Align the aircraft with the runway centerline during takeoff

Abstract

Align the aircraft with the runway centerline during takeoff. An example method for aligning an aircraft with the centerline of a runway during takeoff is described herein. The method includes: accessing a first image captured by a first camera mounted on a first side of the aircraft; accessing a second image captured by a second camera mounted on a second side of the aircraft opposite the first side; determining a first angle between a first marked line on the runway in the first image and a first reference line in the first image; determining a second angle between a second marked line on the runway in the second image and a second reference line in the second image; and moving a control surface of the aircraft based on the first angle and the second angle such that the aircraft moves closer to the centerline of the runway.

Description

Technical Field

[0001] The present disclosure generally relates to a computing device and method for aligning an aircraft with a runway centerline during takeoff, and more particularly, to a computing device and method for using image capture and image analysis to align an aircraft with a runway centerline during takeoff. Background Art

[0002] Unmanned aerial vehicles (UAVs) are increasingly being used in environments such as defense, policing, academic research, commerce, and entertainment. Some UAVs are at least partially autonomous (e.g., autonomous unmanned aerial vehicles (AUAVs)). AUAVs present navigation challenges such as automatic takeoff. That is, an on-board or networked computing device is often responsible for steering and throttling an AUAV as it accelerates down a runway during takeoff. More specifically, an AUAV typically maintains its (e.g., longitudinal) centerline reasonably close to the centerline of the runway as it accelerates down the runway.

[0003] One way to achieve this is to use neural networks or other machine learning techniques, but these techniques typically require a computing device to train itself by analyzing thousands of images before operation, typically require a high level of computing resources during operation, and may misidentify the runway centerline in the case where the runway has an atypical appearance. Accordingly, there is a need for a more effective and reliable method for aligning an aircraft with a runway centerline during takeoff. Summary of the Invention

[0004] One aspect of the present disclosure is a computing device including: one or more processors; and a computer-readable medium storing instructions that, when executed by the one or more processors, cause the computing device to perform a function of aligning an aircraft with a centerline of a runway during takeoff, the function including: accessing a first image captured by a first camera mounted on a first side of the aircraft; accessing a second image captured by a second camera mounted on a second side of the aircraft opposite the first side; determining a first angle between a first marking line on the runway in the first image and a first reference line in the first image; determining a second angle between a second marking line on the runway in the second image and a second reference line in the second image; and moving a control surface of the aircraft based on the first angle and the second angle such that the aircraft moves closer to the centerline of the runway.

[0005] Another aspect of the present disclosure is a non - transitory computer - readable medium storing instructions that, when executed by a computing device, cause the computing device to perform a function of aligning an aircraft with the centerline of a runway during takeoff. The function includes: accessing a first image captured by a first camera mounted on a first side of the aircraft; accessing a second image captured by a second camera mounted on a second side of the aircraft opposite the first side; determining a first angle between a first marking line on the runway in the first image and a first reference line in the first image; determining a second angle between a second marking line on the runway in the second image and a second reference line in the second image; and moving a control surface of the aircraft based on the first angle and the second angle such that the aircraft moves closer to the centerline of the runway.

[0006] Another aspect of the present disclosure is a method of aligning an aircraft with the centerline of a runway during takeoff. The method includes: accessing a first image captured by a first camera mounted on a first side of the aircraft; accessing a second image captured by a second camera mounted on a second side of the aircraft opposite the first side; determining a first angle between a first marking line on the runway in the first image and a first reference line in the first image; determining a second angle between a second marking line on the runway in the second image and a second reference line in the second image; and moving a control surface of the aircraft based on the first angle and the second angle such that the aircraft moves closer to the centerline of the runway.

[0007] The terms “about” or “substantially” with reference to a quantity or measurement described herein mean that the characteristic, parameter, or value need not be precisely achieved, but rather deviations or variations in amounts that do not preclude the effect the characteristic is intended to provide are acceptable, including, for example, tolerances, measurement errors, measurement precision limitations, and other factors known to those skilled in the art.

[0008] The features, functions, and advantages discussed may be implemented independently in various examples or combined in other examples, and further details thereof can be seen with reference to the following description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Features that are regarded as exemplary examples of novel features are set forth in the appended claims. However, the exemplary examples, as well as the preferred usage patterns, further objectives, and their descriptions, will be best understood by reference to the following detailed description of the exemplary examples of the present disclosure when read in conjunction with the drawings.

[0010] Figure 1 is a schematic diagram of a computing device according to an example.

[0011] Figure 2 is a flowchart of a method according to an example.

[0012] Figure 3Shows images captured by respective cameras mounted on an aircraft according to an example.

[0013] Figure 4 Is a schematic top view of an aircraft according to an example.

[0014] Figure 5 Shows images captured by respective cameras mounted on an aircraft according to an example.

[0015] Figure 6 Shows images captured by respective cameras mounted on an aircraft according to an example.

[0016] Figure 7 Shows images captured by respective cameras mounted on an aircraft according to an example.

[0017] Figure 8 Shows images captured by respective cameras mounted on an aircraft according to an example.

[0018] Figure 9 Is a schematic top view of an aircraft according to an example.

[0019] Figure 10 Shows images captured by respective cameras mounted on an aircraft according to an example.

[0020] Figure 11 Shows the relationship between (i) the magnitude of the difference between a first angle and a second angle related to the position of the aircraft on a runway and (ii) the magnitude of the deflection angle of a control surface of the aircraft according to an example. Detailed Description

[0021] As described above, there is a need for a more effective and reliable method for aligning an aircraft (e.g., a manned aircraft, a UAV, or an AUAV) with a runway centerline during takeoff. Accordingly, the present disclosure includes such methods and computing devices.

[0022] In an example, a computing device can access a first image captured by a first camera mounted on a first side of the aircraft and access a second image captured by a second camera mounted on a second side of the aircraft opposite the first side. For example, the computing device can cause the first camera to capture a first image from the port side (e.g., a wing) of the aircraft and cause the second camera to capture a second image from the starboard side (e.g., a wing) of the aircraft. The first image and the second image are typically captured simultaneously during takeoff. The first camera and the second camera are typically mounted on the aircraft to look forward relative to the aircraft.

[0023] Next, the computing device can determine a first angle between a first marking line on the runway in the first image and a first reference line in the first image. For example, the computing device can determine a first angle between the centerline of the runway in the first image and the horizon in the first image. In other examples, the first marking line can take the form of the left or right boundary line of the runway, and the first reference line can take the form of any line parallel to the horizon.

[0024] The computing device can identify the first marking line by identifying the pixel line among multiple pixel lines of the first image whose average color is closest to the (e.g., known) color of the first marking line. The computing device can also identify the first reference line by identifying the pixel line among multiple pixel lines of the first image that defines the boundary between the region in the first image where the color corresponds to the sky and the region in the first image where the color corresponds to the ground and / or the runway.

[0025] The computing device can also determine a second angle between a second marking line on the runway in the second image and a second reference line in the second image. For example, the computing device can determine a second angle between the centerline of the runway in the second image and the horizon in the second image. In other examples, the second marking line can take the form of the left or right boundary line of the runway (e.g., not the boundary line of the first marking line), and the second reference line can take the form of any line parallel to the horizon.

[0026] The computing device can identify the second marking line by identifying the pixel line among multiple pixel lines of the second image whose average color is closest to the (e.g., known) color of the second marking line. The computing device can also identify the second reference line by identifying the pixel line among multiple pixel lines of the second image that defines the boundary between the region in the second image where the color corresponds to the sky and the region in the second image where the color corresponds to the ground and / or the runway.

[0027] Next, the computing device can move a control surface (e.g., a rudder) of the aircraft based on the first angle and the second angle such that the aircraft moves closer to the centerline of the runway. The computing device generally will determine the difference between the first angle and the second angle and use that difference to determine the deflection angle between the control surface and the centerline of the aircraft, which tends to cause the aircraft to move closer to the centerline of the runway as the aircraft moves forward.

[0028] The method disclosed herein can be advantageous because, compared to conventional methods of autonomously controlling an aircraft during takeoff, the disclosed method generally consumes fewer computing resources, involves less onerous pre-operation calibration, and is less error-prone.

[0029] Implementations of the present disclosure provide technical improvements specific to computer networks and computing devices (e.g., computing devices for autonomously controlling an aircraft during takeoff).

[0030] Computing device specific technical problems, such as the management and use of large amounts of complex data from multiple sources and the associated inefficiencies, can be solved wholly or in part by implementations of the present disclosure. For example, implementations of the present disclosure can eliminate the time spent "training" a computing device with reference images prior to operation and can reduce the amount of computing resources consumed during operation. Accordingly, implementations of the present disclosure can reduce the cost and complexity of implementing inefficient methods and systems for autonomously controlling an aircraft during takeoff. As another example, implementations of the present disclosure increase the accuracy and reliability of runway line identification.

[0031] Implementations of the present disclosure can thus introduce new and efficient improvements in the way a computing device controls an aircraft during takeoff, which in turn facilitates new and efficient improvements in the way the associated data is used for diagnosis and problem solving.

[0032] The disclosed examples will now be described more fully hereinafter with reference to the accompanying drawings, in which some but not all of the disclosed examples are shown. In fact, several different examples may be described and should not be construed as limited to the examples set forth herein. Rather, these examples are described so that the present disclosure will be thorough and complete and will fully convey the scope of the present disclosure to those skilled in the art.

[0033] Now referring to Figure 1 , a computing device 100 is shown. In some examples, Figure 1 the components shown may be distributed across multiple computing devices or be a computing device. However, for example purposes, the components are shown and described as part of computing device 100. Computing device 100 can be or include a mobile device (e.g., a mobile phone), a desktop computer, a laptop computer, a tablet computer, a server, a network of multiple servers, or a similar device configured to perform the functions described herein.

[0034] As Figure 1 shown, computing device 100 includes one or more processors 102, a non-transitory computer-readable medium 104, a communication interface 106, a display 108, and a user interface 110. Figure 1 The components shown can be connected together by a system bus, network, or other connection mechanism 112.

[0035] One or more processors 102 can be any type of processor connected to a non-transitory computer-readable medium 104, such as a microprocessor, a digital signal processor, a multi-core processor, etc. The non-transitory computer-readable medium 104 can be any type of memory, such as volatile memory like random access memory (RAM), dynamic random access memory (DRAM), static random access memory (SRAM), or non-volatile memory like read-only memory (ROM), flash memory, magnetic disks or optical disks, or compact disc read-only memory (CD-ROM), and other devices for storing data or programs temporarily or permanently.

[0036] Additionally, the non-transitory computer-readable medium 104 can be configured to store instructions 114. The instructions 114 can be executed by one or more processors 102 to cause the computing device 100 to perform any of the functions described herein.

[0037] The communication interface 106 can include hardware capable of enabling communication within the computing device 100 and / or between the computing device 100 and one or more other devices. Such hardware can include, for example, a transmitter, a receiver, and an antenna. The communication interface 106 can be configured to facilitate communication with one or more other devices according to one or more wired or wireless communication protocols. For example, the communication interface 106 can be configured to facilitate wireless data communication of the computing device 100 according to one or more wireless communication standards such as one or more Institute of Electrical and Electronics Engineers (IEEE) 801.11 standards, ZigBee standards, Bluetooth standards, etc. As another example, the communication interface 106 can be configured to facilitate wired data communication with one or more other devices.

[0038] The display 108 can be any type of display component configured to display data. As an example, the display 108 can include a touchscreen display. As another example, the display 108 can include a flat panel display such as a liquid crystal display (LCD) or a light-emitting diode (LED) display.

[0039] The user interface 110 can include one or more hardware for providing data and control signals to the computing device 100. For example, the user interface 110 can include a mouse or pointing device, a keyboard or keypad, a microphone, a touchpad or touchscreen, and other possible types of user input devices. Generally, the user interface 110 can enable an operator to interact with the graphical user interface (GUI) provided by the computing device 100 (e.g., displayed by the display 108).

[0040] The computing device 100 is typically part of an aircraft 10. The aircraft 10 (e.g., an unmanned aircraft) also includes a first camera 304, a second camera 308, and control surfaces 322.

[0041] The first camera 304 and the second camera 308 will typically each take the form of a visible light camera, although other forms are possible. The control surface 322 may take the form of a rudder, but may also include flaps, ailerons, elevators, etc.

[0042] Figure 2 is a flowchart of a method 200 for aligning an aircraft with the centerline of a runway during takeoff. Referring to Figure 3 , the method 200 may involve the computing device 100 aligning the aircraft 10 with the centerline 20 of the runway 30 during takeoff.

[0043] Referring to Figure 2 , at step 202, the method 200 includes accessing a first image captured by a first camera mounted on a first side of the aircraft. Referring to Figure 3 and Figure 4 , the computing device 100 may access a first image 302 captured by a first camera 304 mounted on a first side 12 (e.g., the port side wing) of the aircraft 10. In some examples, the computing device 100 causes the first camera 304 to capture the first image 302.

[0044] Referring to Figure 2 , at step 204, the method 200 includes accessing a second image captured by a second camera mounted on a second side of the aircraft opposite the first side. Referring to Figure 3 and Figure 4 , the computing device 100 may access a second image 306 captured by a second camera 308 mounted on a second side 14 (e.g., the starboard side wing) of the aircraft 10. In some examples, the computing device 100 causes the second camera 308 to capture the second image 306 (e.g., simultaneously with the capture of the first image 302). Referring to Figure 4 , the first camera 304 and the second camera 308 are typically positioned substantially symmetrically with respect to the centerline 332 of the aircraft 10, and are typically positioned such that each has an optical axis parallel to the centerline 332.

[0045] Referring to Figure 2 , at step 206, the method 200 includes determining a first angle between a first marked line on the runway in the first image and a first reference line in the first image. Referring to Figure 3 , the computing device 100 may determine a first angle 310 between a first marked line 312 on the runway 30 in the first image 302 and a first reference line 314 in the first image 302. In Figure 3In an example, the first marking line 312 is the center line 20 of the runway 30, and the first reference line 314 is the horizon line 328 (e.g., the place where the sky meets the earth). In other examples (e.g., those discussed below), the first marking line 312 takes different forms. The first reference line 314 may alternatively take the form of any line that is substantially parallel to the horizon line 328 in the first image 302.

[0046] As Figure 3 shown, with respect to the first angle 310, the first reference line 314 forms the adjacent side of a right triangle 331, and the first marking line 312 forms the hypotenuse of the right triangle 331. The opposite side 333 of the right triangle 331 is shown in Figure 3 but may take the form of any line segment that forms a right angle with the first reference line 314 and has endpoints at the first reference line 314 and the first marking line 312, respectively.

[0047] In some examples, the computing device 100 determines the first angle 310 by calculating the arcsine of the quotient of the length of the opposite side 333 divided by the length of a portion of the first marking line 312 (e.g., the hypotenuse of the right triangle 331).

[0048] In some examples, before determining the first angle 310, the computing device 100 identifies the first marking line 312 by determining that the first marking line 312, the third marking line 324 (e.g., the left boundary line), and the fourth marking line 326 (e.g., the right boundary line) converge at or beyond the horizon line 328 within the first image 302. Additionally, the computing device 100 may identify the first marking line 312, the third marking line 324, and the fourth marking line 326 based on determining that the third marking line 324 is on the left side of the first marking line 312 and the first marking line 312 is on the left side of the fourth marking line 326.

[0049] For example, referring to Figure 5 , the computing device 100 may identify the second marking line 318 (e.g., the right boundary line) by identifying the pixel line among the multiple pixel lines 342 of the second image 306 whose average color is closest to the (e.g., known) color of the second marking line 318. Referring to Figure 3 , the computing device 100 may similarly identify the first marking line 312 by identifying the pixel line among the multiple pixel lines of the first image 302 whose average color is closest to the (e.g., known) color of the first marking line 312. That is, the computing device 100 may analyze the pixel lines to determine their respective average pixel colors (e.g., in the red-green-blue (RGB) color scale) and determine that the line with the average pixel color closest to the expected color of the marking line is the marking line.

[0050] Referring to Figure 2, at step 208, method 200 includes determining a second angle between a second marking line on the runway in the second image and a second reference line in the second image. For example, referring to Figure 3 , computing device 100 may determine a second angle 316 between a second marking line 318 on runway 30 in second image 306 and a second reference line 320 in second image 306. In Figure 3 's example, the second marking line 318 is the centerline 20 of runway 30, and the second reference line 320 is the horizon line 328. In other examples (such as those discussed below), the second marking line takes different forms. The second reference line 320 may alternatively take the form of any line in second image 306 that is substantially parallel to the horizon line 328.

[0051] As Figure 3 shown, with respect to the second angle 316, the second reference line 320 forms the adjacent side of a right triangle 337, and the second marking line 318 forms the hypotenuse of the right triangle 337. The opposite side 335 of the right triangle 337 is shown in Figure 3 , but may take the form of any line segment that forms a right angle with the second reference line 320 and has endpoints at the second reference line 320 and the second marking line 318, respectively.

[0052] In some examples, computing device 100 determines the second angle 316 by calculating the arcsine of the quotient of the length of the opposite side 335 divided by the length of a portion of the second marking line 318 (e.g., the hypotenuse of the right triangle 337).

[0053] In some examples, before determining the second angle 316, computing device 100 identifies the second marking line 318 by determining that the second marking line 318, the third marking line 324 (e.g., the left boundary line), and the fourth marking line 326 (e.g., the right boundary line) converge at or beyond the horizon line 328 within the second image 306. Additionally, computing device 100 may identify the second marking line 318, the third marking line 324, and the fourth marking line 326 based on determining that the third marking line 324 is to the left of the second marking line 318 and the second marking line 318 is to the left of the fourth marking line 326.

[0054] Figure 6 shows an additional example of the present disclosure, where the first marking line 312 takes the form of the left boundary line of runway 30, and the second marking line 318 takes the form of the right boundary line of runway 30. Thus, computing device 100 may determine a first angle 310 between the first marking line 312 in the first image 302 and the first reference line 314 in the first image 302 according to step 206.

[0055] As Figure 6As shown, relative to the first angle 310, the first reference line 314 forms the adjacent side of a right triangle, and the first marking line 312 forms the hypotenuse of the right triangle. The opposite side of the right triangle is not shown in Figure 6 , but can take the form of any line segment that forms a right angle with the first reference line 314 and has endpoints at the first reference line 314 and the first marking line 312, respectively.

[0056] In some examples, before determining the first angle 310, the computing device 100 identifies the first marking line 312 by determining that the first marking line 312, the center line 20, and the fourth marking line 326 (e.g., the right boundary line) converge at or beyond the horizon 328 within the first image 302. Additionally, the computing device 100 can identify the first marking line 312, the center line 20, and the fourth marking line 326 based on determining that the first marking line 312 is to the left of the center line 20 and the center line 20 is to the left of the fourth marking line 326.

[0057] Returning to Figure 2 , according to step 208 and as Figure 6 shown, the computing device 100 can determine a second angle 316 between the second marking line 318 and the second reference line 320 in the second image 306.

[0058] As Figure 6 shown, relative to the second angle 316, the second reference line 320 forms the adjacent side of a right triangle, and the second marking line 318 forms the hypotenuse of the right triangle. The opposite side of the right triangle is not shown in Figure 6 , but can take the form of any line segment that forms a right angle with the second reference line 320 and has endpoints at the second reference line 320 and the second marking line 318, respectively.

[0059] In some examples, before determining the second angle 316, the computing device 100 identifies the second marking line 318 by determining that the second marking line 318, the center line 20, and the third marking line 324 (e.g., the left boundary line) converge at or beyond the horizon 328 within the second image 306. Additionally, the computing device 100 can identify the second marking line 318, the center line 20, and the third marking line 324 based on determining that the second marking line 318 is to the right of the center line 20 and the center line 20 is to the right of the third marking line 324.

[0060] Figure 7An additional example of the present disclosure is shown, where the first marking line 312 takes the form of the right boundary line of the runway 30, and the second marking line 318 takes the form of the left boundary line of the runway 30. Thus, the computing device 100 can determine a first angle 310 between the first marking line 312 in the first image 302 and the first reference line 314 in the first image 302 according to step 206.

[0061] As Figure 7 shown, with respect to the first angle 310, the first reference line 314 forms the adjacent side of a right triangle, and the first marking line 312 forms the hypotenuse of the right triangle. The opposite side of the right triangle is not shown in Figure 7 but can take the form of any line segment that forms a right angle with the first reference line 314 and has endpoints at the first reference line 314 and the first marking line 312, respectively.

[0062] In some examples, before determining the first angle 310, the computing device 100 identifies the first marking line 312 by determining that the first marking line 312, the center line 20, and the third marking line 324 (e.g., the left boundary line) converge at or beyond the horizon 328 within the first image 302. Additionally, the computing device 100 can identify the first marking line 312, the center line 20, and the third marking line 324 based on determining that the first marking line 312 is to the right of the center line 20 and the center line 20 is to the right of the third marking line 324.

[0063] Returning to Figure 2 and according to step 208 and as Figure 7 shown, the computing device 100 can determine a second angle 316 between the second marking line 318 in the second image 306 and the second reference line 320 in the second image 306.

[0064] As Figure 7 shown, with respect to the second angle 316, the second reference line 320 forms the adjacent side of a right triangle, and the second marking line 318 forms the hypotenuse of the right triangle. The opposite side of the right triangle is not shown in Figure 7 but can take the form of any line segment that forms a right angle with the second reference line 320 and has endpoints at the second reference line 320 and the second marking line 318, respectively.

[0065] In some examples, before determining the second angle 316, the computing device 100 identifies the second marker line 318 by determining that the second marker line 318, the center line 20, and the fourth marker line 326 (e.g., the right boundary line) converge at or beyond the horizon line 328 within the second image 306. Additionally, the computing device 100 can identify the second marker line 318, the center line 20, and the fourth marker line 326 based on determining that the second marker line 318 is to the left of the center line 20 and the center line 20 is to the left of the fourth marker line 326.

[0066] Referring Figure 2 , at step 210, the method 200 includes moving a control surface of the aircraft based on the first angle and the second angle such that the aircraft moves closer to the center line of the runway. For example, referring Figure 8 and Figure 9 , the computing device 100 can move the control surface 322 based on the first angle 310 and the second angle 316 such that the aircraft 10 moves closer to the center line 20 of the runway 30 (e.g., during forward movement of the aircraft 10).

[0067] In some examples, the computing device 100 can determine the difference between the first angle 310 and the second angle 316 and move the control surface 322 based on the difference. Figure 8 shows an example where the first angle 310 is less than the second angle 316 such that the difference between the first angle 310 minus the second angle 316 is negative. In this example, the aircraft is shifted to the left relative to the center line 20 (see Figure 9 ). Accordingly, the computing device 100 can move the control surface 322 to the right of the center line 332 such that there is a deflection angle 330 between the control surface 322 and the center line 332. In this case, the deflection angle 330 can be defined by a function that monotonically increases with respect to the difference between the second angle 316 minus the first angle 310. That is, as the difference between the second angle 316 minus the first angle 310 increases, Figure 9 the deflection angle 330 in

[0068] Figure 11 also increases. d |). Figure 11 shows a possible relationship between (i) the magnitude of the difference between the first angle 310 and the second angle 316 (e.g., |θ1 - θ2|) and (ii) the magnitude of the deflection angle 330 (e.g., |θ

[0069] Figure 10 |). For values of |θ1 - θ2| less than about 90 degrees (e.g., point 339), the magnitude of the deflection angle 330 is approximately proportional to |θ1 - θ2|. For values of |θ1 - θ2| greater than about 90 degrees, the magnitude of the deflection angle 330 becomes slightly non - linear, as Figure 11 shown.

[0069] Figure 10An example is shown where the first angle 310 is greater than the second angle 316, such that the difference between the first angle 310 minus the second angle 316 is positive. In this example, the aircraft is shifted to the right relative to the centerline 20 (see Figure 4 ). Accordingly, the computing device 100 can move the control surface 322 to the left of the centerline 332 such that there is a deflection angle 330 between the control surface 322 and the centerline 332. In this case, the deflection angle 330 can be defined by a function that monotonically increases with respect to the difference between the first angle 310 minus the second angle 316. That is, as the difference between the first angle 310 minus the second angle 316 increases, Figure 4 the deflection angle 330 in

[0070] also increases. The computing device 100 can determine the direction 334 in which the aircraft is shifted relative to the centerline 20 of the runway 30 based on the first angle 310 and the second angle 316. For example, referring to Figure 10 , the computing device 100 can determine that the first angle 310 is greater than the second angle 316 and then determine that the aircraft 10 is shifted in the direction 334 (e.g., to the right) relative to the centerline 20. In this case, as shown in Figure 4 , the computing device 100 can move the control surface 322 in the direction 336 (e.g., to the left). For example, referring to Figure 8 , the computing device 100 can determine that the first angle 310 is less than the second angle 316 and then determine that the aircraft 10 is shifted in the direction 334 (e.g., to the left) relative to the centerline 20. In this case, as shown in Figure 9 , the computing device 100 can move the control surface 322 in the direction 336 (e.g., to the right).

[0071] Referring to the examples of Figure 4 and Figure 9 , the computing device 100 can determine the distance 338 by which the aircraft 10 is shifted relative to the centerline 20 of the runway 30 based on the first angle 310 and the second angle 316. For example, in Figure 4 , the computing device 100 can determine that the aircraft 10 is shifted to the right of the centerline 20 based on the difference between the first angle 310 and the second angle 316. The greater the difference between the first angle 310 minus the second angle 316, Figure 4 the greater the distance 338 in

[0072] . Accordingly, the computing device 100 can move the control surface 322 to the left to form a deflection angle 330 defined by a function that monotonically increases with respect to the distance 338. Figure 9 For example, in Figure 9The greater the distance 338 in. Thus, the computing device 100 can move the control surface 322 to the right to form a deflection angle 330 defined by a function that monotonically increases with respect to the distance 338.

[0073] In some examples, the computing device 100 can consider the heading of the aircraft 10. For example, referring to Figure 4 and Figure 9 , if the heading 340 of the aircraft 10 is away from the centerline 20, the computing device 100 can increase the deflection angle 330. Conversely, if the heading 340 of the aircraft 10 is toward the centerline 20, the computing device 100 can decrease the deflection angle 330.

[0074] In some examples, the computing device 100 can consider the speed of the aircraft 10 as the aircraft 10 travels along the runway 30. For example, for a lower speed of the aircraft 10, the computing device 100 can increase the deflection angle 330. For a higher speed of the aircraft 10, the computing device 100 can decrease the deflection angle 330.

[0075] In some examples, the computing device 100 can determine that a particular line marked on the runway is obscured, such as by snow. For example, referring to Figure 3 , if the computing device 100 determines that the left or right boundary line of the runway 30 is obscured, the computing device 100 can perform the above method with the centerline 20 taking the form of the first marked line 312 in the first image 302 and the second marked line 318 in the second image 306. For example, referring to Figure 6 , if the computing device 100 determines that the centerline 20 of the runway 30 is obscured, the computing device 100 can perform the above method with the left boundary line of the runway 30 taking the form of the first marked line 312 and the right boundary line taking the form of the second marked line 318. As another example, referring to Figure 7 , if the computing device 100 determines that the centerline 20 of the runway 30 is obscured, the computing device 100 can perform the above method with the right boundary line of the runway 30 taking the form of the first marked line 312 and the left boundary line taking the form of the second marked line 318.

[0076] Thus, examples of the present disclosure can relate to one of the enumerated clauses (EC) listed below.

[0077] EC 1 is a computing device that includes: one or more processors; and a computer-readable medium storing instructions that, when executed by the one or more processors, cause the computing device to perform a function of aligning an aircraft with the centerline of a runway during takeoff, the function including: accessing a first image captured by a first camera mounted on a first side of the aircraft; accessing a second image captured by a second camera mounted on a second side of the aircraft opposite the first side; determining a first angle between a first marking line on the runway in the first image and a first reference line in the first image; determining a second angle between a second marking line on the runway in the second image and a second reference line in the second image; and moving a control surface of the aircraft based on the first angle and the second angle such that the aircraft moves closer to the centerline of the runway.

[0078] EC 2 is the computing device according to EC 1, and the function further includes: before determining the first angle, identifying the first marking line by determining that the first marking line, a third marking line, and a fourth marking line converge at or beyond the horizon within the first image.

[0079] EC 3 is the computing device according to any one of EC 1-2, wherein, relative to the first angle, the first reference line forms an adjacent side of a right triangle, and wherein the first marking line forms a hypotenuse of the right triangle.

[0080] EC 4 is the computing device according to any one of EC 1-3, wherein the first marking line is the centerline of the runway, and wherein the second marking line is also the centerline of the runway.

[0081] EC 5 is the computing device according to any one of EC 1-3, wherein the first side of the aircraft is the starboard side of the aircraft, wherein the second side of the aircraft is the port side of the aircraft, wherein the first marking line is the left boundary line of the runway, and wherein the second marking line is the right boundary line of the runway.

[0082] EC 6 is the computing device according to any one of EC 1-3, wherein the first side of the aircraft is the starboard side of the aircraft, wherein the second side of the aircraft is the port side of the aircraft, wherein the first marking line is the right boundary line of the runway, and wherein the second marking line is the left boundary line of the runway.

[0083] EC 7 is the computing device according to any one of EC 1-6, wherein the first reference line is substantially parallel to the horizon in the first image, and wherein the second reference line is substantially parallel to the horizon in the second image.

[0084] EC 8 is a computing device according to any one of EC 1-7, wherein the first image and the second image are captured substantially simultaneously.

[0085] EC 9 is a computing device according to any one of EC 1-8, wherein the aircraft is an unmanned aircraft.

[0086] EC 10 is a computing device according to any one of EC 1-9, wherein the first camera and the second camera are positioned substantially symmetrically with respect to the centerline of the aircraft.

[0087] EC 11 is a computing device according to any one of EC 1-10, wherein the control surface is a rudder.

[0088] EC 12 is a computing device according to any one of EC 1-11, the function further comprising determining a difference between a first angle and a second angle, wherein moving the control surface comprises moving the control surface based on the difference.

[0089] EC 13 is a computing device according to EC 12, wherein moving the control surface based on the difference comprises moving the control surface to form a deflection angle between the control surface and the centerline of the aircraft, wherein the deflection angle is defined by a function that monotonically increases with respect to the difference.

[0090] EC 14 is a computing device according to any one of EC 1-13, the function further comprising determining a direction in which the aircraft is displaced relative to the centerline of the runway based on the first angle and the second angle, wherein moving the control surface comprises moving the control surface such that the control surface is displaced relative to the centerline of the aircraft in a direction opposite to the determined direction.

[0091] EC 15 is a computing device according to any one of EC 1-14, the function further comprising determining a distance by which the aircraft is displaced relative to the centerline of the runway based on the first angle and the second angle, wherein moving the control surface comprises moving the control surface to form a deflection angle between the control surface and the centerline of the aircraft, wherein the deflection angle is defined by a function that monotonically increases with respect to the distance.

[0092] EC 16 is a computing device according to any one of EC 1-15, the function further comprising determining the heading of the aircraft based on the first angle and the second angle, wherein moving the control surface comprises moving the control surface based on the heading.

[0093] EC 17 is a computing device according to any one of EC 1-16, the function further comprising identifying a first marker line by identifying a pixel line among a plurality of pixel lines of the first image whose average color is closest to the color of the first marker line.

[0094] EC 18 is a computing device according to any one of EC 1-7, and the function further includes determining that a third marking line on the runway in the first image is occluded, wherein determining the first angle includes determining the first angle based on determining that the third marking line on the runway in the first image is occluded.

[0095] EC 19 is a non-transitory computer-readable medium storing instructions that, when executed by a computing device, cause the computing device to perform the function of aligning an aircraft with the centerline of a runway during takeoff, the function including: accessing a first image captured by a first camera mounted on a first side of the aircraft; accessing a second image captured by a second camera mounted on a second side of the aircraft opposite the first side; determining a first angle between a first marking line on the runway in the first image and a first reference line in the first image; determining a second angle between a second marking line on the runway in the second image and a second reference line in the second image; and based on the first angle and the second angle, moving a control surface of the aircraft so that the aircraft moves closer to the centerline of the runway.

[0096] EC 20 is a method of aligning an aircraft with the centerline of a runway during takeoff, the method including: accessing a first image captured by a first camera mounted on a first side of the aircraft; accessing a second image captured by a second camera mounted on a second side of the aircraft opposite the first side; determining a first angle between a first marking line on the runway in the first image and a first reference line in the first image; determining a second angle between a second marking line on the runway in the second image and a second reference line in the second image; and based on the first angle and the second angle, moving a control surface of the aircraft so that the aircraft moves closer to the centerline of the runway.

[0097] Descriptions of different advantageous arrangements have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the examples of the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. Additionally, different advantageous examples may describe different advantages compared to other advantageous examples. The examples selected have been selected and described in order to illustrate the principles of the examples, practical applications, and to enable those of ordinary skill in the art to understand the various examples of the disclosure and the various modifications suitable for the particular uses that may be contemplated.

Claims

1. A computing device (100), the computing device (100) comprising: One or more processors (102); And A computer-readable medium (104) storing instructions (114), the instructions, when executed by the one or more processors, cause the computing device to perform a function of aligning an aircraft (10) with a centerline (20) of a runway (30) during takeoff, the function comprising: Accessing (202) a first image (302) captured by a first camera (304) mounted on a first side (12) of the aircraft; Accessing (204) a second image (306) captured by a second camera (308) mounted on a second side (14) of the aircraft opposite the first side; Determining (206) a first angle (310) between a first marking line (312) on the runway in the first image and a first reference line (314) in the first image; Determining (208) a second angle (316) between a second marking line (318) on the runway in the second image and a second reference line (320) in the second image; Determining a difference between the first angle and the second angle; and Based on the difference between the first angle and the second angle, autonomously moving (210) a control surface (322) of the aircraft such that the aircraft moves closer to the centerline of the runway, Wherein, moving the control surface based on the difference includes moving the control surface to form a deflection angle (330) between the control surface and the centerline of the aircraft, wherein the deflection angle is defined by a function that monotonically increases with respect to the difference.

2. The computing device according to claim 1, wherein the function further comprises: Before determining the first angle, the first marking line is identified by determining that the first marking line, a third marking line (324) and a fourth marking line (326) converge at or beyond a horizon (328) within the first image.

3. The computing device according to claim 1, Among them, Relative to the first angle, the first reference line forms an adjacent side of a right triangle, and Wherein, the first marking line forms the hypotenuse of the right triangle.

4. The computing device according to claim 1, Among them, The first marking line is the centerline of the runway, and Wherein, the second marking line is also the centerline of the runway.

5. The computing device according to claim 1, Among them, The first side of the aircraft is the port side of the aircraft, Wherein, the second side of the aircraft is the starboard side of the aircraft, Wherein, the first marking line is the left boundary line of the runway, and Wherein, the second marking line is the right boundary line of the runway.

6. The computing device according to claim 1, Among them, The first side of the aircraft is the port side of the aircraft, Wherein, the second side of the aircraft is the starboard side of the aircraft, Wherein, the first marking line is the right boundary line of the runway, and Wherein, the second marking line is the left boundary line of the runway.

7. The computing device according to claim 1, Among them, In the first image, the first reference line is substantially parallel to the horizon, and wherein, in the second image, the second reference line is substantially parallel to the horizon.

8. The computing device according to claim 1, wherein, The first image and the second image are captured substantially simultaneously.

9. The computing device according to claim 1, wherein, The aircraft is an unmanned aerial vehicle.

10. The computing device according to claim 1, wherein, The first camera and the second camera are positioned substantially symmetrically with respect to the center line (332) of the aircraft.

11. The computing device according to claim 1, wherein, The control surface is a rudder.

12. A computing device (100), the computing device (100) comprising: One or more processors (102); And A computer-readable medium (104) storing instructions (114), the instructions when executed by the one or more processors cause the computing device to perform a function of aligning an aircraft (10) with the center line (20) of a runway (30) during takeoff, the function comprising: Accessing (202) a first image (302) captured by a first camera (304) mounted on a first side (12) of the aircraft; Accessing (204) a second image (306) captured by a second camera (308) mounted on a second side (14) of the aircraft opposite to the first side; Determining (206) a first angle (310) between a first marking line (312) on the runway in the first image and a first reference line (314) in the first image; Determining (208) a second angle (316) between a second marking line (318) on the runway in the second image and a second reference line (320) in the second image; Determining the difference between the first angle and the second angle; and Based on the difference between the first angle and the second angle, autonomously moving (210) a control surface (322) of the aircraft such that the aircraft moves closer to the center line of the runway, wherein the function further comprises at least one of the following: Determining (334) a direction in which the aircraft is displaced with respect to the center line of the runway based on the first angle and the second angle, wherein moving the control surface includes moving the control surface such that the control surface is displaced in a direction (336) opposite to the determined direction with respect to the center line of the aircraft; Determining (338) a distance by which the aircraft is displaced with respect to the center line of the runway based on the first angle and the second angle, wherein moving the control surface includes moving the control surface to form a deflection angle between the control surface and the center line of the aircraft, wherein the deflection angle is defined by a function that monotonically increases with respect to the distance; Determining (340) the heading of the aircraft based on the first angle and the second angle, wherein moving the control surface includes moving the control surface based on the heading; Identifying the first marking line by identifying a pixel line among a plurality of pixel lines (342) of the first image whose average color is closest to the color of the first marking line; and Determine that a third marking line on the runway in the first image is occluded, wherein determining the first angle includes determining the first angle based on determining that the third marking line on the runway in the first image is occluded.

13. A method (200) for aligning an aircraft (10) with the centerline (20) of a runway (30) during takeoff, the method comprising the steps of: Access (202) a first image (302) captured by a first camera (304) mounted on a first side (12) of the aircraft; Access (204) a second image (306) captured by a second camera (308) mounted on a second side (14) of the aircraft opposite the first side; Determine (206) a first angle (310) between a first marking line (312) on the runway in the first image and a first reference line (314) in the first image; Determine (208) a second angle (316) between a second marking line (318) on the runway in the second image and a second reference line (320) in the second image; Determine the difference between the first angle and the second angle; And Based on the difference between the first angle and the second angle, autonomously move (210) a control surface (322) of the aircraft such that the aircraft moves closer to the centerline of the runway, Wherein moving the control surface based on the difference includes moving the control surface to form a deflection angle (330) between the control surface and the centerline of the aircraft, wherein the deflection angle is defined by a function that monotonically increases with respect to the difference.

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