Centimeter-Precision Terminal Guidance via Ultra-Wideband (UWB) and Optical AprilTags
Core aerospace engineering and protocols for UWB Terminal Guidance.
The Challenge of Urban Rooftop Landing Zones
GPS signals reflect off adjacent high-rise glass facades (multipath error), creating location jumps of up to 10 meters—unacceptable when attempting to land on a 2x2 meter rooftop vertipad surrounded by air conditioning units.
Dual UWB and Optical Fiducial Servoing
DeliverInTheSky pairs localized Ultra-Wideband (UWB) radio beacons with optical fiducial markers (AprilTags). The descending drone tracks relative range and bearing with sub-inch accuracy, touching down precisely on magnetic charging pins regardless of GPS satellite reception.
- Ultra-Wideband (UWB) Trilateration: Providing centimeter-accurate relative positioning in GPS-denied canyons.
- Optical AprilTag Visual Servoing: Guiding final touchdown using high-speed downward optical cameras.
- Wind Shear Compensation: Dynamically crabbing into localized rooftop gusts during final flare.
- Emergency Wave-Off Safety: Instantly aborting approach if an unauthorized drone occupies the pad.
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