ENVIRONMENTALLY-AWARE LANDING ZONE CLASSIFICATION

• US 20160027313A1
• Filed: 07/13/2015
• Published: 01/28/2016
• Est. Priority Date: 07/22/2014
• Status: Abandoned Application

• Current Assignee: Sikorsky Aircraft Corporation (Martin Marietta Corporation)
• Original Assignee: Sikorsky Aircraft Corporation (Martin Marietta Corporation)
• Inventors: Loussides, George Nicholas, Cherepinsky, Igor, Connor, Michael Aaron
• Application Number:
  US14/797,572
• Publication Number:
  US 20160027313A1
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G01S 13/86 Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
• CPC Class Codes: G01S 13/935 for terrain-avoidance
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 17/933 of aircraft or spacecraft
• CPC Class Codes: G08G 5/0069 specially adapted for an unmanned aircraft
• CPC Class Codes: G08G 5/0086 for monitoring terrain radar or analogous systems specially adapted for terrain avoidance G01S13/935
• CPC Class Codes: G08G 5/025 Navigation or guidance aids radar or analogous systems specially adapted for landing purposes G01S13/913

Abstract

According to an aspect, a method of performing environmentally-aware landing zone classification for an aircraft includes receiving environmental sensor data indicative of environmental conditions external to the aircraft. Image sensor data indicative of terrain representing a potential landing zone for the aircraft are received. An environmentally-aware landing zone classification system of the aircraft evaluates the environmental sensor data to classify the potential landing zone relative to a database of landing zone types as environmentally-aware classification data. Geometric features of the potential landing zone are identified in the image sensor data as image-based landing zone classification data. The potential landing zone is classified and identified based on a fusion of the environmentally-aware classification data and the image-based landing zone classification data. A final landing zone classification is provided to landing zone selection logic of the aircraft based on the classifying and identifying of the potential landing zone.

Claims

1. A method of performing environmentally-aware landing zone classification for an aircraft, the method comprising:

receiving environmental sensor data indicative of environmental conditions external to the aircraft;

receiving image sensor data indicative of terrain representing a potential landing zone for the aircraft;

evaluating, by an environmentally-aware landing zone classification system of the aircraft, the environmental sensor data to classify the potential landing zone relative to a database of landing zone types as environmentally-aware classification data;

identifying geometric features of the potential landing zone in the image sensor data as image-based landing zone classification data;

classifying and identifying the potential landing zone based on a fusion of the environmentally-aware classification data and the image-based landing zone classification data; and

providing a final landing zone classification to landing zone selection logic of the aircraft based on the classifying and identifying of the potential landing zone.

2. The method of claim 1, wherein acquisition of the environmental sensor data and the image sensor data is time synchronized to correlate the environmentally-aware classification data and the image-based landing zone classification data during the fusion of data.

3. The method of claim 1, wherein evaluating the environmental sensor data to classify the potential landing zone further comprises comparing time correlated values from multiple environmental sensors in combination with mapping values of the environmental sensor data and differences between the environmental sensor data to the database of landing zone types.

4. The method of claim 1, further comprising:

performing a safety assessment by comparing, for each type of environmental factor, the environmental sensor data against acceptable limits and making a safety determination based on collective results of the comparing.

5. The method of claim 4, further comprising:

providing the safety determination directly to the landing zone selection logic of the aircraft.

6. The method of claim 4, further comprising:

controlling one or more environmental sensors of the aircraft to target one or more features associated with the potential landing zone to perform the safety assessment.

7. The method of claim 1, wherein the classifying and identifying of the potential landing zone further comprises making an initial landing zone classification based on the image-based landing zone classification data, and reclassifying and identifying the potential landing zone as an adjustment to the initial landing zone classification based on the environmentally-aware classification data.

8. The method of claim 1, further comprising:

receiving position data for the aircraft;

determining a geographic location of the potential landing zone based on the position data;

incorporating the position data with the environmentally-aware classification data and the image-based landing zone classification data; and

storing a record of the environmentally-aware classification data and the image-based landing zone classification data based on the position data.

9. The method of claim 1, wherein the environmental sensor data are received from one or more of:

a noncontact pyrometer, a thermal-imaging camera, a noncontact infrared temperature sensor, a wind speed sensor, an ambient temperature sensor, a moisture sensor, radiation level detector, and a population-detection camera; and

the image sensor data are received from one or more of;

a LIght Detection and Ranging scanners (LIDAR) scanner, a video camera, a multi-spectral camera, a stereo camera system, a structure light-based 3D/depth sensor, a time-of-flight camera, a LAser Detection and Ranging scanners (LADAR) scanner, and a RAdio Detection And Ranging (RADAR) scanner.

10. The method of claim 1, wherein the aircraft is autonomously controlled during landing based on a final landing zone selected by the landing zone selection logic in response to the final landing zone classification.

11. A system for environmentally-aware landing zone classification for an aircraft, the system comprising:

a processor; and

memory having instructions stored thereon that, when executed by the processor, cause the system to;

receive environmental sensor data indicative of environmental conditions external to the aircraft;

receive image sensor data indicative of terrain representing a potential landing zone for the aircraft;

evaluate the environmental sensor data to classify the potential landing zone relative to a database of landing zone types as environmentally-aware classification data;

identify geometric features of the potential landing zone in the image sensor data as image-based landing zone classification data;

classify and identify the potential landing zone based on a fusion of the environmentally-aware classification data and the image-based landing zone classification data; and

provide a final landing zone classification to landing zone selection logic of the aircraft based on the classifying and identifying of the potential landing zone.

12. The system of claim 11, wherein acquisition of the environmental sensor data and the image sensor data is time synchronized to correlate the environmentally-aware classification data and the image-based landing zone classification data during the fusion of data.

13. The system of claim 11, wherein evaluation of the environmental sensor data to classify the potential landing zone further comprises a comparison of time correlated values from multiple environmental sensors in combination with mapping values of the environmental sensor data and differences between the environmental sensor data to the database of landing zone types.

14. The system of claim 11, wherein a safety assessment is performed by comparing, for each type of environmental factor, the environmental sensor data against acceptable limits, and a safety determination is made based on collective results of the comparing.

15. The system of claim 11, wherein the classification and identification of the potential landing zone further comprises making an initial landing zone classification based on the image-based landing zone classification data, and reclassifying and identifying the potential landing zone as an adjustment to the initial landing zone classification based on the environmentally-aware classification data.