Precision docking at roof

PX4 Autopilot
1

Hi PX4 Community,

I’m working on an indoor GPS-denied UAV system that relies on Lidar-Inertial Odometry (LIO) for localization, specifically using Kitware SLAM for position estimation. My goal is to implement an autonomous docking station mounted on the ceiling for charging.

Key Challenges:

  1. Docking Mechanism:
  • The charging station has four protruding legs that must align precisely with four corresponding holes on the drone.
  • Due to weight constraints, the mechanism is non-magnetic, meaning the drone must rely on physical alignment rather than magnetic attachment.
  1. Localization Drift:
  • The LIO-based odometry has significant drift, making precise docking difficult.
  • I cannot use AprilTags or other visual markers on the ceiling for correction it also has error ± 5cm.

Charging legs has to perfectly align. How could I solve this problem.

Thanks in advance :slight_smile: