Autonomous Landing of Miniature Aerial Vehicles

D. Blake Barber
Stephen R. Griffiths
Timothy W. McLain, Brigham Young University - Provo
Randal W. Beard, Brigham Young University - Provo


This paper outlines an algorithm for automated landing of miniature aerial vehicles (MAVs). Utilizing estimates of height above ground from barometric pressure and optic flow measurements, repeated landings were performed with a 1.5 m wingspan MAV. With height above ground estimated from barometric pressure measurements alone, landing errors averaged 7.6 m. When optic flow and barometric pressure measurements were combined to estimate height above ground, the average landing error was only 4.3 m.