  Autonomous fixed-wing UAV landing based on differential GPS is now a
mainstream providing reliable and precise landing. But the task still remains
challenging when GPS availability is limited like for military UAVs. We discuss
a solution of this problem based on computer vision and dot markings along
stationary or makeshift runway. We focus our attempts on using infrared beacons
along with narrow-band filter as promising way to mark any makeshift runway and
utilize particle filtering to fuse both IMU and visual data. We believe that
unlike many other vision-based methods this solution is capable of tracking UAV
position up to engines stop. System overview, algorithm description and it's
evaluation on synthesized sequence along real recorded trajectory is presented.
