In this paper, we design an INS/GPS integrated navigation system based on federal Kalman filter for autonomous flight of multi-rotor which contains several parallel subfilter and guarantee the stability of system. At the same time, we present a discrete path generation algorithm for the multi-rotor trajectory tracking. During the autonomous landing stage, on-board computer runs a real-time land-marker detection algorithm and fuses IMU data to improve the landing precision. We also use a compensator to compensate the position controller and present a landing strategy to avoid the system's instability brought from frequent switch of controllers while landing.


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    Title :

    Autonomous flight and landing for multi-rotor using integrated navigation and vision detection


    Contributors:
    Qiao, Ruizhi (author) / Li, Xinming (author) / Wang, Yongji (author) / Liu, Lei (author)


    Publication date :

    2017-03-01


    Size :

    592970 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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