Precision Autonomous Landing of UAV on High-Speed Vehicles Based on Enhanced Gimbal Stabilization and Smooth Trajectory Generation

Abstract

This paper proposes a precision autonomous landing system for unmanned aerial vehicles (UAVs) targeting high-speed moving platforms. By integrating gimbal-based precise positioning, smooth trajectory generation, and dynamically robust control, the system addresses key challenges in high-speed landing scenarios, such as significant visual localization deviations and difficulties in dynamic trajectory planning and control. The study introduces the Comprehensive Coordinate System (CCS-3AG) to eliminate dynamic optical-axis misalignment errors in the gimbal, thereby enhancing the gimbal’s ranging accuracy and control precision. We combine an enhanced single-stage minimum control (MINCO) trajectory framework (L-MINCO) with a bidirectional command update strategy to achieve fast and accurate trajectory planning that accounts for dynamic delays, and designs an Incremental Nonlinear Dynamic Inversion (INDI) controller for high-dynamic command tracking. Simulation and real-flight experiments demonstrate that, at target speeds between 0 and 7.7 m/s, the system attains an average landing precision of 0.108 meters, with a success rate of 97.78% across 90 actual landing tests, outperforming existing landing methods. This work provides a highly robust solution for UAV logistics delivery and emergency landing scenarios.