US Patent No. 10,866,593

AERIAL VEHICLE LANDING METHOD, GROUND CONTROL SYSTEM, AND FLIGHT CONTROL SYSTEM


Patent No. 10,866,593
Issue Date December 15, 2020
Title Aerial Vehicle Landing Method, Ground Control System, And Flight Control System
Inventorship Ken Argo, Guangdong (CN)
Assignee AUTEL ROBOTICS CO., LTD., Shenzhen (CN)

Claim of US Patent No. 10,866,593

1. An aerial vehicle landing method, comprising:selecting, when an aerial vehicle needs to make a diversion, an available alternative landing area according to at least a flight parameter of the aerial vehicle;
determining the available alternative landing area as a target waypoint, and planning a new airway according to the target waypoint; and
controlling, according to the new airway, the aerial vehicle to fly to the target waypoint;
wherein the selecting the available alternative landing area according to at least the flight parameter of the aerial vehicle comprises:
obtaining the flight parameter that is of the aerial vehicle and that exists when the aerial vehicle needs to make a diversion;
calculating a flyable distance according to the flight parameter and an aerodynamic parameter of the aerial vehicle; and
selecting the available alternative landing area from one or more alternative landing areas according to at least the flyable distance;
wherein the selecting the available alternative landing area from the one or more alternative landing areas according to at least the flyable distance comprises:
determining optional alternative landing areas from the one or more alternative landing areas according to at least the flyable distance;
calculating to-be-flied distances from the aerial vehicle to the optional alternative landing areas;
determining priorities of all the optional alternative landing areas based on relationships between the to-be-flied distances and the flyable distance; and
selecting the available alternative landing area according to the priorities of all the optional alternative landing areas;
wherein the method further comprises:
planning the one or more alternative landing areas according to flight mission data of the aerial vehicle;
wherein the flight mission data comprises a predetermined airway, a flight altitude, and a flight speed;
wherein the planning the one or more alternative landing areas according to flight mission data of the aerial vehicle comprises:
determining multiple waypoints according to the predetermined airway of the aerial vehicle and geomorphic information of an electronic map;
calculating, according to the flight altitude and the flight speed of the aerial vehicle, a gliding distance that is of the aerial vehicle and that exists when there is no power; and
planning the one or more alternative landing areas according to the gliding distance and with reference to digital elevation model data of the multiple waypoints;
wherein distance between landing areas of the one or more alternative landing areas is set to 1.5-2.5 times of the gliding distance.