Nowadays, quadcopters are used widely in different applications, but their flight time is limited during operation. In this paper, a precision landing method based on a Kalman filter is proposed for an autonomous indoor persistent drone system that aims to increase the flight time of quadcopters. First, a local positioning system is used for tracking performance. Second, instead of using this local positioning system during the landing phase, a multi-ranger sensor is proposed to increase the accuracy of horizontal errors. Next, based on the relative position provided by the multi-ranger sensor, a Kalman filter technique is applied to estimate the relative velocity of the system, which is then applied to control the position of the quadcopter during the landing phase. Finally, a charging state machine law is proposed to charge the battery of three quadcopters sequentially. The experimental results demonstrate that the proposed concept based on a multi-ranger sensor can enhance the accuracy of the landing phase in comparison with the conventional method.


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    Title :

    Persistent Charging System for Crazyflie Platform


    Contributors:


    Publication date :

    2022




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




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