Magnetic localization for perching UAVs on powerlines

Perching on powerlines to recharge provides a unique opportunity to extend the mission duration capabilities of small-scale UAVs (Unmanned Aerial Vehicles). In this paper, we investigate the feasibility of localizing an aircraft using the magnetic field generated by a current carrying wire through state estimation and hardware development. By using an Extended Kalman Filter to track the real and imaginary components of the magnetic field signal, we overcome the problems posed by the field´s phase-amplitude ambiguity and demonstrate the ability to track an aircraft flying at speeds up to 8 m/s at a distance of 4 meters from the wire. We conclude that the achieved performance is adequate for controlling a bird-scale UAV in a dynamic perching maneuver and that our system would generalize to real world scenarios.