Aerospace and Electronic Systems Magazine March 2017 - 62

Autonomous Quadrotor for Accurate Positioning
The OF sensor processes the variation of the images, starting at the point that was set as landing
coordinate in the GS. Then, data from IMU, GPS,
and OF are fused to improve precision and accuracy. It is noteworthy that the use of the OF does not
guarantee that the AUAV achieves the exact coordinate of the desired point. However, the higher precision achieved by the sensors allows a more reliable
approach to the landing point. Thus, the solution
through image pattern recognition can be used more
accurately.

CONCLUSION
Figure 4.
This work described the methodology used in the dePX4FLOW unit calibration along the Y axis.
sign of an AUAV, based on a quadrotor structure, with
an embedded computer system with imaging solutions
based in OF estimation for high-precision automatic
landing relative to a specific marker positioned in the
landing area.
The autonomous operation ensures higher safety and
exempts the need for highly qualified pilots for accomplishing the mission, thus reducing the logistical costs of
the operation.
The methodology for developing the mechanical
project was described, involving the choice of the structure, the electrical power supply unit, and the motors,
Figure 5.
in addition to the processing unit and the correction of
X and Y in centimeters position for different landing tests using only GPS ("X" markers) and
using GPS+OF+Fuzzy ("o" markers). The star marker indicates the desired landing position.
positioning using the OF technique integrated with the
GPS data.
The integration of the ODROID embedded system allowed
BIOGRAPHY
using vision algorithms for controlling the landing of the airLucas Moraes is a graduate student in
craft autonomously. The aircraft is ready to embed any set of
electrical engineering with qualificasensors to perform different missions for remote area surveiltions in electronic systems, at the
ling.
Federal de Juiz de Fora (UFJF). He is
a student member of the IEEE. While
he was working in the Unmanned
ACKNOWLEDGMENT
Aerial Vehicle - Fixed Wing Project,
The authors are grateful for the support provided by Duke Energy
he took courses provided by
International, Geração Paranapanema S.A.
Queensland University of Technology in robotic vision. In addition, he
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IEEE A&E SYSTEMS MAGAZINE

MARCH 2017

http://qgroundcontrol.org/mavlink/waypoint_protocol http://qgroundcontrol.org/mavlink/waypoint_protocol https://www.pixhawk.org/dev/offboard_control

Table of Contents for the Digital Edition of Aerospace and Electronic Systems Magazine March 2017