Research on the application of vision-based autonomous navigation to the landing of the UAV

In this paper, we present a vision algorithm to measure the orientation of the UAV with respect to the runway during the landing. The horizon line is detected first and with the information of the horizon line, the boundary angles of the runway are recovered. From the horizon and the boundary angles, the pitch and bank angles can be determined. The range in which the yaw angle locates is also obtained.