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Outdoor position estimation and autonomous landing algorithm for quadrocopters using a wireless sensor network

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2 Author(s)
T. Puls ; OFFIS, Escherweg 2, 26121 Germany ; A. Hein

The demand for unattended aerial aystems capable of fulfilling e.g. surveillance tasks in contaminated or inaccessible areas without assistance of a human pilot is the motivation for the investigation of a high precision position estimation system and an autonomous landing algorithm. Hence, this paper describes the development of a wireless sensor network (WSN) based system able to locate a quadrocopter with an accuracy of less than 5 centimeters. Such systems are needed for high precision autonomous landing tasks. Several measurements show the accuracies of two different methods, a radio- and an ultrasonic-based measurement system. Furthermore, an autonomous landing strategy was implemented on a flight demonstrator for validation and experimental results are provided.

Published in:

2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

Date of Conference:

6-9 July 2010