Aerial system and vehicle for continuous operation

Patent metadata

Field	Value
Publication number	US-10220963-B2
Application number	US-201615291874-A
Country	US
Kind code	B2
Filing date	Oct 12, 2016
Priority date	Mar 14, 2013
Publication date	Mar 5, 2019
Grant date	Mar 5, 2019

Abstract

An aerial vehicle having a vision based navigation system for capturing an arresting cable situated at a landing site may comprise a fuselage having a propulsion system; an arresting device coupled to the fuselage, the arresting device to capture the arresting cable at the landing site; a camera situated on the aerial vehicle; an infrared illuminator situated on the aerial vehicle to illuminate the landing site, wherein the arresting cable has two infrared reflectors situated thereon; and an onboard vision processor. The onboard vision processor may (i) generate a plurality of coordinates representing features of the landing site using an image thresholding technique, (ii) eliminate one or more coordinates as outlier coordinates using linear correlation, and (iii) identify two of the plurality of coordinates as the two infrared reflectors using a Kalman filter.

First claim

What is claimed is:

1. An aerial vehicle having a vision-based navigation system for capturing an arresting cable situated at a landing site, the aerial vehicle comprising:
a fuselage having a propulsion system;
an arresting device coupled to the fuselage, the arresting device to capture said arresting cable at the landing site;
a camera situated on the aerial vehicle;
an infrared illuminator situated on the aerial vehicle to illuminate the landing site, wherein said arresting cable has two infrared reflectors situated on said arresting cable; and
an onboard processor to (i) generate a plurality of coordinates representing features of the landing site using an image thresholding technique, (ii) eliminate one or more coordinates as outlier coordinates using linear correlation, (iii) identify two of the plurality of coordinates as associated with the two infrared reflectors using a Kalman filter, and (iv) navigate the aerial vehicle toward said two of the plurality of coordinates associated with the two infrared reflectors to enable the aerial vehicle to capture said arresting cable situated at the landing site.

2. The aerial vehicle of claim 1 , wherein the onboard processor identifies a perching point on said arresting cable using said two of the plurality of coordinates.

3. The aerial vehicle of claim 2 , wherein the aerial vehicle charges an onboard battery using power received from said arresting cable via said arresting device.

4. A vision-based navigation system for installation on an aerial vehicle, the vision-based navigation system comprising:
a camera;
an illuminator situated on the aerial vehicle to illuminate a landing site, wherein the landing site comprises an arresting cable with two reflectors situated on the arresting cable;
an onboard processor to identify a perching point at the landing site, wherein the onboard processor identifies the perching point by (i) generating a plurality of coordinates representing features of the landing site using an image thresholding technique, (ii) identifying among said plurality of coordinates a coordinate associated with each of said two reflectors, and (iii) navigate the aerial vehicle toward the identified coordinates associated with each of said two infrared reflectors to enable the aerial vehicle to capture the arresting cable situated at the landing site.

5. The vision-based navigation system of claim 4 , wherein the onboard processor is configured to identify said coordinate for each of said two reflectors using a Kalman filter.

6. The vision-based navigation system of claim 4 , wherein the onboard processor eliminates outlier coordinates from said plurality of coordinates using linear correlation.

7. The vision-based navigation system of claim 4 , wherein the onboard processor is configured to calculate a distance and a relative bank angle relative to the arresting cable.

8. The vision-based navigation system of claim 4 , wherein the onboard processor is configured to calculate a relative pitch and heading of the aerial vehicle.

9. The vision-based navigation system of claim 4 , wherein the onboard processor is configured to identify the perching point as a point approximately halfway between the coordinates identified for said two reflectors.

10. The vision-based navigation system of claim 4 , wherein the aerial vehicle further comprises an arresting device to capture the arresting cable at the landing site.

11. The vision-based navigation system of claim 10 , wherein the arresting device comprises one or more conductive contacts facilitate charging of the aerial vehicle via the arresting cable.

12. An aerial vehicle for autonomous landing, the aerial vehicle comprising:
a fuselage;
a camera;
an illuminator situated on the aerial vehicle to illuminate two reflectors situated at a landing site; and
an onboard processor to identify a perching point at the landing site, wherein the onboard processor identifies the perching point by (i) generating a plurality of coordinates representing features of the landing site using an image thresholding technique, (ii) identifying among said plurality of coordinates a coordinate associated with each of said two reflectors, and (iii) navigate the aerial vehicle toward the identified coordinates associated with each of said two infrared reflectors to enable the aerial vehicle to land at the perching point autonomously.

13. The aerial vehicle of claim 12 , wherein the onboard processor is configured to identify said coordinate for each of said two reflectors using a Kalman filter.

14. The aerial vehicle of claim 12 , wherein the onboard processor is configured to eliminate one or more coordinates as outlier coordinates using linear correlation.

15. The aerial vehicle of claim 12 , wherein the illuminator is an infrared illuminator and the two reflectors are infrared reflectors situated on an arresting cable at the landing site.

16. The aerial vehicle of claim 12 , wherein the onboard processor is configured to identify the perching point as a point approximately halfway between the coordinates identified for said two reflectors.

17. The aerial vehicle of claim 15 , wherein the onboard processor is configured to calculate a relative bank angle and distance in relation to the arresting cable and to calculate a relative pitch and heading of the aerial vehicle.

18. The aerial vehicle of claim 12 , wherein the aerial vehicle further comprises an arresting device to capture an arresting cable at the landing site.

19. The aerial vehicle of claim 18 , wherein the arresting device comprises one or more conductive contacts facilitate charging of the aerial vehicle via the arresting cable.

20. The aerial vehicle of claim 19 , wherein the aerial vehicle charges an onboard battery using power received from the arresting cable via the arresting device.

Assignees

• Aurora Flight Sciences Corp

Inventors

• Peverill James
• Mckenna Terrence

Classifications

• B60L53/68 Primary

  Off-site monitoring or control, e.g. remote control · CPC title

• B64F1/029

  using a cable or tether · CPC title

• B64U2201/10

  autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] · CPC title

• B64U2101/30

  for imaging, photography or videography · CPC title

• B64C2201/06

  Operations & Transport · mapped topic