EP2641138A2 - Atterrissage automatisé de drones - Google Patents

Atterrissage automatisé de drones

Info

Publication number
EP2641138A2
EP2641138A2 EP11775741.9A EP11775741A EP2641138A2 EP 2641138 A2 EP2641138 A2 EP 2641138A2 EP 11775741 A EP11775741 A EP 11775741A EP 2641138 A2 EP2641138 A2 EP 2641138A2
Authority
EP
European Patent Office
Prior art keywords
flying object
approach vector
ground unit
landing
signal
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP11775741.9A
Other languages
German (de)
English (en)
Inventor
Norbert Martinkat
Christian Blohm
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Airbus DS Airborne Solutions GmbH
Original Assignee
Rheinmetall Defence Electronics GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Rheinmetall Defence Electronics GmbH filed Critical Rheinmetall Defence Electronics GmbH
Publication of EP2641138A2 publication Critical patent/EP2641138A2/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/04—Control of altitude or depth
    • G05D1/06—Rate of change of altitude or depth
    • G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
    • G05D1/0653—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing
    • G05D1/0676—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing

Definitions

  • the present invention relates to a method and a system for assisting an automated landing of an unmanned flying object on a target point of a landing area of a ground unit.
  • Unmanned aerial vehicles so-called unmanned aerial vehicles (UAV) or drones, are used for a wide variety of tasks, especially for reconnaissance.
  • UAV unmanned aerial vehicles
  • a particular challenge with the use of a UAV is its landing on a ground unit.
  • Remote landing control by a human operator requires an unobstructed view of the UAV and ground unit, meaning that the operator can not be in the protective ground unit.
  • a completely automated landing with previous means is relatively inaccurate.
  • the present invention enables an automated, precise landing of an unmanned flying object on the landing surface of a ground unit, in particular on a moving ground unit.
  • the independent claims relate to a method and a system for supporting an automated or autonomous landing of an unmanned flying object on a target point of a landing area of a ground unit.
  • Advantageous embodiments are specified in the dependent claims.
  • the method according to the invention comprises the steps of determining an approach vector pointing from the target point in the direction of the flying object at the ground unit, transmitting the approach vector to the flying object and controlling the flying object on the basis of the received approach vector.
  • the approach vector points from the target point towards the UAV.
  • the direction of the approach vector is of particular importance to the present invention, while the length of the approach vector is optional but preferred.
  • the approach vector may, for example, be normalized to a predetermined length.
  • the control of the flying object takes place by controlling actuators which influence the position and direction of flight of the flying object.
  • the approach vector is determined at the ground unit and usually transmitted wirelessly to the flying object, for example by radio, infrared, acoustic or as a light signal. Viewed from the flying object, the target point of the landing area is in the direction opposite to the approach vector. Thus, the flying object can be automatically moved in the direction of the target point.
  • the approach vector is preferably (periodically) repeatedly determined and transmitted, for example every second, every 2, 5, 10, 15, 20, 30 or more seconds, for example 2, 5, 10, 15, 25, 25 or 50 times per second or more often.
  • the advantage of the present invention is that the navigation of the flying object uses the landing surface of the ground unit as a reference point.
  • a movement of the landing area in up to three translational directions can be compensated, so that an automatic landing on a moving landing area is possible.
  • aerodynamic ground effects, such as hover problems of the flying object are automatically compensated.
  • the alignment of the landing surface is additionally determined and sent with the approach vector to the flying object.
  • a rotational movement of the landing surface can be compensated in up to three dimensions, for example, by the flight object adjusts the orientation of the landing area.
  • the orientation refers to the rotational position of the landing surface in up to three dimensions, preferably in an earth-related coordinate system as described below for the approach vector.
  • the orientation of the landing area can be repeatedly determined and transmitted analogously to the approach vector (periodically), for example in the same timing.
  • the approach vector is preferably related to an earth-related coordinate system.
  • This earth-related coordinate system is advantageously Cartesian, for example, with one axis in the direction of gravity and one axis in the north.
  • Such a coordinate system can also be easily generated in the flying object. Since the distance between the flying object and the ground unit at landing is relatively small, the coordinate systems on the ground unit and in the flying object coincide with sufficient accuracy.
  • the approach vector is related to a coordinate system related to the landing area.
  • a vector can be determined particularly easily.
  • the orientation of the landing area in the flying object is known, for example, in a fixed landing area.
  • the orientation of the landing area can be determined as described above and transmitted to the flying object.
  • the approach vector or the vector opposite the approach vector can be transformed in the unmanned flying object to a coordinate system of the flying object, for example to an earth-related coordinate system in order to navigate the flying object.
  • the approach vector is determined by transmitting electromagnetic or acoustic signals from the ground unit and reflecting them from the aircraft, and detecting the signals reflected by the flying object at the ground unit.
  • An electromagnetic signal is, for example, a radio signal as in radar, infrared radiation, an electromagnetic signal, for example in the VHF range, or radiation in the visible spectrum. From the signal propagation time, the distance of the flying object from the target point can be determined.
  • the signal is transmitted by a transmitter and the reflected signal is received by a receiver.
  • the distance of the flying object from the receiver can be calculated, so that the position of the flying object on a spherical surface with the receiver as center and the calculated distance as radius.
  • the position is on a circle, which results as the intersection of the two spherical surfaces around the two receivers.
  • two possible positions of the flying object result from the intersection of three spherical surfaces, one of which can be excluded, for example, by prior knowledge of the half-space in which the flying object must be located.
  • a transmitter is assigned to each receiver, wherein transmitter and receiver are preferably arranged in a common housing.
  • a transmitter is used whose reflected signal is received by multiple receivers.
  • the area around the receiver on which the flying object can be located is not a spherical surface but the surface of an ellipsoid.
  • the position determination in two or more receivers is, however, analogous to the first embodiment by the formation of the intersection of two or more ellipsoids.
  • a spatial region for example a plane, can be scanned by means of a laser. Due to the short signal propagation time of the laser light at the relatively small distance of the flying object in the landing approach corresponds to the direction in which the laser is aligned in the detection of the reflected signal, the direction of the flying object.
  • the distance of the flying object from the target point can be determined using two or more spatially-spaced lasers.
  • the approach vector is determined by the fact that an electromagnetic or acoustic signal emitted by the flying object is detected at the ground unit.
  • the signal is detected, for example, at two or more spatially separated positions, and the incident direction and thus the approach vector are determined from the transit time difference between the detection positions.
  • An electromagnetic signal in the visible or infrared spectrum can be directed by means of a lens onto a one- or two-dimensional array of light-sensitive elements, such as a CCD chip, so that the direction of incidence and thus the approach vector are closed from the element hit by the incident signal can be.
  • the present invention further relates to a system for carrying out the method described above.
  • the system includes a ground unit having a landing site having a landing point, a computing unit for detecting an approach vector pointing from the destination toward an unmanned flying object, and a transmitting unit for transmitting the approach vector.
  • the system further includes an unmanned flying object having a receiver for receiving the approach vector and a flight computer for controlling the object of flight based on the received approach vector.
  • the system includes a transmitter on the ground unit to emit an electromagnetic or acoustic signal, a reflector on the flying object to reflect the signal, and a detector on the ground unit to receive the reflected signal. From the received signal, for example the time of arrival of the signal, the approach vector can be calculated.
  • the reflector is in particular a retroreflector, which reflects an incident signal back in the direction of incidence.
  • the transmitter and the detector may, for example, be a radar device.
  • the transmitter may also be a laser deflectable in a spatial area such as a plane and the detector may be a light detector.
  • the ground unit may comprise a plurality of transmitters and / or a plurality of detectors.
  • the system includes a transmitter at the flying object to emit an electromagnetic or acoustic signal, and a detector at the ground unit for receiving the signal.
  • the detector analogous to the method described above, may include one or more microphones, one or more antennas or a lens, and a one or two dimensional array of photosensitive elements, such as a CCD chip.
  • the ground unit may be, for example, a vehicle, such as a land, water or even aircraft.
  • the landing area is preferably arranged on the roof or deck of the vehicle.
  • the landing area may be the floor of a transport container for the flying object.
  • the ground unit may also include a stationary landing surface and an electronic system component preferably located in the vicinity of the landing area, wherein the electronic system component comprises detecting the electromagnetic or acoustic signal, the determination of the approach vector and the transmission of the approach vector to the flying object.
  • the flying object can be guided, for example, to the impact point of a runway.
  • the unmanned flying object can be any kind of flying object, in particular a so-called quadcopter or quadrocopter.
  • the flying object is adapted to land vertically.
  • Flying objects that can take off and land vertically are called VTOL (vertical take-off and landing).
  • Flying objects that only need a short runway and can land vertically are referred to as short take off and vertical landing (STOVL).
  • STOVL short take off and vertical landing
  • vertically landing flying objects can automatically land with the present invention, even on moving landing surfaces pinpoint.
  • the invention is also suitable for flying objects that require a runway, either stationary or, for example, aboard a ship such as an aircraft carrier.
  • FIG. 1 shows a system according to the invention for assisting an automated landing of an unmanned flying object on a destination point of a landing area of a ground unit.
  • the system 1 comprises an unmanned flying object 2 and a ground unit 3.
  • the flying object 2 has actuators 4, a flight computer 5, a communication receiver 6, a reflecting surface 7 and an antenna 8.
  • the antenna 8 is connected to the receiver 6, the receiver 6 in turn to the flight computer 5 and the flight computer 5 with the actuators 4.
  • each connection can be a direct connection or for example via a bus system.
  • the flying object 2 is preferably able to land vertically, ie in particular to lower itself in parallel to a landing area.
  • the ground unit 3 has an evaluation computer 9, three transmit and receive sensors (shown in FIG. 1 are only the sensors 10 and 12), three measurement computers (only the measurement computers 11 and 13 are shown in FIG. 1), a communication transmitter 14, a Antenna 15 and a landing area 16.
  • the sensor 10 is connected to the measuring computer 11, the sensor 12 to the measuring computer 13 and the third sensor to the third measuring computer. All three measuring computers 11 and 13 are connected to the evaluation computer 13.
  • the evaluation computer 9 is connected to the transmitter 14 and the transmitter 14 to the antenna 15.
  • the three sensors are spaced apart on or near the landing surface 16.
  • the sensors each emit an electromagnetic, optical or acoustic signal, which is reflected back from the reflecting surface 7 on the flying object 2 to the respective sensor.
  • the Measuring computers receive the output signals of the assigned sensors and generate from the evaluation computer 9 evaluable signals or information. These signals are transmitted to the evaluation computer 9, which calculates therefrom an approach vector which points from a target point, not shown, on the landing area in the direction of the flying object 2 and whose length represents the distance between the ground unit 3 and the flying object 2.
  • the approach vector is determined by calculating the respective distance of the flying object 2 from the three sensors from the transit time of the signal emitted by each sensor and reflected by the flying object 2.
  • the respective distance is the radius of an imaginary spherical surface around the respective sensor on which the flying object is located. From the intersection of the three balls, two points result as a possible position of the flying object 2, wherein the position below the landing area 16 can be excluded.
  • the approach vector is now the vector from the target point on the landing area to the determined position of the flying
  • the bottom unit 3 in the figure 1, not shown means to determine the orientation of the landing surface 16, in particular with respect to the horizontal.
  • the evaluation computer 9 can calculate an approach vector, which is specified in an earth-related coordinate system.
  • the calculated approach vector, together with the orientation of the landing area 16, is transmitted by the evaluation computer 9 to the transmitter 14 and transmitted by the antenna 15 of the ground unit, the antenna 8 of the flying object 2 and an intermediate air interface to the receiver 6 of the flying object 2.
  • the transmission is preferably by radio, but can in principle be based on any wireless technology done.
  • the transmitter 14 and the receiver 6 are to be designed accordingly and the antennas 15 and 8 replaced by corresponding devices.
  • the receiver 6 forwards the received approach vector and the orientation of the landing area 16 to the flight computer 5.
  • the flight computer 5 calculates from the approach vector a target vector which points from the flying object 2 in the direction of the destination point on the landing area 16.
  • the flight computer 5 controls the actuators, for example propellers and / or rotors, in such a way that the flying object 2 moves in the direction of the destination point.
  • the flight computer 5 controls the actuators 4 without prior calculation of the target vector.
  • the flight computer evaluates the orientation of the landing area 16 and controls the actuators 4 in addition so that the position of the flying object 2 of the orientation of the landing area 16 is adjusted.
  • the transmission and evaluation of the orientation of the landing surface 16 is optional and may be omitted, for example, if the flying object 2 has the ability to determine a deviation of the landing surface 16 from the horizontal just before landing. On the determination of the orientation of the landing area 16 can optionally be dispensed with entirely, for example, when the landing area 16 is stabilized or basically stationary.
  • the evaluation computer 9 can be set up so that a sensor can be connected without the interposition of a measuring computer.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un procédé d'assistance à l'atterrissage automatisé d'un drone (2) sur un point cible d'une surface d'atterrissage (16) d'une unité au sol (3), ce procédé comportant les étapes consistant à déterminer un vecteur d'approche sur l'unité au sol (3), ce vecteur étant orienté vers le drone (2) à partir du point cible, à envoyer le vecteur d'approche au drone (2) et à commander le drone (2) en fonction du secteur d'approche reçu.
EP11775741.9A 2010-11-18 2011-10-22 Atterrissage automatisé de drones Withdrawn EP2641138A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102010051561A DE102010051561A1 (de) 2010-11-18 2010-11-18 Automatisierte Landung unbemannter Flugobjekte
PCT/EP2011/005336 WO2012065681A2 (fr) 2010-11-18 2011-10-22 Atterrissage automatisé de drones

Publications (1)

Publication Number Publication Date
EP2641138A2 true EP2641138A2 (fr) 2013-09-25

Family

ID=44862939

Family Applications (1)

Application Number Title Priority Date Filing Date
EP11775741.9A Withdrawn EP2641138A2 (fr) 2010-11-18 2011-10-22 Atterrissage automatisé de drones

Country Status (3)

Country Link
EP (1) EP2641138A2 (fr)
DE (1) DE102010051561A1 (fr)
WO (1) WO2012065681A2 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014003284A1 (de) 2014-03-05 2015-09-10 Astrium Gmbh Verfahren zur Positions- und Lagebestimmung mittels virtueller Referenzbilder
EP3139238B1 (fr) * 2015-08-22 2020-09-23 Olaf Wessler Procédé de commande de vol d'approche de cible d'objets volants sans pilote
CN107291089A (zh) * 2017-07-18 2017-10-24 西安电子科技大学 一种用于无人机自主着舰的合作目标方法

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4142037A1 (de) * 1991-12-19 1993-06-24 Dornier Gmbh Start- und landesystem
FR2727082A1 (fr) * 1994-11-22 1996-05-24 Chauthai Luc Installation de guidage sur trajectoire d'un aeronef en phase d'atterrissage

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IL88263A (en) * 1988-11-02 1993-03-15 Electro Optics Ind Ltd Navigation system
DE10255634A1 (de) * 2002-11-28 2004-06-24 EMT Ingenieurbüro für Elektro-Mechanische Technologien Dipl.-Ing. Hartmut Euer Radiointerferometrische Führungseinrichtung für die automatischen Steuerung unbemannter Fluggeräte insbesondere während der Endphase der Landung
FR2894347B1 (fr) * 2005-12-02 2008-02-01 Thales Sa Systeme d'atterrissage autonome et automatique pour drones.

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4142037A1 (de) * 1991-12-19 1993-06-24 Dornier Gmbh Start- und landesystem
FR2727082A1 (fr) * 1994-11-22 1996-05-24 Chauthai Luc Installation de guidage sur trajectoire d'un aeronef en phase d'atterrissage

Also Published As

Publication number Publication date
DE102010051561A1 (de) 2012-05-24
WO2012065681A3 (fr) 2012-07-26
WO2012065681A2 (fr) 2012-05-24

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