- Titel
- GPS-based UAV Precision Landing
- Zitierfähige Url:
- https://nbn-resolving.org/urn:nbn:de:bsz:ch1-qucosa2-1048391
- Datum der Einreichung
- 19.03.2026
- DOI
- https://doi.org/10.60687/2026-0103
- Abstract (EN)
- Unmanned Aerial Vehicles, also known as UAVs, are used in various fully autonomous use cases, such as product delivery, inspection of infrastructure, or, in the case of an emergency, like a search and rescue mission. When standard GPS-based positioning is used, it provides meter-level accuracy, which is not sufficient in the case of autonomous landing. This thesis focuses on RTK or Real-Time Kinematic-based positioning in order to achieve centimeter-level accuracy at the time of landing, including the evaluation of hardware, system integration, and both local and real-world correction services. This thesis presents a systematic study of multiple U-blox GNSS devices, such as Ardusimple Simplertk2B devices, which have both ZED-F9P and ZED-F9R, and Here+ RTK M8P. These devices are then integrated using a Pixhawk flight controller running ArduPilot firmware to work as a base and rover interchangeably, in order to assess whether different GNSS modules can be used without significant performance reduction. We have tested both our locally set-up base station and the real-world SAPOS network-based correction service to check the integrity of our system. This thesis describes in detail our system architecture, different GNSS configurations based on system requirements, and Pixhawk integration. Based on this setup, we have monitored our system in both the indoor(semi-obstructed) laboratory and the open-sky outdoor environment to test the impact of the environment on the positional accuracy. The findings from the experiment suggest that in open-sky conditions, horizontal accuracy is at the centimeter-level and below 2 cm of 3D positional accuracy which was achieved by the ZED-F9P under favorable RTK-fix conditions, whereas in the worst case, meter-level errors can be observed. This thesis concludes with a detailed discussion of our system limitations and explores future directions, such as GNSS-vision fusion and advanced RTK techniques.
- Freie Schlagwörter (EN)
- UAV Precision Landing, RTK GNSS, GNSS Accuracy, Pix- hawk Integration, SAPOS Correction Service
- Klassifikation (DDC)
- 000
- Normschlagwörter (GND)
- GNSS, Genauigkeit, Landung, Unbemanntes Fahrzeug
- GutachterIn
- M. Sc. Reda Harradi
- BetreuerIn Hochschule / Universität
- Prof. Dr. Wolfram Hardt
- Den akademischen Grad verleihende / prüfende Institution
- Technische Universität Chemnitz, Chemnitz
- Version / Begutachtungsstatus
- angenommene Version / Postprint / Autorenversion
- URN Qucosa
- urn:nbn:de:bsz:ch1-qucosa2-1048391
- Veröffentlichungsdatum Qucosa
- 27.05.2026
- Dokumenttyp
- Masterarbeit / Staatsexamensarbeit
- Sprache des Dokumentes
- Englisch
- Lizenz / Rechtehinweis
