Navigation method based on the solution to PnP problem for autonomous landing of UAV

In this paper, a vision based navigation method for autonomous landing of UAV is presented. First, the pose estimation based on the PnP problem solution is introduced. Because of the pixel position error in image, the estimation errors exist and the position errors are concussive while UAV approaches an airport, which is disadvantageous to the guidance and control for autonomous landing of UAV. Then, an EKF, with the straight line slope as measurements, is used to improve the vision based navigation algorithm. Simulation results demonstrate that the navigation method presented by this paper provides more accurate and stable position estimation than the method based on vision only, and meets the navigation accuracy requirements for autonomous landing of UAV.