Autonomous Landing of a Micro Aerial Vehicle on a Moving Platform Using a Composite Landmark

Table 2

Landing comparison experiment results (20 experiments).

Motion model	Parameters	Bias	AVT	AVT	LR/SR	LR/SR
		(Encoder 1)	(R2D-MPL)	(Method 3)	(R2D-MPL)	(Method 3)
Line		0.00 m/s	12.4 s	14.2 s	0.18 m/90%	0.25 m/85%
Line		0.00 m/s	13.2 s	15.7 s	0.21 m/85%	0.27 m/75%
Line		0.15 m/s	13.6 s	22.4 s	0.22 m/80%	0.38 m/25%
Line		0.30 m/s	14.1 s	25.1 s	0.25 m/85%	0.40 m/5%
Circle		0.00 m/s	15.7 s	23.2 s	0.21 m/80%	0.42 m/40%
Circle		0.00 m/s	17.4 s	27.4 s	0.24 m/85%	0.41 m/30%
Circle		0.15 m/s	18.1 s	Fail	0.28 m/75%	Fail
Circle		0.30 m/s	19.5 s	Fail	0.32 m/80%	Fail