A Position and Attitude Estimation Method for UAV Autonomous Landing

This paper offer a method to obtain UAV's flight parameters at auto-landing period based on the algorithm of camera calibration. According to the geometry features of landing ground to obtain vanishing point, the focal length function is established from the u and v axis scale of the image plane, then the attitude and position of UAV are achieved from the calibration result. Simulation indicates that the proposed vision-based method works properly for the UAV autonomous landing.