Apparatus and Method for Autonomous Landing of an Aerial Vehicle

• US 20170212528A1
• Filed: 01/26/2016
• Published: 07/27/2017
• Est. Priority Date: 01/26/2016
• Status: Abandoned Application

• Current Assignee: Patrick A. Henderson
• Original Assignee: Patrick A. Henderson
• Inventors: Henderson, Patrick A.
• Application Number:
  US15/006,460
• Publication Number:
  US 20170212528A1
• Time in Patent Office: Days
• CPC Class Codes: B64C 27/46 Blades
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64F 1/00 Ground or aircraft-carrier-deck installations specially adapted for captive aircraft B64F3/00
• CPC Class Codes: B64U 10/10 Rotorcrafts
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 2201/104 using satellite radio beacon positioning systems, e.g. GPS
• CPC Class Codes: B64U 30/20 Rotors; Rotor supports
• CPC Class Codes: B64U 70/00 Launching, take-off or landing arrangements
• CPC Class Codes: B64U 70/90 Launching from or landing on platforms
• CPC Class Codes: G05D 1/0676 specially adapted for landing

Abstract

An apparatus and method of autonomously landing an aerial vehicle is disclosed herein. In a non-limiting embodiment, the apparatus is a landing pad controller that includes a plurality of receiving antennae, each of which is configured to receive an instance/version of a localization signal from the aerial vehicle. A localization calculation processor determines a precise position of the aerial vehicle based upon a comparison of the localization signal received by each of the plurality of receiving antennae. The landing pad controller also includes a transmitter that sends at least one course direction adjustment to the aerial vehicle, which can be used to direct the aerial vehicle from the precise position to a target landing area.

Claims

1. A landing pad controller for autonomously landing an aerial vehicle, the landing pad unit comprising:

a plurality of receiving antennae that receives a localization signal from the aerial vehicle, wherein each of the plurality of receiving antennae receives an instance/version of the localization signal;

a localization calculation processor that determines a precise position of the aerial vehicle based upon a comparison of the localization signal received by each of the plurality of receiving antennae;

a logic controller processor coupled to the localization processor, wherein the logic controller processor determines at least one course direction adjustment based on the precise position and the target landing area; and

a transmitter that send the at least one course adjustment data to the aerial vehicle, wherein the course adjustment data directs the aerial vehicle from the precise position to a target landing area.

2. The landing pad controller of claim 1, wherein at least one of the plurality of receiving antenna is a transceiver, and wherein the transceiver comprises the transmitter.

3. An aerial vehicle configured for autonomous landing, the aerial vehicle comprising:

a signal generator that generates a localization signal;

a localization output antenna that transmits the localization signal to a landing pad controller;

a communication interface that receives at least one course adjustment from the landing pad controller; and

a flight controller that implements the at least one course adjustment to direct the aerial vehicle from a precise position to a target landing area

4. The aerial vehicle of claim 3, further comprising:

a signal amplifier that amplifies the localization signal generated by the signal generator.

5. The aerial vehicle of claim 4, further comprising:

a filtering circuit that filters the localization signal generated by the signal generator.

6. A method in a landing pad controller for autonomously landing an aerial vehicle, the method comprising:

establishing a communication session with the aerial vehicle;

receiving a localization signal from the aerial vehicle;

determining a precise position of the aerial vehicle based on the localization signal;

generating course adjustment data usable to direct the aerial vehicle from the precise position to a target landing area; and

transmitting the course adjustment data to the aerial vehicle.

7. The method of claim 6, wherein determining the precise position of the aerial vehicle further comprises:

comparing at least one property of the localization signal as received by each of a set of receiving antennae.

8. The method of claim 7, wherein the at least one property of the localization signal is phase.

9. The method of claim 7, wherein the at least one property of the localization signal is time of arrival.

10. The method of claim 7, wherein the at least one property of the localization signal is frequency of arrival.

11. The method of claim 7, wherein the at least one property of the localization signal is gain.

12. The method of claim 6, wherein receiving the localization signal further comprises:

receiving the localization signal at a set of receiving antennae, wherein each of the set of receiving antenna is spaced no more than a half wavelength apart.

13. The method of claim 6, further comprising:

storing the target landing area of the aerial vehicle.

14. A method in an aerial vehicle for autonomous landing, the method comprising:

establishing a communications session with a landing pad controller at a landing location in response to arriving at the landing location;

transmitting a localization signal to the landing pad controller;

receiving course adjustment data from the landing pad controller, wherein the course adjustment data directs the aerial vehicle from its current location to a target landing area; and

landing the aerial vehicle at the target landing area.

15. The method of claim 14, further comprising:

receiving coarse positioning information to identify the landing location.

16. The method of claim 15, wherein the coarse positioning information is received from one of a global positioning system (GPS) and a wireless telecommunications network.

17. The method of claim 14, wherein the course adjustment data is calculated from a comparison of a precise positioning information of the aerial vehicle relative to the target landing area.

18. The method of claim 14, wherein the precise positioning information is calculated by comparing at least one property of the localization signal as received by the landing pad controller.

19. The method of claim 14, further comprising:

adjusting a position of the aerial vehicle with reference to course adjustment data.

20. The method of claim 14, further comprising:

ceasing transmission of the localization signal upon landing.