Auto Takeoff and Precision Terminal-Phase Landing using an Experimental Optical Flow Model for GPS/INS Enhancement

[+] Author and Article Information
Mohammad Al Sharman

Research Associate, Robotics Institute, Khalifa University of Science and Technology, P.O. Box 127788, Abu Dhabi, UAE

Mohammad Al Jarrah

Professor, Department of Aeronautical Engineering, Higher Colleges of Technology, P.O. Box 15825, Dubai, UAE

Mamoun Abdel-Hafez

Professor, Department of Mechanical engineering, American University of Sharjah, P.O. Box 26666, Sharjah, UAE

1Corresponding author.

ASME doi:10.1115/1.4039943 History: Received February 11, 2017; Revised April 08, 2018


The high estimated position error (EPE) in current commercial-off-the-shelf (GPS/INS) impedes achieving precise autonomous takeoff and landing flight operations. To overcome this problem, in this paper we propose an integrated GPS/INS/Optical Flow (OF) solution in which the OF provides an accurate augmentation to the GPS/INS. To ensure accurate and robust OF augmentation, we have used a robust modeling method to estimate OF based on a set of real-time experiments conducted under various simulated helicopter-landing scenarios. Knowing that the accuracy of the OF measurements are dependent on the accuracy of the height measurements; we have developed a real time testing environment to model and validate the obtained dynamic OF model at various heights. The performance of the obtained OF model matches the real OF sensor with 87.70 % fitting accuracy. An accuracy of 0.006 m/s mean error between the real OF sensor velocity and the velocity of the OF model is also achieved. The velocity measurements of the obtained OF model and the position of the GPS/INS are used in performing a dynamic model-based sensor fusion algorithm. In the proposed solution, the OF sensor is engaged when the vehicle approaches a landing spot that is equipped with a predefined landing pattern. The proposed solution has succeeded in performing a helicopter auto takeoff and landing with a maximum position error of 27 cm.

Copyright (c) 2018 by ASME
Your Session has timed out. Please sign back in to continue.






Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Articles from Part A: Civil Engineering
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In