Multi-beam optical sensor for measuring drone coordinates
Abstract
The article presents a multi-beam optical sensor for measuring drone coordinates in threedimensional space. The first part of this sensor is installed around a landing pad or a goods delivery pad. It forms a set of low-energy optical beams of a certain shape. Each beam transmits a digital code that characterizes its location relatively the pad. The second part of this sensor is a small set of miniature photodetector units that are fixed under the drone. The proposed technique based on the beam code analysis helps to calculate the drone coordinates relatively the pad. This sensor guarantees few centimetres accuracy, which is necessary for accurate drone taking off or landing without usage of an expensive digital camera or a human operator. The paper describes the classification of drone coordinate measurement techniques, sensor design, and experimental tests of the proposed optical sensor. The advantages and possible applications of these sensors are also discussed
Keywords
optical sensor; coordinate measurement; drone navigation; vision-based positioning; data fusion; multi-beam technique; coded beams
References
[1] T. Yang et al., "A ground-based near infrared camera arbeam system for UAV autolanding in GPS-denied environment", Sensors, vol. 16, no. 9, p. 1393, 2016.
[2] T. Ren, "The UAV take-off and landing system used for small areas of mobile vehicles", Proc. SPIE, vol. 10710, 2018.
[3] Foxtech, "High-precision landing system for drones. Product description", 2020. [Online]. Available: https://www.foxtechfpv.com/ high-precision-landing-system-fordrones.html.
[4] Flytbase, "Precision landing system with widest compatibility. Product description", 2020. [Online]. Available: https://flytbase.com/precision-landing/.
[5] IRLock, "MarkOne precision landing tutorial", 2020. [Online]. Available: https://irlock.com/collections/ir-markers/ products/ir-lock-sensor-precision-landingkit.
[6] R. Paulson, "Infrared landing system for a mini remotely-piloted vehicle", Proc. SPIE, vol. 0124, 1977.
[7] M. Skoczylas, "Autonomic drone landing system based on LEDs pattern and visual markers recognition", Proc. SPIE, vol. 10808, 2018
[9] B. Miller, A. Miller and S. K. Popov, "UAV landing based on the optical flow video navigation", Sensors, vol. 19, no. 6, p. 1351, 2019.
[10] D. Starodubov, "Ship-relative instant multispectral position system", Proc. SPIE, vol. 10633, 2018.
[11] V. Farr, "Optical guidance system and apparatus", USA Patent US4856896A, 1989.
[12] D. M. Bertin, and L. D. Maria, "Optical device for indicating the glide angle for aircraft", USA Patent US7535380B2, 2009.
[13] K. Fujiwara, "Control apparatus for running moving object", USA Patent US4554498A, 1982.
[14] G. K. Netzler, and P. R. Lofgren, "Apparatus and method for optical guidance system for automatic guided vehicle", USA Patent US4626995A, 1986.
[15] M. S. Feldmann, "System and methods of detecting an intruding object in a relative navigation system", USA Patent US9435635B1, 2015.
[16] D. N. Fisk, "Fresnel lens optical alignment system", USA Patent US2015/0153486 A1, 2015.
[17] D. Averin, V. Borovytsky, and V. Myky- tenko, "Drone positioning systems that uses digital cameras", Bulletin of Kyiv Polytechnic Institute. Series Instrument Making, July 2022.
[19] V. Borovytsky, and D. Averin, "Optical sensor for drone coordinate measurements", Proc. SPIE, vol. 11352, 2020.
[20] V. Borovytsky, and D. Averin, "Opticalelectronic positioning system", Ukr. Patent 141943, 2020.
[21] Microchip Technology, "8-bit Atmel with 8KBytes in-system programmable flash ATmega8 ATmega8L", 2013. [Online]. Available: https://ww1.microchip.com/ downloads/en/DeviceDoc/Atmel-2486-8-bitAVR-microcontroller-ATmega8_L_summary.pdf.
[22] Vishay Semiconductors, "TSAL6100high power infrared emitting diode,940 nm", 2019. [Online]. Available: https://www.vishay.com/docs/81009/tsal610 0.pdf.
[23] Vishay Semiconductors, "TSOP32156 IR receiver modules for remote control systems", 2019. [Online]. Available: http://www.vishay.com/docs/82490/tsop321. pdf.