Paper Title
Determination of Relative Position For Drone Landing Using Image Processing

Autonomous unmanned aerial vehicle like drones are one of the most important tool for material delivery in man made disasters or natural calamity relief operations. For the proper delivery of material, determination of relative position of the drone is an important task. The relative orientation is measured in terms of six Degree of Freedom (6DOF) vector. The six Degree of Freedom vector can be determined by using a sensor system consisting of a passive reflective pattern on the target location, imaging this reflective pattern using two Charge Coupled Device (CCD) cameras mounted on the drone, and then illuminating the target pattern using an array of laser diodes and other image processing units. This paper contains a brief description of the sensor system and the algorithm for determination of relative state vector using five spot passive reflective target patterns for landing of autonomous unmanned drone. The algorithm starts with measurement of azimuth and elevation angles from the camera image. Then the ranges to each spot in the target pattern can be measured. Finally the rotational angles yaw, roll and pitch are determined using QUEST algorithm. Index Terms— Drone, 6 degrees of freedom (6 DOF), QUEST algorithm, Attitude determination, Range, Azimuth, Elevation.