公开(公告)号：US10139493B1

公开(公告)日：2018-11-27

申请号：US15642744

申请日：2017-07-06

申请人： Near Earth Autonomy, Inc.

发明人： Lyle Chamberlain ,  Sanjiv Singh ,  Adam Stambler ,  Hugh Cover ,  Bradley Hamner

IPC分类号： G01S17/93 ,  B64C27/00 ,  G01S17/02 ,  G01S19/13 ,  B64C27/06

摘要： Piloted or autonomous rotorcraft includes a rotor safety system. The rotor safety system comprises a lidar scanner toward a rotor of the rotorcraft, e.g., the tail rotor, that scans the 3D space in the vicinity of the rotor. Objects in the vicinity of the rotor are detected from the lidar point data. In a piloted rotorcraft, predictive warnings can be provided to the helicopter's flight crew when a detected object presents a hazard to the rotor of the rotorcraft.

公开(公告)号：US20160335901A1

公开(公告)日：2016-11-17

申请号：US15091661

申请日：2016-04-06

申请人： Near Earth Autonomy, Inc.

发明人： Sanjiv Singh ,  Bradley Hamner ,  Stephen Nuske ,  Hugh Cover ,  Lyle Chamberlain

IPC分类号： G08G5/02 ,  G08G5/00 ,  G06T7/00 ,  G01S17/02 ,  G01C21/16 ,  G06K9/00 ,  G05D1/10 ,  G01S17/88

CPC分类号： G08G5/025 ,  G01C21/165 ,  G01C23/00 ,  G01S17/023 ,  G01S17/88 ,  G05D1/0676 ,  G06K9/0063 ,  G06K2009/3225 ,  G06T7/73 ,  G06T2200/04 ,  G06T2207/10024 ,  G06T2207/10032 ,  G06T2207/30204 ,  G08G5/0021 ,  G08G5/0039 ,  G08G5/0069 ,  G08G5/0086

摘要： Navigation systems and methods communicate a landing location to an aircraft. The method comprises collecting data from multiple sensor systems of the aircraft over time while the aircraft is above the terrain. The method also comprises determining on-going pose estimates of the aircraft over time based on input data from the multiple sensor systems. The method further comprises detecting a non-natural marker in the image data from the camera system, with the non-natural marker being physically located on the terrain at a desired landing location for the aircraft. The method further comprises determining a bearing of the non-natural marker relative to the aircraft from the image data captured by the camera system. The method comprises determining a location of the non-natural marker in a global coordinate frame based on a 3D mapping of terrain below the aircraft and the determined bearing for the marker.

摘要翻译： 导航系统和方法将着陆位置传达给飞机。 该方法包括当飞机高于地形时，随着时间的推移从飞机的多个传感器系统收集数据。 该方法还包括基于来自多个传感器系统的输入数据来确定飞行器随时间的持续姿态估计。 该方法还包括从相机系统检测图像数据中的非自然标记，其中非自然标记物理地位于飞机的所需着陆位置的地形上。 该方法还包括根据由相机系统捕获的图像数据确定非自然标记相对于飞行器的方位。 该方法包括基于飞机下方的地形的3D映射和所确定的标记的方位来确定全局坐标系中的非自然标记的位置。

公开(公告)号：US11762398B1

公开(公告)日：2023-09-19

申请号：US16854098

申请日：2020-04-21

申请人： Near Earth Autonomy, Inc.

发明人： Jonathan Taylor ,  Sanjiv Singh ,  Lyle Chamberlain ,  Sebastian Scherer ,  Benjamin Grocholsky ,  Vladimir Brajovic

IPC分类号： G05D1/06 ,  B64C39/02 ,  B64D45/08 ,  H04N5/33 ,  B64D27/24 ,  B64U70/00 ,  B60L53/10 ,  B64F1/00 ,  B64F1/22 ,  B64F1/36 ,  B64U101/30

CPC分类号： G05D1/0676 ,  B60L53/10 ,  B64C39/024 ,  B64D27/24 ,  B64D45/08 ,  B64F1/005 ,  B64F1/222 ,  B64F1/362 ,  H04N5/33 ,  B64U70/00 ,  B64U2101/30 ,  B64U2201/104

摘要： Systems, apparatuses, and methods for autonomously estimating the position and orientation (“pose”) of an aircraft relative to a target site are disclosed herein, including a system including a plurality of beacons arranged about the target site, wherein the plurality of beacons collectively comprise at least one electromagnetic radiation source and at least one beacon ranging radio, a sensor system coupled to the aircraft including an electromagnetic radiation sensor and a ranging radio configured to determine a range of the aircraft relative to the target site, and a processor configured to determine an estimated pose of the aircraft based on at least: (i) detected electromagnetic radiation, and (ii) time-stamped range data for the aircraft relative to the target site.

公开(公告)号：US10029804B1

公开(公告)日：2018-07-24

申请号：US15152944

申请日：2016-05-12

申请人： Near Earth Autonomy, Inc.

发明人： Lyle Chamberlain ,  Hugh Cover ,  Benjamin Grocholsky ,  Bradley Hamner ,  Sebastian Scherer ,  Sanjiv Singh

IPC分类号： B64D45/08 ,  B64D45/04 ,  G05D1/10 ,  B64D47/08 ,  G01C21/16 ,  G06K9/00 ,  G06T7/20 ,  G06T7/60 ,  G06K9/52 ,  G06T19/20

摘要： A computerized, on-board flight system for an aircraft has a landing-zone evaluation system for evaluating a landing zone for the aircraft based on sensory data from numerous sensing systems, including lidar, radar, and/or various cameras, to identify potential, suitable landing sites in the landing zone. Based on data from these sensory systems, the landing-zone evaluation system geometrically and semantically evaluates the landing zone's terrain, as well as identifies moving and stationary objects in the landing zone to identify the suitable landing sites for the aircraft.