SYSTEMS AND METHODS FOR AUTONOMOUS LANDING USING A THREE DIMENSIONAL EVIDENCE GRID

• US 20140379179A1
• Filed: 06/24/2013
• Published: 12/25/2014
• Est. Priority Date: 06/24/2013
• Status: Active Grant

• Current Assignee: Honeywell International Inc.
• Original Assignee: Honeywell International Inc.
• Inventors: Ma, Yunqian, Goossen, Emray Rein
• Granted Patent: US 8,996,207 B2
• Time in Patent Office: Days
• US Class Current: 701/18
• CPC Class Codes: G05D 1/0684 on a moving platform, e.g. aircraft carrier
• CPC Class Codes: G08G 5/02 Automatic approach or landing aids, i.e. systems in which flight data of incoming planes are processed to provide landing data landing aids fitted in or to aircraft B64D45/04; visual or acoustic landing aids B64F1/18
• CPC Class Codes: G08G 5/025 Navigation or guidance aids radar or analogous systems specially adapted for landing purposes G01S13/913

Abstract

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.

Claims

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.

2. The method of claim 1 wherein the three dimensional evidence grid represents objects as a plurality of voxels.

3. The method of claim 1, comprising:

using a priori data to create a historical evidence grid; and

combining the historical evidence grid with the three dimensional evidence grid.

4. The method of claim 1 wherein at least one onboard sensor is forward facing.

5. The method of claim 1, wherein the at least one onboard sensor to create a three dimensional evidence grid are downward facing.

6. The method of claim 1 wherein the landing zone is a ship and the open spot is an area on a deck of the ship configured for landing of the UAV.

7. The method of claim 1, comprising:

matching approach motion of the UAV to movement of the landing zone, wherein the landing zone is a moving platform.

8. The method of claim 7, wherein the matching approach motion to movement of the landing zone determines a series of possible landing opportunities.

9. A system for autonomous landing of an unmanned aerial vehicle (UAV) comprising:

at least one onboard sensor configured to collect data that provides information used to generate a three dimensional evidence grid;

a processor coupled to the at least one onboard sensor;

a computer readable medium;

wherein,

the computer readable medium includes instructions for the processor to execute autonomous landing on a moving platform, causing the processor to;

collect sensor data from the at least one onboard sensor;

generate a three dimensional evidence grid based on the sensor data;

combine a priori data with the three dimensional evidence grid, wherein a priori data provides a world model database based on information known prior to sensing with the at least one onboard sensor;

locate a landing zone based on the combined three dimensional evidence grid and a priori data;

validate open spots in the landing zone, wherein validating includes performing surface condition assessment, wherein the landing is a planar platform;

generate landing zone motion characterization, wherein landing zone motion characterization includes characterizing real time landing zone pitching, heaving, rolling or forward motion; and

process the three dimensional evidence grid data to generate flight controls.

10. The system of claim 9, wherein the at least one onboard sensor further comprises at least one forward facing sensor.

11. The system of claim 9, wherein the at least one onboard sensor is downward facing.

12. The system of claim 9, wherein a priori data is used to make a historical evidence grid, wherein the historical evidence grid is combined with the three dimensional evidence grid.

13. The system of claim 9, wherein the computer readable medium contains further instructions to generate flight controls that match approach motion to movement of the landing zone, wherein the landing zone is a moving platform, wherein the approach motion is movement of an unmanned aerial vehicle or vertical takeoff and landing vehicle on which the system is found.

14. The system of claim 12, wherein possible landing opportunities are determined once the movement of the UAV is matched to the movement of the landing zone.

15. The system of claim 9, wherein one of the at least one onboard sensor is an interferometric radar.

16. An apparatus comprising:

at least one onboard sensor configured to collect data that provides information used to generate a three dimensional evidence grid;

a trajectory planner configured to create waypoints to represent a trajectory based on the three dimensional evidence grid, wherein the trajectory planner;

combines a priori data with the three dimensional evidence grid, wherein a priori data provides a world model database based on previously known information;

locates a landing zone based on combined the combined three dimensional evidence grid and a priori data;

validates open spots in the landing zone, wherein validating includes performing surface condition assessment, wherein the landing is a planar platform; and

processes the three dimensional evidence grid data to generate flight controls;

generates landing zone motion characterization, wherein landing zone motion characterization includes characterizing real time landing zone pitching, heaving, rolling or forward motion;

a path tracker coupled to the trajectory planner, the path tracker configured to use waypoints to provide control signals to the control system;

a control system further comprising;

a velocity controller configured to control the velocity of an unmanned aerial vehicle; and

an attitude controller configured to control the orientation of the unmanned aerial vehicle;

the control system configured to generate control commands based on the control signals.

17. The apparatus of claim 16, wherein the trajectory planner generates flight controls that match approach motion to movement of the landing zone, wherein the landing zone is a moving platform, wherein the approach motion is movement of an unmanned aerial vehicle or vertical takeoff and landing vehicle on which the system is found.

18. The apparatus of claim 17, wherein the trajectory planner determines landing opportunities based on the matched approach motion and movement of the landing zone;

the path tracker generating control signals based on the landing opportunities;

the control system generating control commands based on the control signals to land the unmanned aerial vehicle.

19. The apparatus of claim 16, wherein a priori data is collected from the at least one onboard sensors, wherein at least one of the at least one onboard sensors is forward facing.

20. The apparatus of claim 16, wherein a priori data is represented as a historical evidence grid used by the trajectory planner.