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公开(公告)号：US10364042B2
公开(公告)日：2019-07-30
申请号：US15528637
申请日：2015-11-19
IPC分类号： G05D1/00 , G05D1/06 , B63B35/50 , B64C39/02 , B64D45/08 , G01C21/00 , G01C21/16 , G01C23/00 , G05B13/04
摘要： An electronic landing platform state module is configured to generate a state estimation of a platform surface at sea includes a plurality of electronic platform state process modules configured to receive an output from a respective spectral sensor. The plurality of electronic platform state process modules are further configured to output a monitored spectral platform state signal in response to applying a spectral process on a respective output. Each spectral process corresponds to a particular spectral modality of the respective spectral sensor. The electronic landing platform state module further includes an electronic platform state estimator module configured to determine a corrected dynamic state of the platform in response to fusing together the individual monitored spectral platform state signals.
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公开(公告)号：US20170116867A1
公开(公告)日：2017-04-27
申请号：US15336125
申请日：2016-10-27
发明人： Igor Cherepinsky , Jason C. Derenick , Joshua M. Leland , Christopher Stathis , Brigid A. Blakeslee
CPC分类号： G08G5/045 , B64C25/34 , B64C27/04 , B64D45/08 , G01S7/4808 , G01S17/42 , G01S17/933 , G05D1/101
摘要： A system and method for determining the distance between at least one point on a vehicle and at least one projected area off of the vehicle includes receiving, with a processor, sensor signals indicative of LIDAR data for the projected area off the vehicle; applying, with the processor, a linear estimation algorithm to filter out noise within the LIDAR data and define a surface plane for the projected area; evaluating, with the processor, the LIDAR data against a vehicle state model; determining, with the processor, the distance between the at least one point on the vehicle and the at least one projected area off the vehicle; and commanding a response in the vehicle controls.
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3.发明申请公开(公告)号：US20160009410A1
公开(公告)日：2016-01-14
申请号：US14792896
申请日：2015-07-07
CPC分类号： G01S7/4808 , G01S17/933 , G05D1/0684 , G05D1/0858 , G08G5/0069 , G08G5/025
摘要： A system and method for state estimation of a surface of a platform at sea, includes receiving sensor signals indicative of LIDAR data for the platform; applying a Bayesian filter to the LIDAR data for a plurality of hypotheses; determining vertical planes representing azimuth and elevation angles for the LIDAR data; applying a robust linear estimation algorithm to the vertical planes; and determining candidate points in response to the applying of the robust linear estimation algorithm.
摘要翻译： 一种用于海上平台表面状态估计的系统和方法，包括接收指示平台的激光雷达数据的传感器信号; 将贝叶斯滤波器应用于多个假设的激光雷达数据; 确定表示LIDAR数据的方位角和仰角的垂直平面; 对垂直平面应用鲁棒的线性估计算法; 以及响应于所述鲁棒线性估计算法的应用来确定候选点。
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公开(公告)号：US10676213B2
公开(公告)日：2020-06-09
申请号：US15519999
申请日：2015-10-16
发明人： Xuchu Ding , Jason C. Derenick , Brendan J. Englot , Igor Cherepinsky , Harshad S. Sane , Christopher Stathis
摘要： According to an aspect of the invention, a method of optimal safe landing area determination for an aircraft includes accessing a probabilistic safe landing area map that includes a plurality of probabilistic indicators of safe landing areas for the aircraft. A processing subsystem that includes one or more processing resources generates a list of candidate safe landing areas based on the probabilistic safe landing area map and one or more constraints. At least two of the candidate safe landing areas are provided to a path planner. The list of candidate safe landing areas is ranked based on results from the path planner indicating an estimated cost to reach each of the candidate safe landing areas. Based on the ranking, an indicator of an optimal safe landing area is output as a desired landing location for the aircraft.
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公开(公告)号：US10415993B2
公开(公告)日：2019-09-17
申请号：US15518406
申请日：2015-10-13
摘要： A method for augmenting a synthetic vision system of a vehicle includes receiving, with a processor, signals indicative of real-time sensor data of a terrain for the vehicle via one or more acquisition devices; creating, with the processor, a terrain mesh of the terrain in response to the receiving of the sensor data; correlating, with the processor, the terrain mesh with preloaded terrain data of the terrain; creating, with the processor, a multispectral image of the terrain in response to the correlating the terrain mesh with the preloaded data; and texturing, with the processor, the terrain mesh for display on a display device.
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公开(公告)号：US10254768B2
公开(公告)日：2019-04-09
申请号：US15521544
申请日：2015-10-28
摘要： An aspect includes space partitioning for vehicle motion planning. A plurality of obstacle data is analyzed to determine a plurality of obstacle locations in a configuration space of a vehicle. A partitioning of the configuration space is performed to compute a skeletal partition representing a plurality of obstacle boundaries based on the obstacle locations. The skeletal partition is used to preferentially place a plurality of samples by a sampling-based motion planner. At least one obstacle-free path is output by the sampling-based motion planner based on the samples.
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公开(公告)号：US20160334513A1
公开(公告)日：2016-11-17
申请号：US15153500
申请日：2016-05-12
IPC分类号： G01S17/89 , G06T7/20 , G06T7/00 , B64D45/04 , G01S17/08 , G01S17/50 , G01S7/481 , G06K9/00 , G06K9/20
CPC分类号： G01S17/89 , B64D45/04 , G01S7/4808 , G01S7/4817 , G01S17/08 , G01S17/50 , G01S17/58 , G01S17/933 , G05D1/0684 , G06K9/00208 , G06K9/0063 , G06K9/209 , G06T7/251 , G06T2207/10028 , G06T2207/10032 , G06T2207/30212 , G06T2207/30241 , G06T2207/30252
摘要： A method for imaging a moving object includes scanning a predetermined area with at least one distance sensor to form an image of a structure of a moving object using a safe sensing time window to periodically refresh the image. The images of the structure are compared a known model of the structure to estimate rates of motion. A refined time window is determined based on the estimated rates of motion to monitor the moving object with increased accuracy and/or range compared to the safe time window.
摘要翻译： 用于对移动物体进行成像的方法包括使用至少一个距离传感器扫描预定区域，以使用安全感测时间窗口来形成运动物体的结构的图像，以周期性地刷新图像。 将结构的图像与结构的已知模型进行比较以估计运动速率。 基于与安全时间窗口相比以更高的精度和/或范围监测移动物体的估计运动速率来确定精细时间窗口。
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公开(公告)号：US10109208B2
公开(公告)日：2018-10-23
申请号：US15336125
申请日：2016-10-27
发明人： Igor Cherepinsky , Jason C. Derenick , Joshua M. Leland , Christopher Stathis , Brigid A. Blakeslee
摘要： A system and method for determining the distance between at least one point on a vehicle and at least one projected area off of the vehicle includes receiving, with a processor, sensor signals indicative of LIDAR data for the projected area off the vehicle; applying, with the processor, a linear estimation algorithm to filter out noise within the LIDAR data and define a surface plane for the projected area; evaluating, with the processor, the LIDAR data against a vehicle state model; determining, with the processor, the distance between the at least one point on the vehicle and the at least one projected area off the vehicle; and commanding a response in the vehicle controls.
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公开(公告)号：US09759809B2
公开(公告)日：2017-09-12
申请号：US14792896
申请日：2015-07-07
CPC分类号： G01S7/4808 , G01S17/933 , G05D1/0684 , G05D1/0858 , G08G5/0069 , G08G5/025
摘要： A system and method for state estimation of a surface of a platform at sea, includes receiving sensor signals indicative of LIDAR data for the platform; applying a Bayesian filter to the LIDAR data for a plurality of hypotheses; determining vertical planes representing azimuth and elevation angles for the LIDAR data; applying a robust linear estimation algorithm to the vertical planes; and determining candidate points in response to the applying of the robust linear estimation algorithm.
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公开(公告)号：US20160114905A1
公开(公告)日：2016-04-28
申请号：US14735233
申请日：2015-06-10
CPC分类号： B64D45/04 , G06K9/0063 , G06N7/005 , G08G5/0021 , G08G5/0069 , G08G5/0086 , G08G5/025
摘要： According to an aspect of the invention, a method of probabilistic safe landing area determination for an aircraft includes receiving sensor data indicative of current conditions at potential landing areas for the aircraft. Feature extraction on the sensor data is performed. A processing subsystem of the aircraft updates a probabilistic safe landing area map based on comparing extracted features of the sensor data with a probabilistic safe landing area model. The probabilistic safe landing area model defines probabilities that terrain features are suitable for safe landing of the aircraft. A list of ranked landing areas is generated based on the probabilistic safe landing area map.
摘要翻译： 根据本发明的一个方面，一种用于飞行器的概率安全着陆区域确定的方法包括接收指示飞机潜在着陆区域当前状况的传感器数据。 执行传感器数据的特征提取。 基于将传感器数据的提取特征与概率安全着陆区域模型进行比较，飞机的处理子系统更新概率安全着陆区域图。 概率安全着陆区域模型定义了地形特征适用于飞机安全着陆的概率。 基于概率安全着陆区域图生成排名着陆区域的列表。
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