Precision Maritime Localization and Landing

April 2023 · 1 min read

For this project, I worked with a graduate student on his master’s thesis to develop a control system that lands an autonomous drone on a boat. This was done using both Real-time Kinematic (RTK) positioning and AprilTag positioning that worked simultaneously to locate the rover in relation to the boat using an Extended Kalman Filter. We successfully landed the drone within our desired accuracy using each localization method in isolation and working simultaneously. I have also designed software architecture to interface the drone’s and boat’s sensors for ROS and ROS2 environments. Other responsibilities included executing flight tests in outdoor and indoor environments, maintaining hardware, and translating programs that run in a ROS environment to run in ROS2.

This project involved skills in:

State estimation
Control Systems
ROS2
Python
C++
PX4
Mechatronics

Last updated on April 2023