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Monocular vision assisted autonomous landing of a helicopter on a moving deck
Thesis (MScEng)--Stellenbosch University, 2013.
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| Other Authors: | |
| Format: | Thesis |
| Language: | en_ZA |
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Stellenbosch : Stellenbosch University
2013
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| _version_ | 1867613877914566656 |
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| access_status_str | Open Access |
| author | Swart, Andre Dewald |
| author2 | Peddle, I. K. |
| author_browse | Peddle, I. K. Swart, Andre Dewald |
| author_facet | Peddle, I. K. Swart, Andre Dewald |
| author_sort | Swart, Andre Dewald |
| collection | Thesis |
| dc_rights_str_mv | Stellenbosch University |
| description | Thesis (MScEng)--Stellenbosch University, 2013. |
| format | Thesis |
| id | oai:scholar.sun.ac.za:10019.1/80134 |
| institution | Stellenbosch University (South Africa) |
| language | en_ZA |
| last_indexed | 2026-06-10T12:43:08.148Z |
| license_str | Other — see source repository |
| provenance_str_mv | Harvested via OAI-PMH from SUNScholar — Stellenbosch University Repository |
| publishDate | 2013 |
| publishDateRange | 2013 |
| publishDateSort | 2013 |
| publisher | Stellenbosch : Stellenbosch University |
| publisherStr | Stellenbosch : Stellenbosch University |
| record_format | dspace |
| source_str | SUNScholar — Stellenbosch University Repository |
| spelling | oai:scholar.sun.ac.za:10019.1/80134 Monocular vision assisted autonomous landing of a helicopter on a moving deck Swart, Andre Dewald Peddle, I. K. Stellenbosch University. Faculty of Engineering. Dept. of Electrical and Electronic Engineering. Unmanned aerial vehicles (UAV) Computer vision Motion prediction Autonomous landing Dissertations -- Electronic engineering Theses -- Electronic engineering Drone aircraft Helicopters -- Control systems Thesis (MScEng)--Stellenbosch University, 2013. ENGLISH ABSTRACT: The landing phase of any helicopter is the most critical part of the whole flight envelope, particularly on a moving flight deck. The flight deck is usually located at the stern of the ship, translating to large heave motions. This thesis focuses on the three fundamental components required for a successful landing: accurate, relative state-estimation between the helicopter and the flight deck; a prediction horizon to forecast suitable landing opportunities; and excellent control to safely unite the helicopter with the flight deck. A monocular-vision sensor node was developed to provide accurate, relative position and attitude information of the flight deck. The flight deck is identified by a distinct, geometric pattern. The relative states are combined with the onboard, kinematic state-estimates of the helicopter to provide an inertial estimate of the flight deck states. Onboard motion prediction is executed to forecast a possible safe landing time which is conveyed to the landing controller. Camera pose-estimation tests and hardware-in-the-loop simulations proved the system developed in this thesis viable for flight tests. The practical flight tests confirmed the success of the monocular-vision sensor node. AFRIKAANSE OPSOMMING: Die mees kritiese deel van die hele vlug-duurte van ’n helikopter is die landings-fase, veral op ’n bewegende vlugdek. Die vlugdek is gewoonlik geleë aan die agterstewe-kant van die skip wat groot afgee bewegings mee bring. Hierdie tesis ondersoek die drie fundamentele komponente van ’n suksesvolle landing: akkurate, relatiewe toestand-beraming tussen die helikopter en die vlugdek; ’n vooruitskatting horison om geskikte landings geleenthede te voorspel; en uitstekended beheer om die helikopter en vlugdek veilig te verenig. ’n Monokulêre-visie sensor-nodus was ontwikkel om akkurate, relatiewe-posisie en oriëntasie informasie van die vlugdek te verwerf. Die vlugdek is geidentifiseer deur ’n kenmerkende, geometriese patroon. Die relatiewe toestande word met die aan-boord kinematiese toestandafskatter van die helikopter gekombineer, om ’n beraming van die inertiale vlugdek-toestande te verskaf. Aan-boord beweging-vooruitskatting is uitgevoer om moontlike, veilige landingstyd te voorspel en word teruggevoer na die landingsbeheerder. Kamera-orientasie afskat-toetse en hardeware-in-die-lus simulasies het die ontwikkelde sisteem van hierdie tesis lewensvatbaar vir vlug-toetse bewys. Praktiese vlug-toetse het die sukses van die monokulêre-visie sensor-nodus bevestig. 2013-02-21T09:16:45Z 2013-03-15T07:37:22Z 2013-02-21T09:16:45Z 2013-03-15T07:37:22Z 2013-03 Thesis http://hdl.handle.net/10019.1/80134 en_ZA Stellenbosch University 114 p. : ill. application/pdf Stellenbosch : Stellenbosch University |
| spellingShingle | Unmanned aerial vehicles (UAV) Computer vision Motion prediction Autonomous landing Dissertations -- Electronic engineering Theses -- Electronic engineering Drone aircraft Helicopters -- Control systems Swart, Andre Dewald Monocular vision assisted autonomous landing of a helicopter on a moving deck |
| title | Monocular vision assisted autonomous landing of a helicopter on a moving deck |
| title_full | Monocular vision assisted autonomous landing of a helicopter on a moving deck |
| title_fullStr | Monocular vision assisted autonomous landing of a helicopter on a moving deck |
| title_full_unstemmed | Monocular vision assisted autonomous landing of a helicopter on a moving deck |
| title_short | Monocular vision assisted autonomous landing of a helicopter on a moving deck |
| title_sort | monocular vision assisted autonomous landing of a helicopter on a moving deck |
| topic | Unmanned aerial vehicles (UAV) Computer vision Motion prediction Autonomous landing Dissertations -- Electronic engineering Theses -- Electronic engineering Drone aircraft Helicopters -- Control systems |
| url | http://hdl.handle.net/10019.1/80134 |
| work_keys_str_mv | AT swartandredewald monocularvisionassistedautonomouslandingofahelicopteronamovingdeck |