|Abstract:||This paper describes the development of a UAV to track and land on a moving platform in an environment with ultra-low illumination. Specifically, a customized marker illuminating with infrared (IR) LED (with 850 nm wavelength) is secured on the moving platform to be utilized as a landing pad, while the UAV installed with a monocular camera with IR filter is going to track the marker to follow and land on the moving platform. Sensor reading from an on-board LiDAR scanning range finder is fused with barometer to accurately and robustly determine the absolute height relatively to the marker and also to measure the descent velocity during the landing process. The developed algorithm is realized in a quadcopter UAV and the performance of UAV system is validated through actual flights in both day and night time.|
Proceedings of the ION 2017 Pacific PNT Meeting
May 1 - 4, 2017
Marriott Waikiki Beach Resort & Spa
|Pages:||1082 - 1092|
|Cite this article:||
Chen, Xudong, Phang, Swee King, Chen, Ben M., "System Integration of a Vision-Guided UAV for Autonomous Tracking on Moving Platform in Low Illumination Condition," Proceedings of the ION 2017 Pacific PNT Meeting, Honolulu, Hawaii, May 2017, pp. 1082-1092.
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