Methods and apparatus to guide an unmanned aerial vehicle for recovery thereof

Patent metadata

Field	Value
Publication number	US-12077293-B2
Application number	US-202117477251-A
Country	US
Kind code	B2
Filing date	Sep 16, 2021
Priority date	Sep 16, 2021
Publication date	Sep 3, 2024
Grant date	Sep 3, 2024

Abstract

Methods and apparatus to guide an unmanned aerial vehicle for recovery thereof are disclosed. A disclosed example apparatus includes a sensor at or proximate a tether line, the sensor to measure at least one parameter of an aircraft while the aircraft is in flight and provide sensor output corresponding to a position of the aircraft, and a transceiver to transmit data corresponding to the position to the aircraft for guiding the aircraft to engage the tether line for recovery of the aircraft or a payload carried by the aircraft.

First claim

What is claimed is:

1. An apparatus comprising:
a first sensor positioned between opposing ends of a tether line, the first sensor to measure at least one parameter of an aircraft while the aircraft is in flight and provide first sensor output corresponding to a position of the aircraft;
a second sensor to provide second sensor output corresponding to measured segment positions of respective segments of the tether line, the segments extending between the opposing ends of the tether line and defining a 3-D spatial arrangement of the tether line; and
a transceiver to transmit data corresponding to the position of the aircraft and the measured segment positions to the aircraft to guide the aircraft to engage the tether line for recovery of the aircraft or a payload carried by the aircraft; and
instructions;
at least one memory; and
at least one processor to execute the instructions to:
determine a course of the aircraft,
determine a sway of the tether line based on the segment positions; and
determine an adjustment of movement of the aircraft based on the course and the sway, the transmitted data including the adjustment.

2. The apparatus as defined in claim 1 , wherein the first sensor is supported between opposing ends of a suspended portion of the tether line.

3. The apparatus as defined in claim 1 , wherein the transceiver is to transmit a relative position of the aircraft to the tether line to the aircraft.

4. The apparatus as defined in claim 1 , wherein the transceiver is to transmit differential global positioning system (GPS) data to the aircraft.

5. A method of guiding an aircraft, the method comprising:
measuring, via a first sensor positioned-between opposing ends of a tether line, a course of the aircraft while the aircraft is in flight;
measuring, via a second sensor, measured segment positions of respective segments of the tether line, the segments extending between the opposing ends of the tether line and defining a 3-D spatial arrangement of the tether line;
determining a sway of the tether line based on the measured segment positions; and
transmitting, via a transceiver, data pertaining to the course of the aircraft and the sway to the aircraft to guide the aircraft to engage the tether line for recovery of the aircraft or a payload carried by the aircraft.

6. The method as defined in claim 5 , wherein the transceiver is to transmit guidance data to the aircraft.

7. The method as defined in claim 5 , wherein transmitting the data includes transmitting differential global positioning system (GPS) data to the aircraft.

8. The method as defined in claim 5 , further including recovering the aircraft with a tension device in response to the aircraft contacting the tether line.

9. A non-transitory computer readable medium comprising instructions, which when executed, cause at least one processor to:
calculate a course of an aircraft relative to a tether line or a device supporting the tether line based on first sensor output from a first sensor positioned between opposing ends of the tether line while the aircraft is in flight;
calculate measured segment positions of respective segments of the tether line based on second sensor output from a second sensor, the segments extending between the opposing ends of the tether line and defining a 3-D spatial arrangement of the tether line;
determine a sway of the tether line based on the measured segment positions;
calculate an adjustment of movement of the aircraft based on the course of the aircraft and the determined sway of the tether line; and
guide the aircraft to engage the tether line by causing a transceiver to transmit data pertaining to the calculated adjustment to the aircraft.

10. The non-transitory computer readable medium as defined in claim 9 , wherein the instructions cause the at least one processor to cause the transceiver to transmit guidance data to the aircraft.

11. The non-transitory computer readable medium as defined in claim 9 , wherein the instructions cause the at least one processor to calculate an adjustment of a speed of the aircraft.

12. The non-transitory computer readable medium as defined in claim 9 , wherein the instructions cause the at least one processor to determine an environmental condition proximate the tether line based on sensor data.

13. The non-transitory computer readable medium as defined in claim 12 , wherein the adjustment of the movement is calculated at least partially based on the environmental condition.

14. A system comprising:
a tether line, the tether line to be suspended for recovery of an aircraft;
a first sensor positioned at an intermediate length of the tether line, the first sensor to detect the aircraft and output first signals corresponding to a course of the aircraft;
a second sensor to output second signals corresponding to measured segment positions of respective segments of the tether line, the segments defining a 3-D spatial arrangement of the tether line, the segments extending between opposing ends of the tether line;
programmable circuitry to execute machine-readable instructions to determine a sway of the tether line based on the measured segment positions; and
a transceiver to transmit data pertaining to the course of the aircraft and the the sway to the aircraft for guidance of the aircraft so that the aircraft engages the tether line.

15. The system as defined in claim 14 , wherein the aircraft is a first aircraft, and further including a second aircraft to carry the first sensor and the transceiver.

16. The system as defined in claim 15 , wherein the second aircraft includes an unmanned aerial vehicle.

17. The apparatus as defined in claim 1 , wherein the at least one processor is to calculate the 3-D spatial arrangement of the tether line.

18. The non-transitory computer readable medium as defined in claim 9 , wherein the instructions cause the at least one processor to generate a 3-D model of the tether line based on the segment positions.

19. The non-transitory computer readable medium as defined in claim 18 , wherein the instructions cause the at least one processor to determine an offset of the 3-D model with respect to the aircraft to calculate the adjustment of the movement of the aircraft.

20. The apparatus as defined in claim 1 , wherein the sway corresponds to a periodic motion of the tether line.

21. The apparatus as defined in claim 1 , wherein the at least one processor is to determine a curvature of the tether line, and wherein the adjustment is further based on the curvature.

22. The apparatus as defined in claim 1 , wherein the adjustment is further based on wind conditions at or proximate the tether line.

Assignees

• Insitu Inc

Inventors

• Rysdyk Rolf
• Nasroullahi Mohammad Ehsan

Classifications

• G05D1/467

  for movement inside a confined volume, e.g. indoor flying · CPC title

• B64F1/029 Primary

  using a cable or tether · CPC title

• B64U70/30

  for capturing UAVs in flight by ground or sea-based arresting gear, e.g. by a cable or a net · CPC title

• B64C39/024

  of the remote controlled vehicle type, i.e. RPV · CPC title

• G05D1/101

  specially adapted for aircraft · CPC title