发明名称 |
SYSTEMS AND METHODS FOR AUTONOMOUS LANDING USING A THREE DIMENSIONAL EVIDENCE GRID |
摘要 |
A method for autonomous landing of an unmanned aerial vehicle (UAV) comprising: obtaining sensor data corresponding to one or more objects outside of the aircraft using at least one onboard sensor; using the sensor data to create a three dimensional evidence grid, wherein a three dimensional evidence grid is a three dimensional world model based on the sensor data; combining a priori data with the three dimensional evidence grid; locating a landing zone based on the combined three dimensional evidence grid and a priori data; validating an open spots in the landing zone, wherein validating includes performing surface condition assessment of a surface of the open spots; generating landing zone motion characterization, wherein landing zone motion characterization includes characterizing real time landing zone pitching, heaving, rolling or forward motion; processing the three dimensional evidence grid data to generate flight controls to land the aircraft in one of the open spots; and controlling the aircraft according to the flight controls to land the aircraft. |
申请公布号 |
US2014379179(A1) |
申请公布日期 |
2014.12.25 |
申请号 |
US201313925128 |
申请日期 |
2013.06.24 |
申请人 |
Honeywell International Inc. |
发明人 |
Goossen Emray Rein;Ma Yunqian |
分类号 |
G08G5/02 |
主分类号 |
G08G5/02 |
代理机构 |
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代理人 |
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主权项 |
1. A method for autonomous landing of an unmanned aerial vehicle (UAV) comprising:
obtaining sensor data corresponding to one or more objects outside of the aircraft using at least one onboard sensor; using the sensor data to create a three dimensional evidence grid, wherein a three dimensional evidence grid is a three dimensional world model based on the sensor data; combining a priori data with the three dimensional evidence grid; locating a landing zone based on the combined three dimensional evidence grid and a priori data; validating an open spots in the landing zone, wherein validating includes performing surface condition assessment of a surface of the open spots; generating landing zone motion characterization, wherein landing zone motion characterization includes characterizing real time landing zone pitching, heaving, rolling or forward motion; processing the three dimensional evidence grid data to generate flight controls to land the aircraft in one of the open spots; and controlling the aircraft according to the flight controls to land the aircraft. |
地址 |
Morristown NJ US |