This paper presents a novel pose estimation frame-work that provides high-accuracy localization for vertical take-off and landing aircraft in settings where GPS is unreliable or unavailable. The proposed framework utilizes a sparse constellation of infrared lights that can be robustly identified and associated in the presence of outliers and occlusions, making it suitable for use in realistic urban environments. This is enabled by constellation designs that exploit properties of invariance under projective transformations. Flight test results demonstrate that the framework is capable of running in real-time at speeds of over 30 Hz while providing pose information at decimeter-level accuracy at ranges of over 100 m from the landing site.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Robust IR-Based Pose Estimation for Precision VTOL Aircraft Landing in Urban Environments


    Beteiligte:
    Akagi, David (Autor:in) / McLain, Tim (Autor:in) / Mangelson, Joshua (Autor:in)


    Erscheinungsdatum :

    04.06.2024


    Format / Umfang :

    1756653 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    AUTOLAND SYSTEM FOR VTOL AIRCRAFT, VTOL AIRCRAFT, AND LANDING CONTROL METHOD FOR VTOL AIRCRAFT

    KOJIMA TORU / MORI SATOSHI | Europäisches Patentamt | 2024

    Freier Zugriff

    VTOL aircraft having multifocal landing sensors

    WITTMAAK JR JOHN ROBERT / PETERS RUSSELL C / HITCHCOCK AARON et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    VERTICAL TAKEOFF AND LANDING (VTOL) AIRCRAFT

    MOKHTARIAN FARZAD / GALIN ALEXANDRE | Europäisches Patentamt | 2020

    Freier Zugriff

    VTOL Aircraft having Multifocal Landing Sensors

    WITTMAAK JR JOHN ROBERT / PETERS RUSSELL C / HITCHCOCK AARON et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    Vertical takeoff and landing (“VTOL”) aircraft

    GAILLIMORE IAN TODD / DRIVER KENNETH DEAN | Europäisches Patentamt | 2016

    Freier Zugriff