For autonomous landing of a small quadrotor, an attitude estimation method is proposed using optical flow,and a robust controller based on signal compensation is designed. Firstly, the ratio of velocity to depth is acquired by singular value decomposition(SVD) from the general optical flow motion model, and the altitude data are obtained by integrating the ratio of vertical speed and altitude. Then, the nonlinear model of the altitude channel is divided into a nominal linear model and an equivalent disturba...
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