A search strategy of UAV´s automatic landing on ship in all weathe

A new scheme is proposed to realize Unmanned Aerial Vehicle´s (UAV´s) automatic landing on the ship precisely in all weather, which is based on the infrared cooperative object on ship´s runway and the infrared computer vision in UAV. Firstly the UAV is guided to the neighborhood of landing position by SINS, and then the seamless spiral search strategy is applied to acquire the accurate position of ship in the navigation error. We establish the model of our searching strategy by Archimedes spiral based on the application characteristics of landing on ship and the parameters of the speed of UAV, the speed of the ship, the navigation error of SINS per hour, the whole time of flight, the minimum swerve radius of UAV, size of the ship, and the maximum Field of View (FOV) of camera lens. The experiments show that the proposed spiral search strategy can make UAV to find the ship reliably in the navigation error.