SYSTEM AND METHOD FOR AUTONOMOUS LANDING OF ROTOR TYPE UNMANNED AREIAL VEHICLE

摘要

According to an embodiment of the present invention, an automatic landing system for a rotary-wing unmanned aircraft includes: a vision sensor part sensing a beam generated from a marker indication part prepared on a landing point of a rotary-wing unmanned aircraft; a horizontal error calculating part calculating a horizontal distance error between the marker indication part and the vision sensor part; a vertical velocity calculating part calculating the vertical velocity of the rotary-wing unmanned aircraft by receiving a horizontal position of the rotary-wing unmanned aircraft from the vision sensor part; an altitude estimating part estimating a desired altitude of the rotary-wing unmanned aircraft by receiving the vertical velocity from the vertical velocity calculating part; a vertical controller controlling the thrust of the rotary-wing unmanned aircraft by receiving the desired altitude of the rotary-wing unmanned aircraft from the altitude estimating part; a horizontal controller generating a target posture of the rotary-wing unmanned aircraft by receiving the horizontal position and horizontal velocity of the rotary-wing unmanned aircraft from the vision sensor part or horizontal error calculating part; and a purge control part connected to the horizontal error calculating part and the vertical velocity calculating part to adjust the vertical velocity which is dependent on the horizontal distance error.