06.2 - Flight Dynamics and Control (UAV related)
A ROBUST AND REAL-TIME VISUAL-INERTIAL POSE ESTIMATION FOR FIX-WING AIRCRAFT LANDING
G.F. Yu, School of Software, Northwestern Polytechnical University, China; L. Zhang¹, C.H. Zou¹, Y.C. Liu, Beijing Aerospace Automatic Control Institute, China; Y. Cheng¹; ¹AVIC Xi’an Aeronautics Computing Technique Research Institute, China
To assist fixed-wing aircraft landing in case of GNSS denied and ILS unavailability, a vision-based navigation method is proposed. The work presented in this paper focuses on inertial aided runway detection in infrared images and vision-inertial based pose estimation. Experiments on real flight data demonstrate that the method has advantages in terms of speed, precision and robustness for accurate pose estimation.