An algorithm for landing a Quadrotor Unmanned Aerial Vehicle on an oscillating surface

In many applications of a Quadrotor Unmanned Aerial Vehicle (UAV), it is necessary for it to land on a moving surface. In this experiment four simple PING))) ultrasonic sensors are used to create a landing algorithm that changes the orientation of the quadrotor during landing depending on the orientation of the landing surface. The control structure changes the roll, pitch, yaw, and throttle parameters of the quadrotor in real time to provide the softest possible landing. This is very important when the quadrotor is carrying a delicate payload. The same algorithm can also be used to land a quadrotor on an inclined surface.