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Statistically validated comparative evaluation of fiducial markers for vision-based UAV precision landing in standardized PX4–ROS simulation

Sinergi · Vol. 30 No. 3 (2026) · hlm. 717–730

DOI
10.22441/sinergi.2026.3.004
ISSN
2460-1217, 1410-2331
Terbit
2026-09-08
Penerbit
Universitas Mercu Buana
Bahasa
eng
Lisensi
creativecommons.org/licenses/by-sa/4.0

Abstrak

UAV quadcopter technology has advanced rapidly and is widely used in both military and civilian sectors. One critical challenge is precision landing, since conventional GPS-based methods have limited accuracy (0.9–1.8 m). Fiducial marker–based landing offers a practical alternative, but cross-study comparisons remain difficult because marker types and testing procedures vary. This study presents a statistically validated comparative evaluation of five fiducial markers (ArUco, AprilTag, ARTag, WhyCode, and STag) in a standardized PX4–ROS simulation environment. Beyond performance ranking, the study analyzes how marker geometry and coding structure influence homography stability, pose-estimation noise, and landing control response. Evaluation metrics include horizontal and vertical landing errors, landing time, and detection distance, analyzed using one-way ANOVA and Tukey HSD tests. Results show significant differences in vertical error, landing time, and detection distance, indicating that geometric regularity and edge-contrast structure directly affect visual pose stability. Within the controlled simulation framework, AprilTag shows the most consistent overall performance, with mean errors of 2.99 cm (X-axis) and 5.59 cm (Y-axis) and an average landing time of 21.8 s. The main contribution is a reproducible comparative framework and an explanatory link between marker design and visual-control stability, guiding marker selection in precision UAV landing systems.

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  • State University of Semarang
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Rekan penulisOrganisasiArtikel bersama
Alfa Faridh SuniState University of Semarang6
Ulfah Mediaty AriefState University of Semarang3
Eko SupraptonoAfiliasi tidak diketahui2
Apriansyah WibowoAfiliasi tidak diketahui2
Aldo Luhung BaskoroAfiliasi tidak diketahui2
Fuat QunefiAfiliasi tidak diketahui2
Anggraini MulwindaState University of Semarang2
Sri SukamtaAfiliasi tidak diketahui2
Hanan Iqbal AlrahmaState University of Semarang1
Ahmad Fashiha HastawanState University of Semarang1
Budi SunarkoState University of Semarang1
Hari WibawantoState University of Semarang1
Anas FauziState University of Semarang1
Dwi OktaviyantiState University of Semarang1
Dina Wulung SavitriState University of Semarang1
Agus SuryantoState University of Semarang1
Bambang SatrioState University of Semarang1
Hizkia Natanael RichardoState University of Semarang1
Paramesti AstaginaState University of Semarang1
Anantha Revoislami AriolinState University of Semarang1
Kholiq BudimanState University of Semarang1
alamsyah alamsyahState University of Semarang1
Tatyantoro AndrastoAfiliasi tidak diketahui1
Fitria EkariniAfiliasi tidak diketahui1
Aisya FathimahAfiliasi tidak diketahui1
Mulil KhairaAfiliasi tidak diketahui1
Ade Novi Nurul IhsaniAfiliasi tidak diketahui1
Anik MaghfirohAfiliasi tidak diketahui1
Trisnani WidowatiAfiliasi tidak diketahui1
Clarita AprilianiAfiliasi tidak diketahui1
Septian Eko PrasetyoAfiliasi tidak diketahui1
Alfian ArdhiansyahAfiliasi tidak diketahui1
Ajeng Rahma SudarniAfiliasi tidak diketahui1

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Sumber metadata: OAI-PMH (metadata jurnal) https://publikasi.mercubuana.ac.id/index.php/sinergi/oai, pertama di-harvest 10 Nov 2026, terakhir terlihat 10 Nov 2026.
Metadata asli (oai_dc) 
<oai_dc:dc xmlns="http://www.openarchives.org/OAI/2.0/" xmlns:dc="http://purl.org/dc/elements/1.1/" xmlns:oai_dc="http://www.openarchives.org/OAI/2.0/oai_dc/" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://www.openarchives.org/OAI/2.0/oai_dc/  http://www.openarchives.org/OAI/2.0/oai_dc.xsd">
	<dc:title xml:lang="en-US">Statistically validated comparative evaluation of fiducial markers for vision-based UAV precision landing in standardized PX4–ROS simulation</dc:title>
	<dc:creator>Nugroho, Anan</dc:creator>
	<dc:creator>Ghulamzaki, Muhammad</dc:creator>
	<dc:creator>Pribadi, Feddy Setio</dc:creator>
	<dc:creator>Fathoni, Khoirudin</dc:creator>
	<dc:creator>Prastiyanto, Dhidik</dc:creator>
	<dc:creator>Subagja, Mona</dc:creator>
	<dc:creator>Mubarak, Raihan Fa’iq</dc:creator>
	<dc:subject xml:lang="en-US">Comparative</dc:subject>
	<dc:subject xml:lang="en-US">Fiducial Marker</dc:subject>
	<dc:subject xml:lang="en-US">Precision Landing</dc:subject>
	<dc:subject xml:lang="en-US">Quadcopter</dc:subject>
	<dc:subject xml:lang="en-US">Simulation</dc:subject>
	<dc:subject xml:lang="en-US">UAV</dc:subject>
	<dc:description xml:lang="en-US">UAV quadcopter technology has advanced rapidly and is widely used in both military and civilian sectors. One critical challenge is precision landing, since conventional GPS-based methods have limited accuracy (0.9–1.8 m). Fiducial marker–based landing offers a practical alternative, but cross-study comparisons remain difficult because marker types and testing procedures vary. This study presents a statistically validated comparative evaluation of five fiducial markers (ArUco, AprilTag, ARTag, WhyCode, and STag) in a standardized PX4–ROS simulation environment. Beyond performance ranking, the study analyzes how marker geometry and coding structure influence homography stability, pose-estimation noise, and landing control response. Evaluation metrics include horizontal and vertical landing errors, landing time, and detection distance, analyzed using one-way ANOVA and Tukey HSD tests. Results show significant differences in vertical error, landing time, and detection distance, indicating that geometric regularity and edge-contrast structure directly affect visual pose stability. Within the controlled simulation framework, AprilTag shows the most consistent overall performance, with mean errors of 2.99 cm (X-axis) and 5.59 cm (Y-axis) and an average landing time of 21.8 s. The main contribution is a reproducible comparative framework and an explanatory link between marker design and visual-control stability, guiding marker selection in precision UAV landing systems.</dc:description>
	<dc:publisher xml:lang="en-US">Universitas Mercu Buana</dc:publisher>
	<dc:date>2026-09-08</dc:date>
	<dc:type>info:eu-repo/semantics/article</dc:type>
	<dc:type>info:eu-repo/semantics/publishedVersion</dc:type>
	<dc:type xml:lang="en-US">Peer-reviewed Article</dc:type>
	<dc:format>application/pdf</dc:format>
	<dc:identifier>https://publikasi.mercubuana.ac.id/index.php/sinergi/article/view/34439</dc:identifier>
	<dc:identifier>10.22441/sinergi.2026.3.004</dc:identifier>
	<dc:source xml:lang="en-US">SINERGI; Vol. 30 No. 3 (2026); 717-730</dc:source>
	<dc:source>2460-1217</dc:source>
	<dc:source>1410-2331</dc:source>
	<dc:language>eng</dc:language>
	<dc:relation>https://publikasi.mercubuana.ac.id/index.php/sinergi/article/view/34439/12742</dc:relation>
	<dc:rights xml:lang="en-US">Copyright (c) 2026 SINERGI</dc:rights>
	<dc:rights xml:lang="en-US">https://creativecommons.org/licenses/by-sa/4.0</dc:rights>
</oai_dc:dc>