Systems and methods for landing and terrain flight assistance

Patent metadata

Field	Value
Publication number	US-12518642-B2
Application number	US-202218062898-A
Country	US
Kind code	B2
Filing date	Dec 7, 2022
Priority date	Jun 8, 2020
Publication date	Jan 6, 2026
Grant date	Jan 6, 2026

Abstract

A method and a system for landing and terrain flight assistance are provided herein. The method may include the following steps: obtaining, by at least one imaging sensor disposed on an aerial platform, at least two images of at least a portion of a specified region of a terrain; determining, based on the at least two images, a 3D model of at least a portion of the specified region; receiving a predetermined model of at least a portion of the specified region; determining a real-world geographic location of the aerial platform based on the 3D model and the predetermined model; and determining flight instructions based on the 3D model and the determined geographic location of the aerial platform.

First claim

The invention claimed is:

1 . A method of providing a computer-assisted landing and terrain flight assistance, the method comprising:
obtaining, by an imaging sensor disposed on an aerial platform, at least two images of at least a portion of a specified region of a terrain when the aerial platform is at corresponding at least two different geographic locations; tracking a line of sight (LOS) of a user of the aerial platform with respect to the specified region using a LOS tracking device; determining, based on the at least two images, a 3D model comprising a set of data values that provide a 3D representation of at least a portion of the specified region, wherein the 3D model is determined according to the tracked LOS of the user; analyzing, by a computer processor, at least a portion of data values of the 3D model based on a predetermined classification dataset to provide one or more classified subsets of data values of the 3D model; filtering, by a geolocation anchoring module, on the computer processor, the 3D model based on classified subsets of data values to provide a filtered 3D model, wherein said filtering comprises removing, by the geolocation anchoring module, data values of temporal objects, wherein said data values of temporal objects are removed based on dynamics of change of the tracked LOS of the user; receiving a predetermined model comprising a set of predetermined data values that provide a representation of at least a portion of the specified region, wherein real-world geographic locations of at least some of the predetermined data values are known; comparing, by the computer processor, at least a portion of the filtered 3D model and at least a portion of the predetermined model; determining a real-world geographic location of the aerial platform based on the comparison of at least a portion of the filtered 3D model and at least a portion of the predetermined model; determining flight instructions based on the filtered 3D model and the determined real-world geographic location of the aerial platform; updating, by the computer processor, one or more data values of the filtered 3D model with corresponding one or more data values of the pre-determined model upon detection of a reduction of a quality of the one or more data values of the filtered 3D model; and displaying, by the computer processor, the updated filtered 3D model on a display.

2 . The method of claim 1 , further comprising obtaining at least one of the at least two images at a different orientation with respect to the specified region as compared to at least one another image of the at least two images.

3 . The method of claim 1 , wherein the updating comprises at least one of:
completing one or more missing data values of the 3D model with one or more predetermined data values of the predetermined model; replacing one or more data values of the 3D model with corresponding one or more predetermined data values of the predetermined model; and replacing one or more data values of the 3D model with corresponding one or more weighted data values, each of the weighted data values comprises corresponding weighted data value of the 3D model and corresponding weighted predetermined data value of the predetermined model.

4 . The method of claim 1 , comprising updating at least a portion of the predetermined model based on at least a portion of the 3D model.

5 . The method of claim 1 , further comprising:
receiving a real-time model generatable based on readings of one or more real-time sensors disposed on the aerial platform, the real-time model comprises a set of real-time data values that provide a representation of at least a portion of the specified region; and updating at least a portion of the 3D model based on at least a portion of the real-time model.

6 . The method of claim 5 , wherein the one or more real-time sensors comprises at least one of a radar and LIDAR.

7 . The method of claim 5 , wherein the updating comprises at least one of:
completing one or more missing data values of the 3D model with one or more real-time data values of the real-time model; replacing one or more data values of the 3D model with corresponding one or more real-time data values of the real-time model; and replacing one or more data values of the 3D model with corresponding one or more weighted data values, each of the weighted data values comprises corresponding weighted data value of the 3D model and corresponding weighted real-time data value of the real-time model.

8 . The method of claim 7 , wherein the replacing is upon detection of a reduction of a quality of the one or more data values of the 3D model.

9 . The method of claim 1 , further comprising determining the 3D model to include a higher density of data values that represent a predetermined region of interest (ROI) around a LOS point at which the LOS of the user intersects the specified region of the terrain as compared to density of data values that represent other portions of the specified region.

10 . The method of claim 1 , further comprising rendering at least a portion of the 3D model to yield one or more rendered frames.

11 . The method of claim 10 , further comprising rendering at least a portion of the 3D model according to at least one of:
the determined real-world geographic location of the aerial platform; and a specified point-of view defined by a user.

12 . The method of claim 10 , further comprising:
calculating, based on dynamics of change of the LOS of the user, a LOS prediction indicative of the LOS of the user in a subsequent time interval; and rendering at least a portion of the 3D model based on the LOS prediction.

13 . The method of claim 10 , further comprising rendering at least a portion of a 3D model that has been determined at a specified preceding time interval.

14 . The method of claim 1 , further comprising rendering at least a portion of the 3D model according to the one or more classified subsets and according to a predetermined set of classifying-rendering rules to provide one or more rendered frames.

15 . The method of claim 14 , further comprising presenting at least one of the one or more classified subsets of data values as a semantic representation of an object represented by the respective classified dataset.

16 . A computer-assisted system for landing and terrain flight assistance, the system comprising:
an imaging sensor adapted to be disposed on an aerial platform and adapted to obtain at least two images of at least a portion of a specified region of a terrain when the aerial platform is at corresponding at least two different geographic locations; a geolocation anchoring module; a line of sight (LOS) tracking device adapted to track a LOS of a user of the aerial platform with respect to the specified region; and
a processing unit configured to:
receive the at least two images;
determine, based on the at least two images, a 3D model comprising a set of data values that provide a 3D representation of at least a portion of the specified region, wherein the 3D model is determined according to the tracked LOS of the user;
analyze at least a portion of data values of the 3D model based on a predetermined classification dataset to provide one or more classified subsets of data values of the 3D model;
filter, by the geolocation anchoring module, the 3D model based on classified subsets of data values to provide a filtered 3D model, comprising the removal of data values of temporal objects by the geolocation anchoring module, wherein said removal of data values of temporal

Assignees

• Elbit Systems Ltd

Inventors

• Ophir Yoav
• Mashiah Ayelet

Classifications

• G08G5/74

  for monitoring terrain · CPC title

• G08G5/21

  located onboard the aircraft · CPC title

• B64D45/08

  optical · CPC title

• G08G5/55

  for a single aircraft · CPC title

• G08G5/50

  Navigation or guidance aids · CPC title