taking good account of drone delivery route setting, time schedule, and costs spent to optimize the mobile station moving. Based on a series of experiments to iterate the Unmanned Aerial Vehicle (UAV) mobile terminal station delivery mode, it will provide some insights to the market about how the last mile delivery will develop in the next decade. This paper will focus on applying the hybrid ant colony algorithm to improve truck-drone collaborative last mile delivery route settings and figure out the best delivery route combo for cost saving.

Physics-Driven Image Dehazing from the Perspective of Unmanned Aerial Vehicles

Drone vision is widely used in change detection, disaster response, and military reconnaissance due to its wide field of view and flexibility. However, under haze and thin cloud conditions, image quality is usually degraded due to atmospheric scattering. This results in issues like color distortion, reduced contrast, and lower clarity, which negatively impact the performance of subsequent advanced visual tasks. To improve the quality of unmanned aerial vehicle (UAV) images, we propose a dehazing method based on calibration of the atmospheric scattering model. We designed two specialized neural network structures to estimate the two unknown parameters in the atmospheric scattering model: the atmospheric light intensity A and medium transmission t. However, calculation errors always occur in both processes for estimating the two unknown parameters. The error accumulation for atmospheric light and medium transmission will cause the deviation in color fidelity and brightness. Therefore, we designed an encoder-decoder structure for irradiance guidance, which not only eliminates error accumulation but also enhances the detail in the restored image, achieving higher-quality dehazing results. Quantitative and qualitative evaluations indicate that our dehazing method outperforms existing techniques, effectively eliminating haze from drone images and significantly enhancing image clarity and quality in hazy conditions. Specifically, the compared experiment on the R100 dataset demonstrates that the proposed method improved the peak signal-to-noise ratio (PSNR) and structure similarity index measure (SSIM) metrics by 6.9 dB and 0.08 over the second-best method, respectively. On the N100 dataset, the method improved the PSNR and SSIM metrics by 8.7 dB and 0.05 over the second-best method, respectively.