文摘
This paper investigates solutions for the fundamental yet challenging problem of autonomous landing of multirotor Unammaned Aerial Vehicles UAVs. In addition to landing on static targets, tracking and landing on a moving platform is addressed, as a solution to facilitate the deployment of the UAV. The paper presents the design of a new landing pad and its relative pose estimation. The fusion of inertial measurement with the estimated pose is considered to ensure a high sampling rate, and to increase the manoeuvrability of the vehicle. Two filters are designed to conduct the fusion, an Extended Kalman Filter (EKF) and an Extended H∞ (EH∞). The extensive simulation and practical tests permitted identification of the challenges of the landing task. Adequate solutions to these challenges are proposed to lessen their impact on landing precision.