Modular UAV autonomous aerial docking and control based on multi-sensor fusion

This paper proposes a method for autonomous aerial docking and control of modular Unmanned Aerial Vehicles (UAVs) based on multi-sensor fusion, which significantly reduces costs while ensuring docking accuracy. First, a model of the modular quadrotor UAV unit and the combined structure is established. Then, based on Nonlinear Dynamic Inversion (NDI) theory, a nonlinear control method for modular UAVs is proposed. Subsequently, a high-precision aerial docking method for UAVs based on multi-sensor fusion is studied. The target is identified and located using April Tag, and the re-projection error is minimized through nonlinear optimization. Furthermore, an Error State Kalman Filter (ESKF) is used to accurately eliminate the zero bias of the Inertial Measurement Unit (IMU), improving the accuracy of the fused positioning. Finally, simulations and experiments are conducted on a quadrotor UAV platform to successfully complete aerial docking and combined control, proving the effectiveness of the method.