An ILS Inspired Approach and Departure System Utilizing Monocular Vision

Abstract

This paper introduces a simple system to provide relative position between a base unit and an active unit. The proposed system is directional and allows the active unit to approach or depart from the base unit along a linear path, determined by the orientation of the base unit. The system does not require a data link between the base and the active unit, just a clear line of sight. The proposed system utilizes monocular vision on the active unit and requires the availability of enough computational power to perform simple computer vision algorithms. Part I describes the physical characteristics of the beacon utilized on the base unit, Part II describes the algorithms utilized to compute the relative position of the active unit to the base, utilizing the vision data. Part III presents simulation results. Part IV discusses the results and findings and proposes future work.