公开(公告)号：US20150153740A1

公开(公告)日：2015-06-04

申请号：US14380949

申请日：2013-02-21

Applicant: Elbit Systems, LTD

Inventor： Eyal Ben-Shachar ,  Reuven Godel ,  Roy Mor

IPC: G05D1/10 ,  G05D1/00 ,  B64C39/02

CPC classification number: G05D1/105 ,  B64C39/024 ,  B64C2201/141 ,  G05D1/0072 ,  G05D1/0088 ,  G05D1/0676

Abstract: Method for autonomous safe emergency landing of a powered unmanned aerial vehicle (UAV) in the event of an engine failure. A landing approach trajectory is generated, including a downwind leg, initiating at an initiation point of the trajectory, an upwind leg, terminating at a selected touchdown point, and a U-turn leg, joining between the downwind leg and the upwind leg. The UAV is directed to the initiation point to follow the downwind leg. A glide ratio of the UAV is repeatedly determined based on current flight conditions. A current turning point is repeatedly determined along the downwind leg based on the determined glide ratio, the U-turn leg initiating at the current turning point. When the UAV arrives at the current turning point, the UAV is directed to follow the U-turn leg and the upwind leg, for landing the UAV at the selected touchdown point.

Abstract translation: 在发动机故障的情况下，动力无人机（UAV）自主安全应急着陆的方法。 产生着陆进场轨迹，包括沿着轨迹的起始点起动的顺风小腿，在选定的着陆点终止的上风腿，以及在顺风腿和上风腿之间连接的U形转弯腿。 无人机被引导到起始点跟随顺风脚。 基于目前的飞行情况，重新确定无人机的滑行比。 基于确定的滑行比，在当前转折点处起动U形转弯腿，沿着顺风腿重复确定当前转折点。 当无人机到达目前的转折点时，无人机被指示跟随U形转弯腿和逆风腿，以便在所选择的着陆点上着陆UAV。

公开(公告)号：US09274529B2

公开(公告)日：2016-03-01

申请号：US14380949

申请日：2013-02-21

Applicant: Elbit Systems, LTD

Inventor： Eyal Ben-Shachar ,  Reuven Godel ,  Roy Mor

IPC: G05D1/00 ,  G05D1/10 ,  G05D1/06 ,  B64C39/02

CPC classification number: G05D1/105 ,  B64C39/024 ,  B64C2201/141 ,  G05D1/0072 ,  G05D1/0088 ,  G05D1/0676

Abstract: Method for autonomous safe emergency landing of a powered unmanned aerial vehicle (UAV) in the event of an engine failure. A landing approach trajectory is generated, including a downwind leg, initiating at an initiation point of the trajectory, an upwind leg, terminating at a selected touchdown point, and a U-turn leg, joining between the downwind leg and the upwind leg. The UAV is directed to the initiation point to follow the downwind leg. A glide ratio of the UAV is repeatedly determined based on current flight conditions. A current turning point is repeatedly determined along the downwind leg based on the determined glide ratio, the U-turn leg initiating at the current turning point. When the UAV arrives at the current turning point, the UAV is directed to follow the U-turn leg and the upwind leg, for landing the UAV at the selected touchdown point.

Abstract translation: 在发动机故障的情况下，动力无人机（UAV）自主安全应急着陆的方法。 产生着陆进场轨迹，包括沿着轨迹的起始点起动的顺风小腿，在选定的着陆点终止的上风腿，以及在顺风腿和上风腿之间连接的U形转弯腿。 无人机被引导到起始点跟随顺风脚。 基于目前的飞行情况，重新确定无人机的滑行比。 基于确定的滑行比，在当前转折点处起动U形转弯腿，沿着顺风腿重复确定当前转折点。 当无人机到达目前的转折点时，无人机被指示跟随U形转弯腿和逆风腿，以便在所选择的着陆点上着陆UAV。