Precision Landing System on H-Octocopter Drone Using Complementary Filter

摘要

An automatic landing system is required on a long-range drone because the position of the vehicle cannot be reached visually by the pilot. The autopilot system must be able to correct the drone movement dynamically in accordance with its flying altitude. The current article describes autopilot system on an H-Octocopter drone using image processing and complementary filter. This paper proposes a new approach to reduce oscillations during the landing phase on a big drone. The drone flies above 10 meters to a provided coordinate using GPS data, to check for the existence of the landing area. This process is done visually using the camera. PID controller is used to correct the movement by calculate error distance detected by camera. The controller also includes altitude parameters on its calculations through a complementary filter. The controller output is the PWM signals which control the movement and altitude of the vehicle. The signal then transferred to Flight Controller through serial communication, so that, the drone able to correct its movement. From the experiments, the accuracy is around 0.56 meters and it can be done in 18 seconds.