TY - GEN
T1 - A Multi-stage Precision Landing Method for Autonomous eVTOL Based on Multi-marker Joint Localization
AU - Xiang, Senwei
AU - Ye, Minxiang
AU - Zhu, Shiqiang
AU - Gu, Jason
AU - Xie, Anhuan
AU - Men, Zehua
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Electric vertical takeoff and landing aircraft (eVTOL) has drawn more and more attention from home and abroad in recent years. It is believed autonomous eVTOL will create a new era of Urban Air Mobility (UAM) and Advanced Air Mobility (AAM). To autonomous eVTOL, precision landing is an extremely critical operation for it directly affects flight safety. In this paper, we analyze the special issues an eVTOL will encounter when it lands in the UAM applications. A multi-stage precision landing method based on multi-marker joint localization is proposed accordingly. Our method contains three key elements: a compatible vertiport with multiple visual markers; an accurate, fast detection and localization algorithm for the vertiport and a multi-stage landing strategy. We implement our method on an eVTOL prototype named ZJ-Copter developed by Zhejiang Lab. A series of real-world experiments have been conducted to validate the effectiveness and accuracy of the proposed method. Experiment results show that our method works well in real-world scenarios for autonomous eVTOL without GPS signal during landing process. The positioning accuracy is less than 0.1m (altitude < 10m), while the landing accuracy is less than 0.5m.
AB - Electric vertical takeoff and landing aircraft (eVTOL) has drawn more and more attention from home and abroad in recent years. It is believed autonomous eVTOL will create a new era of Urban Air Mobility (UAM) and Advanced Air Mobility (AAM). To autonomous eVTOL, precision landing is an extremely critical operation for it directly affects flight safety. In this paper, we analyze the special issues an eVTOL will encounter when it lands in the UAM applications. A multi-stage precision landing method based on multi-marker joint localization is proposed accordingly. Our method contains three key elements: a compatible vertiport with multiple visual markers; an accurate, fast detection and localization algorithm for the vertiport and a multi-stage landing strategy. We implement our method on an eVTOL prototype named ZJ-Copter developed by Zhejiang Lab. A series of real-world experiments have been conducted to validate the effectiveness and accuracy of the proposed method. Experiment results show that our method works well in real-world scenarios for autonomous eVTOL without GPS signal during landing process. The positioning accuracy is less than 0.1m (altitude < 10m), while the landing accuracy is less than 0.5m.
UR - https://www.scopus.com/pages/publications/85147323701
U2 - 10.1109/ROBIO55434.2022.10011837
DO - 10.1109/ROBIO55434.2022.10011837
M3 - 会议稿件
AN - SCOPUS:85147323701
T3 - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
SP - 2015
EP - 2020
BT - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
Y2 - 5 December 2022 through 9 December 2022
ER -