Vision-aided landing for fixed wing unmanned aerial vehicle

Esin, Engin
The aim of this thesis is to design an autoland system for fixed wing unmanned aerial vehicle (UAV) to make auto landing by using position information calculated by image processing algorithms. With this ability, even if GPS is not available to be used, UAV still could make a safe automatic landing. Landing autopilot is aimed to keep UAV on a straight line with a constant flight path angle. Therefore, landing autopilot and computer vision methods are studied within the scope of this thesis. Also, to test designed system by sending control messages to landing autopilot, ground control station (GCS) software is developed. By using GCS interface, one can send commands to landing autopilot to analyze performance of the landing autopilot, activate or deactivate functions of the landing autopilot, change position data source as visual positioning system (VPS) or global positioning system (GPS) and change flight mode of the UAV. Besides testing and analyzing the system, GCS is used to prepare flight plans for landing. Waypoints of the prepared flight plan is applied by landing autopilot to keep trajectory points between two coordinates with keeping altitude and speed requests. To be able to manage that mission, waypoints include latitude, longitude, heading, altitude and speed specifications. Therefore, to be able to execute these waypoints; roll, pitch, altitude, heading and speed controllers are designed. On the image processing side, position of aircraft is detected with respect to a known sized runway. This differential position information, which is obtained by image processing, is used instead of GPS information by landing autopilot to make a safe landing. Developed system has been successfully tested in flight simulation environment under several different wind and turbulence conditions with different initial orientations of the UAV.


Design of a high speed decoy UAV
Baykara, Umut; Alemdaroğlu, Hüseyin Nafiz; Department of Aerospace Engineering (2016)
This study consists of design, CFD aerodynamic analysis and optimized selection of a high speed decoy UAV. The mission requirements for the high speed decoy are based upon the previous experiences in literature. The requirements are specified as: Maximum altitude of 15000 ft, maximum speed of 450 kts and an endurance of at least 1 hour. The decoy UAV is launched from a pneumatic catapult and lands via a parachute system. It is a highly agile aircraft having a very high maneuverability capability. The aircra...
Navigation algorithms and autopilot application for an unmanned airvehicle
Kahraman, Eren; Alemdaroğlu, Hüseyin Nafiz; Nalbantoğlu, Volkan; Department of Aerospace Engineering (2010)
This study describes the design and implementation of the altitude and heading autopilot algorithms for a fixed wing unmanned air vehicle and navigation algorithm for attitude and heading reference outputs. Algorithm development is based on the nonlinear mathematical model of Middle East Technical University Tactical Unmanned Air Vehicle (METU TUAV), which is linearized at a selected trim condition. A comparison of nonlinear and linear mathematical models is also done. Based on the linear mathematical model...
Real time unmanned air vehicle routing
Karabay, Nail; Köksalan, Murat; Tezcaner Öztürk, Diclehan; Department of Industrial Engineering (2018)
In this thesis, we study real-time routing of an unmanned air vehicle (UAV) in a twodimensional dynamic environment. The UAV starts from a base point, visits all targets and returns to the base point, while all targets change their locations during the mission period. We find the best route for the route planner (RP) considering two objectives; minimization of distance and minimization of radar detection threat. We develop a real-time algorithm to find the UAV’s most preferred route for a RP who has an unde...
Landing autopilot design for an unmanned aerial vehicle /
Ak, Ayşe İlden; Leblebicioğlu, Mehmet Kemal; Department of Electrical and Electronics Engineering (2014)
In this thesis, studies for the development of a landing autopilot for the UAV (Unmanned Aerial Vehicle), Pioneer RQ2 are presented. Firstly, 6 DOF (degree of freedom) nonlinear model of Pioneer is implemented in Matlab-Simulink based on FDC (Flight Dynamics and Control) Toolbox. Then, in accordance with steady-state wings level flight condition, trim points are found for different airspeed values, constant height and zero flight path angle. The nonlinear model of Pioneer is linearized at these trim points ...
Vision-based detection and distance estimation of micro unmanned aerial vehicles
Gökçe, Fatih; Üçoluk, Göktürk; Department of Computer Engineering (2015)
In this thesis, we study visual detection and distance estimation of Micro Unmanned Aerial Vehicles (mUAVs), a crucial problem for (i) intrusion detection of mUAVs in protected environments, (ii) sense and avoid purposes on mUAVs or on other aerial vehicles and (iii) multi-mUAV control scenarios such as environmental monitoring, surveillance and exploration. The problem is challenging since (i) a real-time solution is required, a burden when computational power is limited by the hardware carried by an mUAV,...
Citation Formats
E. Esin, “Vision-aided landing for fixed wing unmanned aerial vehicle,” M.S. - Master of Science, Middle East Technical University, 2016.