Abstract

A system and method for autonomously landing a Vertical Take-Off and Landing (VTOL) aircraft on a landing surface is provided. At least one primary sensor is mounted to the VTOL aircraft. A processing circuitry is configured to repeatedly obtain frames that are captured by the primary sensor. At least some of the frames include at least one readable marker of a pattern of markers that is provided on the landing surface. For each frame that includes at least one readable marker, the processing circuitry is configured to identify the marker, and to generate, based on the identified marker, maneuvering command(s) for controlling the aircraft. The aircraft is landed with the primary sensor being offset from a predefined point that is designated on the landing surface before forming the pattern of markers. The primary sensor is capable of being at any orientation relative to the predefined point upon landing the aircraft.

IPC Classes  ?

• B64U 10/20 - Vertical take-off and landing [VTOL] aircraft
• B64U 70/95 - Means for guiding the landing UAV towards the platform, e.g. lighting means
• B64U 10/17 - Helicopters
• G08G 5/00 - Traffic control systems for aircraft
• B64U 70/97 - Means for guiding the UAV to a specific location on the platform, e.g. platform structures preventing landing off-centre
• G08G 5/02 - Automatic landing aids, i.e. systems in which flight data of incoming planes are processed to provide landing data

Abstract

A system for autonomously landing a Vertical Take-Off and Landing (VTOL) aircraft, comprising: a first sensor; a second sensor; and a processing resource configured to: (a) obtain, from, the first sensor, first readings; (b) generate, at a first rate, based on at least part of the first readings, a 3D model of at least, part of a scene visible by the first sensor; (c) obtain, from the second sensor, a plurality of second readings, enabling identifying changes within the at least part of the scene; (d) analyze at least part of the second readings, at a second rate, to obtain changes information indicative of the changes; (e) identify, using the 3D model and the changes information, potential landing areas for the aircraft; (f) generate commands to maneuver the aircraft towards a selected landing area of the potential landing areas; and (g) repeat steps (a) to (f) until landing the aircraft.

IPC Classes  ?

• G08G 5/00 - Traffic control systems for aircraft
• G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
• G05D 1/06 - Rate of change of altitude or depth
• G08G 5/02 - Automatic landing aids, i.e. systems in which flight data of incoming planes are processed to provide landing data