Authors S. V. Kuleshov, A. A. Zaytseva
Month, Year 01, 2018 @en
Index UDC 007.52:004.896:004:94
Abstract The key purpose of the research is the development and testing of the approach to the implementation of auto-takeoff and auto-landing system in an unmanned aircraft system (UAS) of a multi-rotor or helicopter type based on a computer vision system (CV-system). Such a study is relevant due to modern requirements for UAS, including the necessity of increasing the autonomy of the management of such systems in the mode of flight stabilization. Analyzing the existing state of research in this field, it has been revealed that the state agencies and services whose functions are related to the protection, monitoring of facilities, including the liquidation of emergencies, as well as companies whose activities are connected with the acquisition of spatial data are mostly interested in the development of UAS technologies. To achieve the goal of this study, the following tasks are solved: analysis of the existing auto-takeoff and auto-landing systems not using global positioning systems; comparison of various layout options and the relative positioning of system components between the aircraft and the landing pad; development of recommendations on the use of markers in auto-takeoff and auto-landing systems, depending on the features of their implementation and use. In the process of solving this tasks and experimentations using various layouts and algorithms, a detailed analysis of the time distribution of the operation of the UAV’s position localization algorithm using controlled markers in the developed system of auto-takeoff and auto-landing on the basis of CV system. It has been established that the most effective are the markers controlled by the landing system computer via the control channel (radio channel). This simplifies the methods of recognition and localization of the marker. It becomes possible to use the time factor with an a priori knowledge about the state of the marker and use simple CV methods, for example, a difference frame. It does not need to make a difference in the characteristics of the markers themselves or use the pattern of the markers, since only one particular marker can be included at any time, which facilitates its identification. Based on the research and conclusions, problems are formulated for further development of the topic: the study of the CV methods for the implementation of auto take-off and auto-landing in difficult weather conditions and the development of modular software for the implementation of the developed algorithms.

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Keywords Unmanned aircraft vehicles (UAV); unmanned aircraft systems (UAS); multicopters; markers; CV-system; auto-takeoff; auto-landing.
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