Beacon detection system

Abstract

A beacon detection system includes a camera, a motion detection device associated with the camera, and one or more processors. The one or more processors process a video feed captured by the camera using a motion compensation technique and determine light flicker frequency information associated with a plurality of regions of the video feed. The one or more processors use a filtering technique associated with a beacon frequency and, based on the light flicker frequency information, determine a set of one or more regions of the plurality of regions of the video feed that are associated with the beacon frequency. The one or more processors provide a filtered video feed that includes video content of the video feed that is associated with only the set of one or more regions of the video feed.

Description

Technical Field

[0001] This disclosure generally relates to beacon detection systems and beacon detection systems for aircraft. Background Technology

[0002] A beacon is a light source that emits light with one or more characteristics, such as brightness, color, or modulation pattern, which allows it to be uniquely identifiable (e.g., as a beacon compared to other light sources). Beacons can be used as reference points for aircraft or other types of vehicles to facilitate navigation, positioning, alignment, or other types of operations. Summary of the Invention

[0003] Embodiments of this disclosure provide a beacon detection system for an aircraft, including a camera having a field of view associated with the aircraft's attitude; motion detection equipment associated with the camera; and one or more processors configured to: process a video feed captured by the camera using motion compensation techniques; determine light flicker frequency information associated with a plurality of regions of the video feed; determine a set of one or more regions of the video feed associated with the beacon frequency based on the light flicker frequency information and using filtering techniques associated with the beacon frequency; and provide a filtered video feed to the aircraft's flight management system, comprising video content of the video feed associated only with that set of one or more regions of the video feed.

[0004] Another embodiment of this disclosure provides a non-transitory computer-readable medium storing a set of instructions, including one or more instructions that, when executed by one or more processors of an aircraft system, cause the system to: determine light flicker frequency information associated with multiple regions of a video feed captured by a camera; use filtering techniques associated with specific frequencies and, based on the light flicker frequency information, determine a set of one or more regions of the multiple regions of the video feed associated with the specific frequencies; and provide a filtered video feed comprising video content of the video feed associated only with that set of one or more regions of the video feed.

[0005] Another embodiment of this disclosure provides a method performed by a system of an aircraft, comprising determining light flicker frequency information associated with a plurality of regions of a video feed captured by a camera; determining, based on the light flicker frequency information, a group of one or more regions of the plurality of regions of the video feed associated with a beacon frequency; and providing video content of the video feed associated with the group of one or more regions of the video feed.

[0006] Clause 1. A beacon detection system (220) for an aircraft (210), comprising: A camera having a field of view associated with the attitude of the aircraft (210); Motion detection equipment, which is associated with the camera; and One or more processors (320) are configured to: Motion compensation technology is used to process the video feed captured by the camera; Determine the light flicker frequency information associated with multiple regions of the video feed; Using filtering techniques associated with the beacon frequency, and based on the optical flicker frequency information, determine one or more regions in the plurality of regions of the video feed that are associated with the beacon frequency; and A filtered video feed is provided to the flight management system (230) of the aircraft (210), the filtered video feed comprising video content of the video feed that is associated only with one or more regions of the video feed.

[0007] Clause 2. The beacon detection system (220) according to Clause 1, wherein, in order to provide the filtered video feed, the one or more processors (320) are configured to: The filtered video feed is transmitted to the flight management system (230) to cause the aircraft (210) to automatically perform one or more positioning operations associated with at least one beacon, the at least one beacon being modulated at the beacon frequency and depicted by the filtered video feed.

[0008] Clause 3. The beacon detection system (220) according to Clause 1, wherein, in order to process the video feed, the one or more processors (320) are configured to: The video frame sequence that identifies the video feed; Identify motion data associated with the video frame sequence in the motion information captured by the motion detection device (300); and Motion compensation technology is used, and the video frame sequence is processed based on the motion data to stabilize the video frame sequence.

[0009] Clause 4. The beacon detection system (220) according to Clause 1, wherein, in order to determine the light flicker frequency information, the one or more processors (320) are configured to: For each of the plurality of regions in the video feed, determine temporal intensity variation data associated with the video frame sequence of the video feed; and The light flicker frequency information is generated to indicate the time intensity variation data of each of the plurality of regions in the video feed.

[0010] Clause 5. The beacon detection system (220) according to Clause 1, wherein the filtering technique includes the use of a bandpass filter, wherein the beacon frequency is set as the center frequency of the bandpass filter.

[0011] Clause 6. The beacon detection system (220) according to Clause 1, wherein, in order to determine the set of one or more regions associated with the beacon frequency in the plurality of regions of the video feed, the one or more processors (320) are configured to: The filtering technique is used to process the optical flicker frequency information to identify at least one region in the plurality of regions of the video feed that has a temporal intensity variation matching the beacon frequency; and The group of one or more regions is defined as including at least one of the regions.

[0012] Clause 7. The beacon detection system (220) according to Clause 1, wherein, in order to provide the filtered video feed, the one or more processors (320) are configured to: Generate a video mask associated with regions in the video feed that are not associated with the set of one or more regions; The video mask is applied to the video feed to generate the filtered video feed; and The filtered video feed is transmitted to the flight management system (230) via a communication connection between the beacon detection system (220) and the flight management system (230).

[0013] Clause 8. The beacon detection system (220) according to Clause 1, wherein each region of the plurality of regions of the video feed is associated with a pixel cluster of the video feed.

[0014] Clause 9. The beacon detection system (220) according to Clause 1, wherein the capture rate of the camera is greater than or equal to twice the beacon frequency.

[0015] Clause 10. The beacon detection system (220) according to Clause 1, wherein the motion detection device comprises at least one of the following: Accelerometer; Gyroscope; Inertial measurement unit; or Optical flow sensor.

[0016] Clause 11. A non-transitory computer-readable medium (330) storing a set of instructions, said set of instructions comprising: One or more instructions, when executed by one or more processors (320) of the system (220) of the aircraft (210), cause the system (220) to: Determine the light flicker frequency information associated with multiple regions of the video feed captured by the camera; Using filtering techniques associated with a specific frequency, and based on the light flicker frequency information, determine one or more regions in the plurality of regions of the video feed that are associated with the specific frequency; and Provide a filtered video feed, the filtered video feed comprising video content of the video feed that is associated only with one or more regions of the video feed.

[0017] Clause 12. The non-transitory computer-readable medium (330) as described in Clause 11, wherein the one or more instructions that cause the system (220) to determine the optical flicker frequency information cause the system (220) to: The video feed is processed using motion compensation technology; and The light flicker frequency information is determined after processing the video feed.

[0018] Clause 13. The non-transitory computer-readable medium (330) as described in Clause 12, wherein the one or more instructions causing the system (220) to process the video feed cause the system (220) to: The motion compensation technique is used, and the video frame sequence of the video feed is processed based on motion information captured by a motion detection device associated with the camera, to stabilize the video frame sequence.

[0019] Clause 14. The non-transitory computer-readable medium (330) as described in Clause 11, wherein the one or more instructions that cause the system (220) to determine the optical flicker frequency information cause the system (220) to: Determine temporal intensity variation data for each of the plurality of regions in the video feed.

[0020] Clause 15. The non-transitory computer-readable medium (330) as described in Clause 11, wherein the one or more instructions that cause the system (220) to determine the set of one or more regions associated with the specific frequency in the plurality of regions of the video feed cause the system (220): The filtering technique is used to process the light flicker frequency information to identify at least one region in the plurality of regions of the video feed that has a time intensity variation matching the specific frequency.

[0021] Clause 16. The non-transitory computer-readable medium (330) pursuant to Clause 11, wherein the one or more instructions causing the system (220) to determine the set of one or more regions associated with the specific frequency in the plurality of regions of the video feed cause the system (220): The filtering technique is used to process the light flicker frequency information to identify a plurality of regions in the plurality of regions of the video feed that have time intensity changes that match the specific frequency and are phase-synchronized with each other.

[0022] Clause 17. The non-transitory computer-readable medium (330) as described in Clause 11, wherein the one or more instructions causing the system (220) to provide the filtered video feed cause the system (220) to: The filtered video feed is transmitted so that the aircraft (210) automatically performs one or more positioning operations associated with at least one beacon, the at least one beacon being modulated at the specific frequency and depicted by the set of one or more regions.

[0023] Clause 18. A method performed by a system (220) of an aircraft (210), comprising: Determine the light flicker frequency information associated with multiple regions of the video feed captured by the camera; Based on the optical flicker frequency information, determine one or more regions in the plurality of regions of the video feed that are associated with the beacon frequency; and Provide video content for the video feed associated with the set or more regions of the video feed.

[0024] Clause 19. The method according to Clause 18, wherein the video content provided by the video feed enables the aircraft (210) to automatically perform one or more positioning operations.

[0025] Clause 20. The method according to Clause 18, wherein determining the set of one or more regions associated with the beacon frequency in the plurality of regions of the video feed comprises: The optical flicker frequency information is processed using filtering techniques to identify at least one region in the plurality of regions of the video feed that has a temporal intensity variation matching the beacon frequency; and The group of one or more regions is defined as including at least one of the regions.

[0026] The features, functions, and advantages already discussed can be implemented independently in various embodiments or combined in other embodiments, as can be seen in the following description and figures for further details of these embodiments. Attached Figure Description

[0027] Figures 1A-1F This is an illustration of an example implementation of a beacon detection system.

[0028] Figure 2 This is a diagram of an example environment in which the systems and / or methods described herein are implemented.

[0029] Figure 3 This is an illustration of an example component of a device associated with a beacon detection system.

[0030] Figure 4 This is a flowchart of an example process associated with a beacon detection system. Detailed Implementation

[0031] The following detailed description of the exemplary embodiments is with reference to the accompanying drawings. The same reference numerals in different drawings may identify the same or similar elements.

[0032] Identifying beacons in an environment using camera-based systems can be challenging when multiple light sources are present. This is because the characteristics of light emitted from other sources (such as brightness, color, or modulation patterns) overlap or create visual noise that obscures the distinct features of the light emitted by the beacon. Furthermore, environmental reflections, glare, or dynamic lighting conditions can interfere with the different characteristics of the light emitted by the beacon, making it even more difficult for the system to reliably distinguish the beacon's light from other light sources. This can lead to inaccurate beacon identification or identification failure.

[0033] When a system is integrated into an aircraft, inaccurate or failed beacon identification can lead to errors in the aircraft's navigation, positioning, alignment, or other operations relative to the beacon. For example, the aircraft may deviate from its flight path associated with the beacon, and subsequently, once the beacon is more accurately identified, the aircraft will perform corrective maneuvers to realign itself back onto the flight path. This increases the workload of the aircraft's flight management system and other guidance systems in calculating and implementing corrective maneuvers, and may increase the fuel consumption of the aircraft performing these maneuvers.

[0034] Some embodiments described herein include at least one beacon. Each beacon is configured to emit modulated light (e.g., flashing light) at a beacon frequency. The beacon frequency serves as a unique identifier, distinguishing the light emitted by the beacon from light emitted by other light sources. For example, the beacon frequency is configured to 100 Hz, or another frequency greater than that of a typical modulated light source (e.g., a modulation frequency in the range of 50 Hz–60 Hz). In this way, the light emitted by the beacon is uniquely identifiable as “beacon light” because no other light source modulates light at the beacon frequency.

[0035] Furthermore, some embodiments described herein include a beacon detection system. The beacon detection system includes a camera configured to capture a video feed. In some embodiments, a scene including at least one beacon is within the camera's field of view; therefore, the camera captures a video feed comprising multiple regions (e.g., multiple pixel clusters), where one or more regions depict at least one beacon. That is, one or more regions of the video feed depict light emitted by at least one beacon and thus modulated at the beacon frequency.

[0036] The beacon detection system also includes one or more processors that receive video feeds (e.g., from a camera). The beacon detection system (e.g., using one or more processors) processes the video feeds (e.g., using motion compensation techniques) to, for example, result in video feed stabilization. In some embodiments, the beacon detection system also includes motion detection equipment configured to capture motion information associated with the camera's motion (e.g., camera shake or vibration, and other examples) as the camera captures the video feed. Thus, the beacon detection system (e.g., using one or more processors) uses the motion information to process the video feed, thereby resulting in video feed stabilization.

[0037] In some implementations, the beacon detection system (e.g., using one or more processors) determines light flicker frequency information associated with multiple regions of a video feed. The light flicker frequency information includes, for example, temporal intensity variation data for each region of the video feed, indicating how much the light intensity depicted by that region appears to change (e.g., flicker) over a certain time period. In other words, the temporal intensity variation data indicates the modulation frequency of the light depicted by that region. Therefore, the beacon detection system, for example, uses filtering techniques to determine (e.g., using one or more processors) a set of one or more regions in the multiple regions of the video feed that are associated with beacon frequencies. This set of one or more regions thus depicts light modulated at beacon frequencies and therefore emitted by at least one beacon in the scene.

[0038] The beacon detection system (e.g., using one or more processors) then provides a filtered video feed (e.g., based on light flicker frequency information) that includes video content of the video feed associated only with that set of one or more regions of the video feed. In this way, the filtered video depicts the video content of the video feed associated with that set of one or more regions of the video feed, which depict light modulated at the beacon frequency (and thus emitted by at least one beacon in the scene).

[0039] In this way, the beacon detection system (by identifying light modulated at beacon frequencies in the video feed) can provide a filtered video feed that accurately identifies at least one beacon in the scene, regardless of the amount or distribution of light emitted from other light sources in the scene. Therefore, the beacon detection system is less likely to inaccurately identify or fail to identify at least one beacon (compared to other camera-based systems not configured to identify beacon light based on beacon frequencies).

[0040] In some implementations, a beacon detection system is included in the aircraft, thus providing a filtered video feed that accurately identifies at least one beacon in the scene results in a reduction in the number of errors in the aircraft's navigation, positioning, alignment, or other types of operations relative to at least one beacon. For example, the beacon detection system provides the filtered video feed to the aircraft's flight management system (FMS), causing the aircraft to automatically and accurately perform one or more positioning operations associated with at least one beacon (e.g., based on the filtered video feed). Because the video feed accurately identifies at least one beacon, the aircraft is less likely to deviate from the flight path associated with at least one beacon. Consequently, corrective maneuvers to realign the aircraft with the flight path are less likely to be required. This reduces the workload of the FMS and other guidance systems of the aircraft in calculating and implementing any corrective maneuvers, and the aircraft's fuel efficiency is improved by performing fewer or no corrective maneuvers.

[0041] Figures 1A-1F This is an illustration of an example implementation 100 associated with a beacon detection system. (See illustration for example.) Figures 1A-1F As shown, Example Implementation 100 includes an aircraft that includes a beacon detection system and an FMS. The following description, in conjunction with... Figure 2 and Figure 3 Describe these systems and devices in more detail. For example... Figure 1A As shown, the beacon detection system includes a camera, motion detection equipment (e.g., associated with the camera), and / or one or more processors.

[0042] The camera in the beacon detection system includes a lens, an image sensor, at least one processing unit, and / or other components, and is configured to capture a video feed associated with the camera's field of view. The video feed includes a stream of video frames (e.g., one or more video frames) that depict the scene present within the camera's field of view. The video feed includes multiple regions that collectively depict details of the scene (e.g., the video feed is divided into groups of regions). For example, each region is associated with a cluster of pixels in the video feed (e.g., it includes pixels of the video feed or connected groups of pixels).

[0043] In some implementations, the camera's field of view is associated with the aircraft's attitude. That is, the camera is fixed relative to the aircraft's reference frame and points in the same direction as the aircraft's forward orientation (e.g., when the aircraft is in flight). Therefore, the camera is oriented to capture video feeds in the aircraft's flight direction.

[0044] The camera is configured to have an acquisition rate (e.g., measured in frames per second). The acquisition rate is greater than or equal to twice a specific frequency (e.g., the beacon frequency described further herein). That is, the camera is configured to accurately identify modulated light emitted by at least one beacon (e.g., which is modulated at the beacon frequency), and is therefore configured to have an acquisition rate capable of accurately distinguishing beacon frequencies (e.g., according to the Nyquist theorem).

[0045] Motion detection devices include accelerometers, gyroscopes, inertial measurement units, optical flow sensors, and / or other components, and are configured to capture motion information associated with a camera (e.g., indicating camera movement such as jitter or vibration, and other examples). For instance, a motion detection device is connected to a camera and detects changes in the camera's orientation, position, or velocity. Therefore, specific motion data of the motion information is associated with a specific sequence of video frames (e.g., one or more video frames) from a video feed. That is, both the specific motion data and the specific sequence of video frames are associated with a time range, thus the specific motion data indicates the camera's movement during the time range during which the camera captures the specific sequence of video frames.

[0046] One or more processors are configured to control the beacon detection system. For example, one or more processors are configured to control a camera (e.g., to capture a video feed) and / or a motion detection device (e.g., to capture motion information), and are configured to perform one or more other operations described herein (e.g., determining a set of one or more regions of the video feed that are associated with a specific frequency (e.g., a beacon frequency).

[0047] like Figure 1A As further illustrated, the scene includes at least one beacon. Each beacon is configured to emit light (e.g., visible or invisible light) (e.g., in the form of modulated light, such as flashing light) modulated at a beacon frequency. The beacon frequency is a specific frequency that indicates the origin of light from the beacon (compared to another light source). Therefore, the beacon frequency is greater than the frequency of a typical modulated light source (e.g., having a modulation frequency in the range of 50Hz-60Hz), for example, to clearly distinguish light emitted from the beacon (compared to another light source). For example, the beacon frequency is greater than or equal to at least one of 75Hz, 80Hz, 85Hz, 90Hz, 95Hz, 100Hz, 105Hz, or 110Hz.

[0048] In some implementations, the scenario includes multiple phase-synchronized beacons. That is, the multiple beacons are configured to emit light with oscillation patterns that are aligned in time. Thus, each beacon is configured to emit phase-synchronized modulated light that is modulated at the beacon frequency.

[0049] like Figure 1B As shown, and via reference numeral 102, the camera of the beacon detection system receives scene light (e.g., when the scene is within the camera's field of view). That is, light is emitted from the scene and propagates through the camera's lens to the camera's image sensor. Because the scene includes at least one beacon, at least some of the light received by the camera includes light emitted by at least one beacon and therefore modulated at the beacon frequency.

[0050] As shown in reference numeral 104, the camera captures a video feed and provides it to one or more processors. The video feed depicts a scene including at least one beacon. While the aircraft is in flight, the camera captures the video feed, and thus the video feed depicts the scene in relation to the aircraft's flight direction. Therefore, one or more regions of the video feed are associated with the beacon frequency. That is, one or more regions of the video feed depict light emitted by at least one beacon and modulated at the beacon frequency.

[0051] In some implementations, one or more processors cause a camera to capture a video feed and provide the video feed to the one or more processors. For example, one or more processors send control information to the camera via a communication connection between the one or more processors and the camera, and the camera captures a video feed in response to the control information. Thus, the camera sends the video feed to one or more processors via a communication connection (e.g., in real-time or near real-time). In this way, one or more processors receive the video feed.

[0052] like Figure 1B As further shown, and by reference numeral 106, the camera and therefore the motion detection device (e.g., since the motion detection device is connected to the camera) experience motion (e.g., due to the flight of the aircraft). For example, during the flight of the aircraft, the camera and the motion detection device experience vibrational motion generated by the aircraft's propulsion system and / or aerodynamic forces on the aircraft.

[0053] As shown in reference numeral 108, the motion detection device captures motion information and provides it to one or more processors. The motion information indicates the movement of the camera (e.g., camera shake or vibration, and other examples, such as when the camera captures a video feed). Therefore, the motion data indicates the movement of the camera while it is capturing a video feed.

[0054] In some implementations, one or more processors cause the motion detection device to capture motion information. For example, one or more processors send control information to the motion detection device via a communication connection between the processors and the motion detection device, and the motion detection device captures motion information in response to the control information. Thus, the motion detection device sends (e.g., in real-time or near real-time) motion information to one or more processors via the communication connection. In this way, one or more processors obtain motion information.

[0055] like Figure 1C As shown, and by reference to numeral 110, the beacon detection system (e.g., using one or more processors) processes the video feed (e.g., which is captured by a camera and provided to one or more processors). The beacon detection system uses motion compensation techniques (e.g., image stabilization techniques, motion smoothing techniques, or optical flow techniques, and others) to process the video feed, for example, to result in the video feed being stabilized (e.g., where the camera experiences motion (as described herein)). Figure 1B (As described in reference numeral 106) is corrected or minimized to make the video feed appear smooth and / or stable. The beacon detection system uses the video feed and / or motion information (e.g., captured by a motion detection device and provided to one or more processors) as input to motion compensation techniques to stabilize the video feed.

[0056] For example, a beacon detection system (e.g., using one or more processors) identifies a sequence of video frames in a video feed (e.g., associated with a time range) and identifies motion data in motion information associated with the video frame sequence (e.g., also associated with a time range). Therefore, the beacon detection system (e.g., using one or more processors) uses motion compensation techniques and processes the video frame sequence based on the motion data to stabilize the video frame sequence. In this way, by stabilizing one or more video frame sequences in the video feed, the beacon detection system stabilizes the video feed.

[0057] like Figure 1DAs shown, and by reference numeral 112, a beacon detection system (e.g., using one or more processors) determines light flicker frequency information associated with multiple regions (e.g., multiple pixel clusters) of a video feed. For example, the beacon detection system (e.g., using one or more processors) determines temporal intensity variation data associated with a sequence of video frames in the video feed for each region (e.g., each pixel cluster) of the multiple regions. The temporal intensity variation data indicates how much the intensity of light appears to change (e.g., flicker) for that region during a time period associated with the video frame sequence, indicating the modulation frequency of the light depicted by that region. This is referred to herein as the temporal intensity variation of that region. Therefore, the beacon detection system (e.g., using one or more processors) generates light flicker frequency information to indicate the temporal intensity variation data for each region of the multiple regions in the video feed.

[0058] like Figure 1E As shown, and via reference numeral 114, a beacon detection system (e.g., using one or more processors) determines a set of one or more regions in a video feed that are associated with a specific frequency (such as a beacon frequency). In some embodiments, the beacon detection system uses filtering techniques to determine the set of one or more regions associated with the specific frequency. For example, the beacon detection system (e.g., using one or more processors) uses filtering techniques to process optical flicker frequency information to identify at least one region in a set of regions in the video feed that has a temporal intensity variation that matches (e.g., equal to, within tolerances such as 1 Hz, 2 Hz, or 3 Hz) the beacon frequency. The beacon detection system (e.g., using one or more processors) then determines the set of one or more regions to include at least one region (e.g., that has a temporal intensity variation that matches the specific frequency). In some embodiments, the filtering technique is associated with the specific frequency. For example, the filtering technique includes utilizing a bandpass filter (where the specific frequency is set as the center frequency of the bandpass filter). Thus, the beacon detection system determines the set of one or more regions based on applying a bandpass filter to the optical flicker frequency information.

[0059] Therefore, when a particular frequency is a beacon frequency, the beacon detection system (e.g., using one or more processors) identifies a set of one or more regions in a video feed that are associated with the beacon frequency. This set of one or more regions then depicts light modulated at the beacon frequency and thus emitted from at least one beacon in the scene.

[0060] In some implementations, the beacon detection system identifies the group of one or more regions as comprising multiple regions, each associated with a specific frequency (e.g., a beacon frequency) and phase-synchronized with other regions within the multiple regions. For example, as part of processing light flicker frequency information using filtering techniques, the beacon detection system identifies multiple regions that have time intensity variations matching a specific frequency and are phase-synchronized with each other. In this way, the beacon detection system identifies a group of multiple regions in the video feed that are phase-synchronized and associated with the beacon frequency. Therefore, in some implementations, this group of multiple phase-synchronized regions depicts phase-synchronized light modulated at the beacon frequency and thus emitted from multiple phase-synchronized beacons.

[0061] like Figure 1F As shown, and via reference numeral 116, a beacon detection system (e.g., using one or more processors) provides a filtered video feed. The filtered video feed includes video content associated only with a set of one or more regions in the video feed that are associated with a specific frequency (e.g., a beacon frequency). That is, in some embodiments, the filtered video depicts video content associated with that set of one or more regions of the video feed, which depict light modulated at the beacon frequency (and thus emitted from at least one beacon in the scene). In some embodiments, when the set of one or more regions of the video feed includes a plurality of phase-synchronized regions of the video feed associated with a specific frequency (e.g., a beacon frequency), the filtered video feed includes video content associated only with that plurality of regions. That is, in some embodiments, the filtered video depicts video content associated with that plurality of regions of the video feed, which depict light phase-synchronized and modulated at the beacon frequency (and thus emitted from multiple phase-synchronized beacons in the scene).

[0062] To provide a filtered video feed, the beacon detection system transmits the filtered video feed to another system or device (such as an aircraft). For example, as Figure 1F As shown, the beacon detection system (e.g., using one or more processors) provides a filtered video feed to the aircraft's FMS by transmitting a filtered video feed to the FMS (e.g., via a communication link between the beacon detection system and the FMS). In this way, the FMS obtains the filtered video feed.

[0063] In some implementations, to generate filtered video, a beacon detection system (e.g., using one or more processors) generates a video mask (e.g., for the video feed). The video mask is associated with regions in the video feed that are not associated with a set of one or more regions in the video feed that are associated with a specific frequency (e.g., a beacon frequency). For example, the video mask blacks out or otherwise blurs a region in the video feed that is not associated with a set of one or more regions in the video feed depicting light modulated at a beacon frequency (e.g., emitted from at least one beacon). In some implementations, the video mask is associated with regions in the video feed that are not associated with a set of multiple regions in the video feed that are phase-synchronized and associated with a beacon frequency. For example, the video mask blacks out or otherwise blurs a region in the video feed that is not associated with a set of multiple regions in the video feed depicting phase-synchronized light modulated at a beacon frequency (e.g., emitted from multiple phase-synchronized beacons). Therefore, a beacon detection system (e.g., using one or more processors) applies a video mask to the video feed to generate a filtered video feed.

[0064] like Figure 1F Further illustrated, and via reference numeral 118, the aircraft automatically performs (e.g., based on provided filtered video) one or more positioning operations associated with (e.g., of the scene) at least one beacon, modulated at a specific frequency (e.g., beacon frequency), and depicted by the filtered video feed (e.g., because the filtered video depicts the video content of the video feed associated with that set of one or more regions of the video feed, which depict light modulated at the specific frequency). For example, the FMS analyzes the filtered video feed to identify and / or track the azimuth and / or orientation of at least one beacon relative to the aircraft's observation (e.g., the forward orientation relative to the aircraft). Thus, based on the observed azimuth and / or orientation, the FMS causes the aircraft to perform one or more positioning operations associated with at least one beacon, such as guiding the aircraft to a landing area or airspace associated with at least one beacon, maintaining a fixed azimuth of the aircraft relative to at least one beacon, and / or adjusting the flight path to avoid obstacles associated with at least one beacon, and other examples.

[0065] In some implementations, the aircraft automatically performs (e.g., based on provided filtered video) one or more positioning operations associated with (e.g., of the scene) multiple phase-synchronized beacons that are phase-synchronized and modulated at a specific frequency (e.g., beacon frequency) and depicted by a filtered video feed (e.g., because the filtered video depicts video content associated with this set of multiple regions of the video feed, which depict phase-synchronized light modulated at a specific frequency). For example, the FMS analyzes the filtered video feed to identify and / or track the azimuth and / or orientation of the multiple phase-synchronized beacons relative to the aircraft's observation (e.g., relative to the aircraft's forward orientation). Thus, based on the observed azimuth and / or orientation, the FMS causes the aircraft to perform one or more positioning operations associated with the multiple phase-synchronized beacons, such as guiding the aircraft to a landing area or airspace associated with the multiple phase-synchronized beacons, maintaining a fixed azimuth of the aircraft relative to the multiple phase-synchronized beacons, and / or adjusting the flight path to avoid obstacles associated with the multiple phase-synchronized beacons, and other examples.

[0066] As indicated above, Figures 1A-1E Provided as an example. Other examples and related information. Figures 1A-1E The descriptions are different. Figures 1A-1E The number and arrangement of equipment and systems shown are provided as examples. In practice, there may be additional equipment and systems, fewer equipment and systems, different equipment and systems, or equipment and systems with different arrangements (as opposed to...). Figures 1A-1E (Compared to those devices and systems shown). Furthermore... Figures 1A-1E The two or more devices and / or systems shown can be implemented within a single device or system, or Figures 1A-1E The single device or system shown can be implemented as multiple distributed devices and / or systems. Additionally, or alternatively, Figures 1A-1E The set of devices and / or systems shown (e.g., one or more devices and / or systems) can perform one or more functions, which are described as being performed by... Figures 1A-1E The other set of devices and / or systems shown are used to perform this.

[0067] Figure 2 This is an illustration of an example environment 200 in which the systems and / or methods described herein are implemented. Figure 2 As shown, environment 200 includes aircraft 210, beacon detection system 220, and / or FMS 230. The devices in environment 200 are interconnected via wired connections, wireless connections, or a combination of wired and wireless connections.

[0068] Aircraft 210 includes any suitable vehicle and / or equipment capable of flight. Aircraft 210 includes, for example, aircraft (e.g., jet aircraft, propeller aircraft, gliders, etc.), helicopters, unmanned or unmanned aerial vehicles (UAVs), drones, rocket ships, spaceships, space shuttles, airships, or blimps, as well as other examples of air vehicles and / or aerial equipment capable of flight.

[0069] The beacon detection system 220 includes one or more devices capable of receiving, generating, storing, transmitting, processing, and / or providing information, as described elsewhere herein. The beacon detection system 220 includes a camera configured to capture video feeds, motion detection equipment configured to capture motion information, and / or one or more processors configured to process the video feeds and / or motion information, as described herein. In some embodiments, the beacon detection system 220 includes computing devices, such as wireless communication devices, mobile phones, user equipment, laptop computers, tablet computers, desktop computers, or similar types of devices.

[0070] FMS 230 includes one or more devices capable of receiving, generating, storing, transmitting, processing, and / or providing information, as described elsewhere herein. FMS 230 includes one or more devices, such as a Flight Management Computer (FMC), a Control Display Unit (CDU), and / or other devices that automate one or more of the flight planning, navigation, and operational tasks of aircraft 210. In some embodiments, FMS 230 is configured to cause aircraft 210 to perform one or more positioning operations associated with at least one beacon, as described herein.

[0071] Figure 2 The number and arrangement of devices and networks shown are provided as examples. In practice, there may be additional devices and / or networks, fewer devices and / or networks, different devices and / or networks, or devices and / or networks with different arrangements (as opposed to...). Figure 2 (Compared to those devices and / or networks shown). Furthermore... Figure 2 The two or more devices shown can be implemented within a single device, or Figure 2 The single device described herein can be implemented as multiple distributed devices. Additionally, or alternatively, a group of devices in environment 200 (e.g., one or more devices) can perform one or more functions described as being performed by another group of devices in environment 200.

[0072] Figure 3This is an illustration of example components of device 300 associated with a beacon detection system. Device 300 corresponds to aircraft 210, beacon detection system 220, and / or FMS 230. In some embodiments, aircraft 210, beacon detection system 220, and / or FMS 230 include one or more devices 300 and / or one or more components of device 300. Figure 3 As shown, device 300 includes bus 310, processor 320, memory 330, input unit 340, output unit 350 and / or communication unit 360.

[0073] Bus 310 includes one or more components that enable wired and / or wireless communication between components of device 300. Bus 310 will... Figure 3 Two or more components are coupled together (e.g., via operational coupling, communication coupling, electronic coupling, and / or electrical coupling). For example, bus 310 includes electrical connections (e.g., wires, traces, and / or leads) and / or wireless buses. Processor 320 includes a central processing unit, graphics processing unit, microprocessor, controller, microcontroller, digital signal processor, field-programmable gate array, application-specific integrated circuit, and / or another type of processing unit. Processor 320 is implemented in hardware, firmware, or a combination of hardware and software. In some embodiments, processor 320 includes one or more processors capable of being programmed to perform one or more operations or processes described elsewhere herein.

[0074] Memory 330 includes volatile and / or non-volatile memory. For example, memory 330 includes random access memory (RAM), read-only memory (ROM), hard disk drive, and / or another type of memory (e.g., flash memory, magnetic storage, and / or optical storage). Memory 330 includes internal memory (e.g., RAM, ROM, or hard disk drive) and / or removable memory (e.g., removable via a universal serial bus connection). In some embodiments, memory 330 is a non-transitory computer-readable medium. Memory 330 stores information related to the operation of device 300, one or more instructions, and / or software (e.g., one or more software applications). In some embodiments, memory 330 includes one or more memories coupled (e.g., communication coupling) to one or more processors (e.g., processor 320), for example via bus 310. The communication coupling between processor 320 and memory 330 enables processor 320 to read and / or process information stored in memory 330 and / or store information in memory 330.

[0075] Input component 340 enables device 300 to receive input, such as user input and / or sensed input. For example, input component 340 includes a touchscreen, keyboard, keypad, mouse, button, microphone, switch, sensor, GPS sensor, GNSS sensor, accelerometer, gyroscope, and / or actuator. Output component 350 enables device 300 to provide output (e.g., via a display, speaker, and / or LED). Communication component 360 enables device 300 to communicate with other devices via wired and / or wireless connections. For example, communication component 360 includes a receiver, transmitter, transceiver, modem, network interface card, and / or antenna.

[0076] Device 300 performs one or more of the operations or processes described herein. For example, a non-transitory computer-readable medium (e.g., memory 330) stores a set of instructions (e.g., one or more instructions or code) for execution by processor 320. Processor 320 executes the set of instructions to perform one or more of the operations or processes described herein. In some embodiments, execution of the set of instructions by one or more processors 320 causes one or more processors 320 and / or device 300 to perform one or more of the operations or processes described herein. In some embodiments, hardwired circuitry is used in place of or in combination with instructions to perform one or more of the operations or processes described herein. Additionally, or alternatively, processor 320 is configured to perform one or more of the operations or processes described herein. Therefore, the embodiments described herein are not limited to any particular combination of hardware circuitry and software.

[0077] Figure 3 The number and arrangement of components shown are provided as an example. Device 300 may include additional components, fewer components, different components, or components with different arrangements (as opposed to...). Figure 3 Compared to those components shown). Additionally, or alternatively, a set of components of device 300 (e.g., one or more components) may perform one or more functions described as being performed by another set of components of device 300.

[0078] Figure 4 This is a flowchart of an example process 400 associated with a beacon detection system. In some implementations, Figure 4 One or more process blocks are executed by a system (e.g., beacon detection system 220) of the aircraft (e.g., aircraft 210). In some implementations, Figure 4 One or more process blocks are executed by another device or group of devices that are separate from or include the beacon detection system (e.g., another system on the aircraft, such as FMS 230). Additionally, or alternatively, Figure 4One or more process blocks are executed by one or more components of the device 300 (e.g., processor 320, memory 330, input component 340, output component 350 and / or communication component 360).

[0079] like Figure 4 As shown, process 400 includes processing the video feed captured by the camera using motion compensation techniques (block 410). For example, the system uses motion compensation techniques to process the video feed captured by the camera, as described above.

[0080] like Figure 4 As further shown, process 400 includes determining optical flicker frequency information associated with multiple regions of the video feed (block 420). For example, the system determines optical flicker frequency information associated with multiple regions of the video feed as described above.

[0081] like Figure 4 As further shown, process 400 includes determining one or more regions (block 430) in a plurality of regions of the video feed that are associated with a beacon frequency. For example, the system determines one or more regions in a plurality of regions of the video feed that are associated with a beacon frequency, as described above. The system uses a filtering technique associated with the beacon frequency and determines the one or more regions associated with the beacon frequency based on light flicker frequency information.

[0082] like Figure 4 As further shown, process 400 includes providing a filtered video feed that includes video content of the video feed associated only with that set of one or more regions of the video feed (block 440). For example, the system provides a filtered video feed that includes video content of the video feed associated only with that set of one or more regions of the video feed, as described above. The system provides the filtered video feed to the flight management system of the aircraft.

[0083] Process 400 may include additional implementations, such as any single implementation or any combination of implementations described below and / or related to one or more other processes described elsewhere herein.

[0084] In a first embodiment, providing a filtered video feed includes transmitting the filtered video feed to a flight management system to cause the aircraft to automatically perform one or more positioning operations associated with at least one beacon, the beacon being modulated at a beacon frequency and depicted by the filtered video feed.

[0085] In the second embodiment, either alone or in combination with the first embodiment, processing the video feed includes identifying a video frame sequence of the video feed, identifying motion data associated with the video frame sequence that identifies motion information captured by the motion detection device, and using motion compensation techniques and processing the video frame sequence based on the motion data to stabilize the video frame sequence.

[0086] In the third embodiment, determining the optical flicker frequency information, either alone or in combination with one or more of the first and second embodiments, includes determining temporal intensity variation data associated with a sequence of video frames in the video feed for each region in a plurality of regions of the video feed, and generating optical flicker frequency information to indicate the temporal intensity variation data for each region in the plurality of regions of the video feed.

[0087] In the fourth embodiment, alone or in combination with one or more of the first to third embodiments, the filtering technique includes utilizing a bandpass filter, wherein the beacon frequency is set as the center frequency of the bandpass filter.

[0088] In the fifth embodiment, alone or in combination with one or more of the first to fourth embodiments, the group of one or more regions is determined to include at least one region in the plurality of regions of video feed that has a time intensity variation matching the beacon frequency, using filtering techniques to process the light flicker frequency information, and the group of one or more regions is determined to include at least one region.

[0089] In the sixth embodiment, providing a filtered video feed, either alone or in combination with one or more of the first to fifth embodiments, includes generating a video mask associated with regions in the video feed that are not associated with the group of one or more regions, applying the video mask to the video feed to generate the filtered video feed, and transmitting the filtered video feed to the flight management system via a communication link between the beacon detection system and the flight management system.

[0090] In the seventh embodiment, each region of the plurality of regions of the video feed is associated with a pixel cluster of the video feed, either alone or in combination with one or more of the first to sixth embodiments.

[0091] In the eighth embodiment, the camera's capture rate is greater than or equal to twice the beacon frequency, either alone or in combination with one or more of the first to seventh embodiments.

[0092] In the ninth embodiment, the motion detection device, alone or in combination with one or more of the first to eighth embodiments, includes at least one of an accelerometer, a gyroscope, an inertial measurement unit, or an optical sensor.

[0093] although Figure 4Example blocks of process 400 are shown, but in some implementations, process 400 includes additional blocks, fewer blocks, different blocks, or blocks arranged differently (as opposed to...). Figure 4 Compared to those blocks depicted. Additionally, or alternatively, two or more blocks of process 400 can be executed in parallel.

[0094] The foregoing disclosure provides illustrations and descriptions, but is not intended to be exhaustive or to limit the embodiments described herein to their precise forms. Modifications and variations can be made based on the foregoing descriptions, or can be derived from practice of the embodiments described herein.

[0095] As used herein, the term "component" is intended to be interpreted broadly as hardware, firmware, and / or a combination of hardware and software. It will be apparent that the systems and / or methods described herein can be implemented in various forms of hardware, firmware, or combinations of hardware and software. The actual dedicated control hardware or software code used to implement these systems and / or methods does not limit the implementations described herein. Therefore, the operation and behavior of the systems and / or methods are described herein without reference to specific software code—it should be understood that software and hardware can be designed to implement the systems and / or methods based on the descriptions herein.

[0096] Even if a particular combination of features is recited in the claims and / or described in the specification, such combinations are not intended to limit the embodiments described herein. In fact, many of these features can be combined in ways not specifically recited in the claims and / or described in the specification. Although each dependent claim listed below may directly depend on only one claim, this specification includes each dependent claim in combination with each other claim in the claim set. As used herein, the phrase “at least one” in the list of denotating items refers to any combination of these items (including a single member). For example, “at least one of a, b, or c” is intended to cover a, b, c, ab, ac, bc, and abc, as well as any combination with multiple identical items.

[0097] When a “component” or “one or more components” (or another element, such as a “processor” or “one or more processors”) is described or claimed (within a single claim or across multiple claims) to perform or be configured to perform multiple operations, this language is intended to broadly encompass a wide range of architectures and contexts. For example, unless explicitly required otherwise (e.g., by using “first component” and “second component” or other language distinguishing components in a claim), this language is intended to cover a single component performing or configured to perform all operations, a group of components collectively performing or configured to perform all operations, a first component performing or configured to perform a first operation and a second component performing or configured to perform a second operation, or any combination of components performing or configured to perform operations. For example, when a claim takes the form “one or more components configured to: perform X; perform Y; and perform Z,” the claim should be interpreted as meaning “one or more components configured to perform X; one or more (possibly different) components configured to perform Y; and one or more (possibly different) components configured to perform Z.”

[0098] Unless explicitly stated otherwise, no element, action, or instruction used herein should be construed as critical or necessary. Furthermore, as used herein, the articles “a” and “one” are intended to include one or more items and may be used interchangeably with “one or more.” Furthermore, as used herein, the article “described” is intended to include one or more items referenced with respect to the article “described” and may be used interchangeably with “one or more.” Furthermore, as used herein, the term “set” is intended to include one or more items (e.g., related items, unrelated items, or a combination of related and unrelated items) and may be used interchangeably with “one or more.” Where only one item is intended, the phrase “only one” or similar language is used. Furthermore, as used herein, the terms “having,” “with,” “with,” etc., are intended to be open-ended terms. Furthermore, the phrase “based on” is intended to mean “at least partially based on” unless explicitly stated otherwise. Furthermore, as used herein, the term “or” is intended to be inclusive when used in a series and may be used interchangeably with “and / or” unless explicitly stated otherwise (e.g., if used in combination with “any” or “only one of them”).

Claims

1. A beacon detection system (220) for an aircraft (210), comprising: A camera having a field of view associated with the attitude of the aircraft (210); A motion detection device associated with the camera; and One or more processors (320) are configured to: Motion compensation technology is used to process the video feed captured by the camera; Determine the light flicker frequency information associated with multiple regions of the video feed; Using filtering techniques associated with beacon frequencies, and based on the light flicker frequency information, determine one or more regions in the plurality of regions of the video feed that are associated with the beacon frequencies; and A filtered video feed is provided to the flight management system (230) of the aircraft (210), the filtered video feed comprising video content of the video feed that is associated only with one or more regions of the video feed.

2. The beacon detection system (220) according to claim 1, wherein, In order to provide the filtered video feed, the one or more processors (320) are configured to: The filtered video feed is transmitted to the flight management system (230) to cause the aircraft (210) to automatically perform one or more positioning operations associated with at least one beacon, the at least one beacon being modulated at the beacon frequency and depicted by the filtered video feed.

3. The beacon detection system (220) according to claim 1, wherein, In order to process the video feed, the one or more processors (320) are configured to: The video frame sequence that identifies the video feed; Identify motion data associated with the video frame sequence in the motion information captured by the motion detection device (300); and Motion compensation technology is used, and the video frame sequence is processed based on the motion data to stabilize the video frame sequence.

4. The beacon detection system (220) according to claim 1, wherein, In order to determine the light flicker frequency information, the one or more processors (320) are configured to: For each of the plurality of regions in the video feed, determine temporal intensity variation data associated with the video frame sequence of the video feed; and The light flicker frequency information is generated to indicate the time intensity variation data of each of the plurality of regions in the video feed.

5. The beacon detection system (220) according to claim 1, wherein, The filtering technique includes the use of a bandpass filter, wherein the beacon frequency is set as the center frequency of the bandpass filter.

6. The beacon detection system (220) according to claim 1, wherein, In order to determine the set of one or more regions associated with the beacon frequency in the plurality of regions of the video feed, the one or more processors (320) are configured to: The filtering technique is used to process the optical flicker frequency information to identify at least one region in the plurality of regions of the video feed that has a temporal intensity variation matching the beacon frequency; and The group of one or more regions is defined as including at least one of the regions.

7. The beacon detection system (220) according to claim 1, wherein, In order to provide the filtered video feed, the one or more processors (320) are configured to: Generate a video mask associated with regions in the video feed that are not associated with the set of one or more regions; The video mask is applied to the video feed to generate the filtered video feed; and The filtered video feed is transmitted to the flight management system (230) via a communication connection between the beacon detection system (220) and the flight management system (230).

8. The beacon detection system (220) according to claim 1, wherein, Each of the plurality of regions in the video feed is associated with a pixel cluster of the video feed.

9. The beacon detection system (220) according to claim 1, wherein, The camera's capture rate is greater than or equal to twice the beacon frequency.

10. The beacon detection system (220) according to claim 1, wherein, The motion detection device includes at least one of the following: Accelerometer; Gyroscope; Inertial measurement unit; or Optical flow sensor.

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