Aim of this project is the automatic start and landing of an UAV from a moving ground vehicle. To manage this aim the task will be enclosed in the following section.
For this project the landing of the UAV will be in the focus. The landing procedure can be split into two parts or flight phases, as seen in the picture below.
The first flight phase is the non precision approach(NPA) in which the UAV navigates to a waypoint which is set to the position of the ground vehicle. The position data of the GV is provided via a datalink between the UAV and GV. This approach is dependend on the accuracy of the the UAV and GV using GPS, which is to uncertain for a landing. That's why this approach is there to establish the second flightphase the precision approach (PA), in which more accurate navigation aids will guide the flight path. The most important flightphase will be the PA, that#s why the project will focus on this flight segment.
The figure below shows the architectural overview of the system, with alle the given hardware.
The two main components of the system are the UAV and the GV with the aruco markes attached. The UAV persist of an px4 mini flight controller, a raspberry pi and a holybro S500 quadrocopter. The pixhawk is responsible for inner loop control and the processing of the gps for the NPA and the LiDAR for the PA. The raspberry processes the camera data and estimates a local position using the aruco marker. On top of that the outer control loop is executed on the raspberry. For this project the General Requirements for the implementation and integration of this system has to be identified.