# US 12,110,129 B2 · Autonomous landing systems and methods for vertical landing aircraft > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,110,129 B2 - Document ID: US12110129B2 - Status: Granted - Kind: B2 - Application number: 17/180,326 - Filed: 2021-02-19 - Published: 2022-01-20 - Granted: 2024-10-08 - Earliest claimed: 2020-02-19 - Assignees: The Texas A&M University System - Applicants: The Texas A&M University System - Inventors: Bochan Lee; Moble Benedict - Web page: https://patentgrep.com/patent/US12110129B2 ## CPC - B64D 45/08: optical - B64D 47/08: Arrangements of cameras - G01S 5/16: using electromagnetic waves other than radio waves - G05D 1/0684: {on a moving platform, e.g. aircraft carrier} - G05D 1/106: {Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones} - G05D 1/606: Compensating for or utilising external environmental conditions, e.g. wind or water currents (station keeping G05D1/611) - G06V 10/255: {Detecting or recognising potential candidate objects based on visual cues, e.g. shapes} - G06V 10/82: using neural networks - G06V 20/17: taken from planes or by drones - G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle - G08G 5/26: Transmission of traffic-related information between aircraft and ground stations - G08G 5/54: for approach or landing - B64D: EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) ## Abstract An autonomous landing system for vertical landing aircraft includes a vertical landing aircraft including a powertrain and an onboard camera, a motion-stabilized visual cue including a visual indicator, wherein the visual cue is configured to maintain a fixed orientation of the visual indicator with respect to a horizon, and an autonomous control system configured to control a position of the aircraft with respect to the visual indicator of the visual cue based on image data captured by the onboard camera. ## Claims ### Claim 1 An autonomous landing system for landing a vertical landing aircraft on a landing platform, comprising: a vertical landing aircraft comprising a powertrain and an onboard camera; a visual cue motion-stabilized relative to the landing platform and comprising a visual indicator located on a horizontally extending surface of the visual cue whereby the visual indicator extends vertically across a horizon, wherein the visual cue is configured to maintain a fixed orientation of the visual indicator with respect to the horizon; and an autonomous control system configured to: control a position of the aircraft with respect to the visual indicator of the visual cue to maneuver the aircraft into a hovering, predefined landing position vertically above the landing platform, the predefined landing position being horizontally spaced from the visual indicator and horizontally aligned with the landing platform; and reduce a vertical thrust generated by the powertrain in response to the aircraft entering the landing position to cause the aircraft to descend vertically from the landing position and land on the landing platform at a location that is spaced from the visual cue based on image data captured by the onboard camera. ### Claim 2 (depends on 1) The system of claim 1, wherein the autonomous control system comprises an object detection module trained to visually identify the landing platform based on the image data captured by the onboard camera. ### Claim 3 (depends on 1) The system of claim 1, wherein the autonomous control system comprises a machine vision module configured to determine a position and an orientation of the aircraft relative to the visual indicator based on the image data captured by the onboard camera. ### Claim 4 (depends on 1) The system of claim 1, wherein the autonomous control system comprises a feedback control module configured to reduce an error between a center of the onboard camera and a setpoint and to increase an area within a field of view of the camera of an object corresponding to the setpoint, wherein the object comprises one of the visual cue and the landing platform. ### Claim 5 (depends on 4) The system of claim 4, wherein the setpoint is provided by either an object detection module of the autonomous control system configured to detect the landing platform, or a machine vision module of the autonomous control system configured to identify the visual indicator. ### Claim 6 (depends on 1) The system of claim 1, wherein the autonomous control system comprises: a feedback control module configured to provide a control input to reduce an error between a center of the onboard camera and a setpoint and to increase an area within a field of view of the onboard camera of an object corresponding to the setpoint, wherein the object comprises one of the visual cue and the landing platform; and a reinforcement learning module configured to adjust the control input based on a magnitude of an environmental disturbance applied to the aircraft. ### Claim 7 (depends on 6) The system of claim 6, wherein the magnitude of the environmental disturbance comprises a wind speed. ### Claim 8 (depends on 6) The system of claim 6, wherein the feedback control module comprises a nonlinear controller which comprises a nonlinear gain based on a probability density function. ### Claim 9 (depends on 1) The system of claim 1, wherein the control system is configured to maintain the aircraft in a predefined angular orientation corresponding to the fixed orientation of the visual indicator as the landing platform rotates relative to the visual indicator. ### Claim 10 A method for autonomously landing a vertical landing aircraft on a landing platform, comprising: (a) identifying a visual indicator based on image data captured by an onboard camera of the aircraft, wherein the visual indicator is located on a horizontally extending surface of the visual cue whereby the visual indicator extends vertically across a horizon, and wherein the visual cue is motion-stabilized relative to the landing platform and configured to maintain a fixed orientation of a visual indicator of the visual cue relative to the horizon; (b) controlling a position of the aircraft relative to the visual indicator by an autonomous control system to maneuver the aircraft into a predefined landing position vertically above the landing platform, the predefined landing position being horizontally spaced from the visual indicator and horizontally aligned with the landing platform; and (c) reducing by the control system a vertical thrust generated by a powertrain of the aircraft in response to the aircraft entering the landing position to cause the aircraft to descend vertically from the landing position and land onto the landing platform at a location that is spaced from the visual cue. ### Claim 11 (depends on 10) The method of claim 10, further comprising: (d) detecting the landing platform by an object detection module trained to identify the landing platform; and (e) autonomously controlling the position of the aircraft so as to reduce an error between a center of the onboard camera and a setpoint determined by the object detection module, and increase an area within a field of view of the onboard camera occupied by an object corresponding to the setpoint, wherein the object comprises one of the landing platform and the visual cue. ### Claim 12 (depends on 10) The method of claim 10, further comprising: (d) providing a control input by a feedback control module to reduce an error between a center of the onboard camera and a setpoint and to increase an area within a field of view of the onboard camera of an object corresponding to the setpoint, wherein the object comprises one of the landing platform and the visual cue; and (e) adjusting the control input by a reinforcement learning module based on a magnitude of an environmental disturbance applied to the aircraft. ### Claim 13 An autonomous landing system for landing a vertical landing aircraft on a landing platform, the system comprising: a processor; a storage device coupled to the processor and containing instructions that when executed cause the processor to: control a position of the aircraft relative to a visual indicator of a visual cue motion-stabilized relative to the landing platform to maneuver the aircraft into a predefined landing position vertically above the landing platform the predefined landing position being horizontally spaced from the visual indicator and horizontally aligned with the landing platform, wherein the visual indicator is located on a horizontally extending surface of the visual cue whereby the visual indicator extends vertically across a horizon; and reduce a vertical thrust generated by a powertrain of the aircraft in response to the aircraft entering the landing position to cause the aircraft to descend vertically from the landing position and land on the landing platform at a location that is spaced from the visual cue based on image data captured by an onboard camera of the aircraft, wherein the visual cue is configured to maintain a fixed orientation of the visual indicator with respect to the horizon. ### Claim 14 (depends on 13) The system of claim 13, wherein the instructions when executed cause the processor to visually identify by an object detection module the landing platform based on the image data captured by the onboard camera. ### Claim 15 (depends on 13) The system of claim 13, wherein the instructions when executed cause the processor to determine by a machine vision module a position and an orientation of the aircraft relative to the visual indicator based on the image data captured by the onboard camera. ### Claim 16 (depends on 13) The system of claim 13, wherein the instructions when executed cause the processor to reduce by a feedback control module an error between a center of the onboard camera and a setpoint corresponding to at least one of the visual cue and the landing platform. ### Claim 17 (depends on 16) The system of claim 16, wherein the setpoint is provided by either an object detection module configured to detect the landing platform, or a machine vision module configured to identify the visual indicator. ### Claim 18 (depends on 13) The system of claim 13, wherein the instructions when executed cause the processor to: provide a control input by a feedback control module to reduce an error between a center of the onboard camera and a setpoint and to increase an area within a field of view of the onboard camera of an object corresponding to the setpoint, wherein the object comprises one of the visual cue and the landing platform; and adjust the control input by a reinforcement learning module based on a magnitude of an environmental disturbance applied to the aircraft. ### Claim 19 (depends on 18) The system of claim 18, wherein the magnitude of the environmental disturbance comprises a wind speed. ### Claim 20 (depends on 18) The system of claim 18, wherein the feedback control module comprises a nonlinear controller which comprises a nonlinear gain based on a probability density function.