Error Reduction in Vision-Based Multirotor Landing System Articles uri icon

publication date

  • May 2022

start page

  • 3625

end page

  • 3650


  • 10


  • 22

International Standard Serial Number (ISSN)

  • 1424-3210

Electronic International Standard Serial Number (EISSN)

  • 1424-8220


  • New applications are continuously appearing with drones as protagonists, but all of
    them share an essential critical maneuver—landing. New application requirements have led the
    study of novel landing strategies, in which vision systems have played and continue to play a
    key role. Generally, the new applications use the control and navigation systems embedded in the
    aircraft. However, the internal dynamics of these systems, initially focused on other tasks such as the
    smoothing trajectories between different waypoints, can trigger undesired behaviors. In this paper,
    we propose a landing system based on monocular vision and navigation information to estimate the
    helipad global position. In addition, the global estimation system includes a position error correction
    module by cylinder space transformation and a filtering system with a sliding window. To conclude,
    the landing system is evaluated with three quality metrics, showing how the proposed correction
    system together with stationary filtering improves the raw landing system.


  • Mechanical Engineering


  • uav; autonomous landing; filtering; computer vision; helipad context; global position; navigation system; sitl