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A Biologically Inspired, Vision‐based Guidance System for Automatic Landing of a Fixed‐wing Aircraft
Author(s) -
Thurrowgood Saul,
Moore Richard J. D.,
Soccol Dean,
Knight Michael,
Srinivasan Mandyam V.
Publication year - 2014
Publication title -
journal of field robotics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.152
H-Index - 96
eISSN - 1556-4967
pISSN - 1556-4959
DOI - 10.1002/rob.21527
Subject(s) - touchdown , descent (aeronautics) , terrain , computer vision , computer science , attitude and heading reference system , simulation , artificial intelligence , aeronautics , engineering , aerospace engineering , inertial measurement unit , archaeology , ecology , biology , history
We describe a guidance system for achieving automatic landing of a fixed‐wing aircraft in unstructured outdoor terrain, using onboard video cameras. The system uses optic flow information for sensing and controlling the height above the ground, and information on the horizon profile, also acquired by the vision system for stabilizing roll and controlling pitch, and additionally, if required, for the control and stabilization of yaw and flight direction. At low heights, when optic flow is unreliable, stereo information is used to guide descent close to touchdown. While rate gyro information is used to augment attitude stabilization in one of the designs, this is not mandatory and it can be replaced by visual information. Smooth, safe landings are achieved with a success rate of 92.5%. The system does not emit active radiation and does not rely on any external information such as a global positioning system or an instrument landing system.