Journal of Jilin University(Engineering and Technology Edition) ›› 2025, Vol. 55 ›› Issue (4): 1419-1425.doi: 10.13229/j.cnki.jdxbgxb.20240317

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Attitude control method for autonomous landing of quadcopter drone based on tracking-learning-detection algorithm

Bin-qiao ZHANG1,2(),Jian WU1,2   

  1. 1.Hubei Provincial Key Laboratory for Operation and Control of Cascaded Hydropower Station，China Three Gorges University，Yichang 443002，China
    2.College of Electrical Engineering & New Energy，China Three Gorges University，Yichang 443002，China
  • Received:2024-03-27 Online:2025-04-01 Published:2025-06-19

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Abstract:

In complex outdoor environments， during the landing process of drones， the target may be temporarily obstructed or out of view， leading to tracking failure. To enhance the accuracy and stability of unmanned aerial vehicle attitude control， a quadcopter unmanned aerial vehicle autonomous landing attitude control method based on tracking-learning-detection（TLD） algorithm is proposed. Combining extended Coleman filtering and TLD algorithm to detect specific targets and achieve target tracking through multiple median streams. By accurately capturing target position information， combined with additional inertia term crowd search algorithm and active disturbance rejection control technology， the selection of search step size and directional inertia coefficient was modified to optimize the flight attitude of quadcopter drones， improving the stability and safety of the landing process. The experimental results show that the average center offset of the proposed method is within 1.98 pixels， and the roll angle， pitch angle， and yaw angle the deviation is all within 0.02°， meet the expectations，the operation is smooth， the performance is better， ensuring the safe landing of the quadcopter drone.

Key words: Tracking learning detection algorithm, quadcopter drone, autonomous landing, attitude control

CLC Number: 

  • TP391

Fig.1

Schematic diagram of TLD algorithm"

Table 1

Experimental parameters related toquadcopter drones"

参数名称/单位数值
四旋翼无人机的反扭矩系数/（N·m·s·rad-2）1.0×10-6
四旋翼无人机质量/kg0.70
四旋翼升力系数/（N·s-2·rad-2）1.0×10-5
飞行器在x轴的惯性/（kg·m-2）7.6×10-3
飞行器在y轴的惯性/（kg·m-2）7.6×10-3
飞行器在z轴的惯性/（kg·m-2）1.5×10-3
旋翼中心和机体中心之间的距离/m0.25
重力加速度/（m·s-2）9.8

Fig.2

Autonomous landing tracking process"

Fig.3

Test results of average center offset of proposed method on different datasets"

Fig.4

Comparison of attitude control effects for autonomous landing of quadcopter dronesusing different methods"

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