2024-07-02 Airside autolanding integration

Owned by R D
2024-07-03
1 min read

Problem: GPS is non precise (i.e. the error is random in distance and direction).

Potential solution: Use Ardupilot precise landing

  • Input: Angular offset from drone z axis

    • Ardupilot has internal localization and control tracking

      • Control points z axis towards landing point

image-20240703-023328.png

Drone telemetry already supplied internally.

  • Only camera FOV and mounting position and orientation information required by Autonomy to calculate angles

Existing autolanding script exists, how to integrate?

Key:

  • Left: Current airside system

  • Centre: Potential separate autlanding system

  • Right: Potential integrated system

Decision (pun not intended): Integrate non GPS localization into existing airside system.

  • Add mux/switch to decision worker:

    • Controls data flow through branch A (search) or branch B (land)

    • Also controls which queue decision worker will accept data

Additional:

  • What if more than 1 landing pad in image?

  • What if detect target has issues (e.g. false positives and negatives)?

  • What if lose landing pad completely?

Potentially require tracking the angular locations of landing pads

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