New FFG project granted
In this project, we are tackling the challenges of high-precision state estimation with the application to approach, landing, and subsequent take-off of a multi-copter on a landing pad for autonomous recharging.The goal is to develop a reliable algorithm for state estimation using multiple sensor modalities in a consistent and real-time multi-sensor fusion framework which will serve as back-bone for the high-precision maneuvers required during take-off and landing for autonomous recharging. The focus on estimator consistency and real-time is particularly important to guarantee the correct signal weighting of each sensor yielding an overall robust state estimate on-board the system. In addition to the data fusion of multiple sensors in a given sensor suite, we also investigate the question of how to increase modularity of such a framework such that sensor signals and entire sensor modules can adaptively be added and removed in-flight without disabling state estimation for reliable UAV navigation. A typical example is when a drone enters GPS shadowed areas or where GPS suffers severely from multi-path issues.