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Autonomous Landing of Fixed-Wing UAV in Net suspended by Multirotor UAVs - A Fixed-Wing Landing System

Nevstad, Sigurd Olav
Master thesis
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URI
http://hdl.handle.net/11250/2408392
Date
2016
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  • Institutt for teknisk kybernetikk [2190]
Abstract
This thesis presents an autonomous landing system designed for an fixed-wing unmanned

aerial vehicle (UAV) to land in a net suspended by multirotor UAVs. Ordinary landing

of an fixed-wing UAV usually involves landing on a long runway, but by landing in a

net suspended below multirotor UAVs, operations with fixed-wing UAV can be performed

from ships or other platforms with confined space where no runway is available. The focus

in this thesis is placed on the fixed-wing UAV part of the landing, and involves design and

implementation of a guidance and control system, together with a system for coordinating

a landing path between the fixed-wing UAV and the multirotor UAVs.

The autonomous landing system uses the Pixhawk autopilot for low-level control, and a

software toolchain from Underwater Systems and Technology Laboratory (LSTS), Porto,

for high-level guidance and control, mission review and communication. The guidance

and control system developed in this thesis is implemented in the LSTS toolchain, and

consist of a decoupled lateral and longitudinal line-of-sight (LOS) guidance scheme for

pitch and roll angle commands, and a speed controller for throttle command.

The system is tested both in software-in-the-loop (SITL) simulations and flight experiments

at Agdenes airfield, where successful tests demonstrated both the feasibility and the

good performance of the system using a Skywalker X8 fixed-wing UAV.
Publisher
NTNU

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