University of Twente Student Theses
Enhancing Landing Accuracy Through Fiducial Marker-Based Visual Navigation in VTVL GNC Systems: A Simulation-Based Study
Ciulei, Daniel (2025) Enhancing Landing Accuracy Through Fiducial Marker-Based Visual Navigation in VTVL GNC Systems: A Simulation-Based Study.
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| Abstract: | This study aims to develop and evaluate the Guidance, Navigation, and Control (GNC) system for a Vertical Takeoff and Vertical Landing (VTVL) - also called rocket hoppers - using the Alpha rocket designed by the UT/VU student team RISE. By integrating fiducial marker-based visual navigation, the GNC system seeks to enhance accuracy, precision, and robustness during the landing phase of a simulated hop test. A co-simulation environment enables the assessment of visual and inertial sensor fusion in state estimation, particularly in the final descent and landing stages. The system’s performance is evaluated with and without visual navigation across multiple simulations under varying noise and disturbance conditions. Key metrics, including control stability, position estimation accuracy, landing precision and robustness, highlight the benefits of visual navigation integration. The results aim to establish a foundation for implementing the designed GNC subsystem on the physical Alpha rocket hopper, advancing its capabilities for accurate and robust autonomous landings. |
| Item Type: | Essay (Master) |
| Faculty: | EEMCS: Electrical Engineering, Mathematics and Computer Science |
| Subject: | 50 technical science in general, 54 computer science |
| Programme: | Robotics MSc (60973) |
| Link to this item: | https://purl.utwente.nl/essays/104918 |
| Export this item as: | BibTeX EndNote HTML Citation Reference Manager |
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