VTOL Autonomous Landing Using 3D Scene Mapping
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Solution Overview
Problem
Existing solutions for autonomously landing vertical take-off and landing (VTOL) aircraft require marked landing areas, prior knowledge, or human operators, which is inadequate for increasing VTOL usage in populated areas, necessitating a system for precision landing in unknown, unmarked, or unattended areas.
Innovation Solution
A system comprising sensors (LIDAR, cameras, ultrasonic, etc.) and processing resources to generate 3D models of scenes, identify potential landing areas, and generate maneuvering commands for safe landing, even in unknown environments, avoiding obstacles and considering wind information.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If existing solutions for autonomous landing are used, then landing can be performed in marked areas with prior knowledge, but the system cannot land in unknown, unmarked, or unattended areas
Solution Approach 1:
The system performs preliminary scanning and mapping of the environment before landing to identify suitable landing areas. Sensors capture data about the surroundings, and the processor identifies potential landing zones in advance, allowing the aircraft to adapt to unknown areas without requiring pre-marked zones or prior knowledge of the specific location.
Solution Approach 2:
The VTOL aircraft autonomously identifies and selects its own landing area using onboard sensors and processing resources. The system serves itself by independently analyzing environmental data, identifying suitable landing zones, and navigating to them without requiring external marking, prior knowledge databases, or human operator intervention for area selection.
2Reliability
If human operators are involved in the landing process, then landing safety can be monitored, but automation level is reduced
Solution Approach 1:
The system continuously monitors environmental changes during the landing process using sensors that detect moving objects and update the 3D model in real-time. This feedback loop allows the autonomous system to adapt to dynamic conditions, ensuring safety without human intervention by automatically detecting and responding to changes in the landing environment.
Solution Approach 2:
The patent replaces the mechanical system of human operator monitoring with an automated sensor-based detection and decision-making system. The onboard processors and sensors substitute for human senses and judgment, enabling fully autonomous landing while maintaining safety through continuous environmental monitoring and automated obstacle detection.
3Measurement precision
If 3D models are generated at high rate, then scene changes can be detected accurately, but processing resources and energy consumption increase
Solution Approach 1:
The system generates 3D models at varying rates depending on the phase of landing and detected environmental conditions. During critical phases or when significant changes are detected, the modeling rate increases to maintain precision. During stable phases, the rate decreases to conserve energy, achieving a balance between detection accuracy and energy consumption by applying partial high-rate modeling only when necessary.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables autonomous precision landing of VTOL aircraft in unmarked or unattended areas, enhancing safety and automation in populated regions by continuously updating 3D models and adapting to scene changes, ensuring obstacle avoidance and optimal landing site selection.
Implementation Method 1
at least one of the first sensor or the second sensor is one of the following: a Light Detection And Ranging (LIDAR)
Implementation Method 2
obtain, from the first sensor, first readings enabling generating a Three-Dimensional (3D) model of at least part of a scene visible by the first sensor
Implementation Method 3
at least one of the first sensor or the second sensor is one of the following: a Light Detection And Ranging (LIDAR), a radar, a structured light sensor, a Time Of Flight (TOF) sensor, a stereoscopic camera, a camera, a Doppler sensor, an ultrasonic sensor
Data Source
AI summary
A system for autonomously landing a Vertical Take-Off and Landing (VTOL) aircraft, comprising: a first sensor; a second sensor; and a processing resource configured to: (a) obtain, from, the first sensor, first readings; (b) generate, at a first rate, based on at least part of the first readings, a 3D model of at least, part of a scene visible by the first sensor; (c) obtain, from the second sensor, a plurality of second readings, enabling identifying changes within the at least part of the scene; (d) analyze at least part of the second readings, at a second rate, to obtain changes information indicative of the changes; (e) identify, using the 3D model and the changes information, potential landing areas for the aircraft; (f) generate commands to maneuver the aircraft towards a selected landing area of the potential landing areas; and (g) repeat steps (a) to (f) until landing the aircraft.