Integration of a Precision Landing System on a Multirotor Vehicle

• Autor(a) principal: Perdigão, João André Andrade
• Data de Publicação: 2018
• Tipo de documento: Dissertação
• Idioma: eng
• Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
• Texto Completo: http://hdl.handle.net/10400.6/8323
• topic: Alcance Ultrasónico; Aterragem de Precisão; Câmara Infravermelha.; Multirotor; Domínio/Área Científica::Engenharia e Tecnologia::Engenharia Aeronáutica

Multirotors are used in many applications in the present. For some of these applications the capability of the vehicle to perform autonomous missions is a key element. The work for this thesis consists on the initial stages of a multirotor precision landing system implementation. Two commercially available and cheap systems were proposed so that they can be used for commercial purposes. One of the systems (Marvelmind) works by triangulating distances obtained by the relation between the speed of sound and the delay on a transmitted ultrasound (time of flight). The other system (IR-LOCK) works based on a camera (infrared sensible) that detects a target (that emits infrared light) and estimates its relative position. After the initial setup for each system, problems were identified and solutions implemented accordingly. With the Marvelmind system, the autopilot is able to identify its position but is unstable when performing a hover flight and as a result, an autonomous landing is not possible. With the IR-LOCK system, the vehicle is capable of performing autonomous precise landings.