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Autonomous multicopter landing on a moving vehicle based on RSSI

Published online by Cambridge University Press:  12 February 2024

Jongwoo An ,
Hosun Kang Open the ORCID record for Hosun Kang [Opens in a new window] ,
Jiwook Choi  and
Jangmyung Lee
Jongwoo An*
Affiliation:
Department of Electronics Engineering, Pusan National University, Kumjeong-ku, Republic of Korea
Hosun Kang
Affiliation:
Department of Electronics Engineering, Pusan National University, Kumjeong-ku, Republic of Korea
Jiwook Choi
Affiliation:
Department of Electronics Engineering, Pusan National University, Kumjeong-ku, Republic of Korea
Jangmyung Lee
Affiliation:
Department of Electronics Engineering, Pusan National University, Kumjeong-ku, Republic of Korea
*
*Corresponding author: Jongwoo An; Email: jongwoo7379@pusan.ac.kr
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Abstract

Currently, 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.

Keywords

landing systemmulticopterproportional navigationRSSI
Type
Research Article
Information
The Journal of Navigation , Volume 76 , Issue 4-5 , July 2023 , pp. 545 - 561
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Copyright
Copyright © The Author(s), 2024. Published by Cambridge University Press on behalf of The Royal Institute of Navigation

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Footnotes

†

Died 24 July 2021

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