I.K. Antonov1, P.A. Arbuzov2, A.S. Nenashev3, P.A. Prokhorkin4, V.V. Soldatenko5

1-5 Group of Companies “Complex Systems” (Moscow, Russia)

1 aik@csc.ru; 2 p.arbuzov@meta-systems.ru; 3 anatoliy.nenashev@bg-optics.ru; 4 p.prokhorkin@meta-systems.ru; 5 v.soldatenko@meta-systems.ru

Problem formulation. Quadcopter control modes, in which the operator is freed from the need to constantly monitor the position of the device, are in demand, and not only by novice pilots, but also by professionals who simultaneously solve payload control problems. In this regard, the issues of developing and configuring sensors for autonomous navigation, which allow stabilizing the position of the quadcopter in space, are currently relevant.

Purpose. Development of an algorithm for controlling a quadcopter in the position stabilization mode using an optical image sensor and a laser range meter (lidar) in the absence of an GNSS signal.

Results. An algorithm for controlling the quadcopter has been formed, which allows automatically maintaining a given position without affecting the controls and quickly switching from forced movement to stabilizing the position in earth space. It allows you to maintain robustness in conditions of strong noise of the sensor signal, and at the same time achieve the required control quality.

Practical significance. An attempt was made to provide a sufficiently accurate positioning of the UAV in a mode similar to the so-called Loiter mode, available only with the presence of GPS Mode signals. Conducting experiments on a real drone allows us to conclude about the fundamental performance of the control algorithm.

Antonov I.K., Arbuzov P.A., Nenashev A.S., Prokhorkin P.A., Soldatenko V.V. On the implementation of a quadcopter stabilization algorithm in autonomous piloting mode. Radiotekhnika. 2026. V. 90. № 4. P. 75−83. DOI: https://doi.org/10.18127/j00338486-202604-10 (In Russian)

1. Loiter Mode Pixhawk. Описание режимов [Online]. Available: https://ardupilot.org/copter/docs/loiter-mode.html access data 25.08.2025.
2. Lucas B.D., Kanade T. An iterative image registration technique with an application to stereo vision. Proceedings of Imaging Understanding Workshop. 1981. Р. 121130. 
3. PID-reguljator [Online]. Available: https://ru.wikipedia.org/wiki/ access data 27.08.2025.
4. Arbuzov P.A., Merzljakov I.V., Stepashkin V.N. Ocenka parametrov vetrovogo volnenija s ispol'zovaniem dannyh sverhshiro-kopolosnogo radiolokacionnogo kompleksa. Uspehi sovremennoj radiojelektroniki. 2012. № 2. S. 7582 (in Russian).
5. Fridman L., et al. Position stabilization of a Stewart platform /www.sciencedirect.com. J. of Franclin Institute. 2012. № 349. Р. 441455.
6. MAVLink Developer Guide. [Online]. Available: https://mavlink.io/en access data 25.08.2025.
7. David G. Lowe. Distinctive Image Features from Scale-Invariant Keypoints. International Journal of Computer Vision. 2004. V. 60. Is. 2.  P. 91110.
8. Ashwani Kumar. SURF feature descriptor for image analysis. Imaging and Radiation Research. 2023. V. 6. Is. 2. DOI: 10.24294/irr.v6i2.5643 1 Original Research.