# US 12,179,936 B2 · Landing zone landing assistance system for a rotary wing aircraft

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 12,179,936 B2
- Document ID: US12179936B2
- Status: Granted
- Kind: B2
- Application number: 17/968,696
- Filed: 2022-10-18
- Published: 2023-04-20
- Granted: 2024-12-31
- Earliest claimed: 2021-10-20
- Assignees: Thales
- Applicants: Thales
- Inventors: Pierre-Jean Auillans; Audrey Aubignac; David Gazeau; Bernard Panefieu
- Web page: https://patentgrep.com/patent/US12179936B2

## CPC

- B64D 45/08: optical
- G05D 1/0676: {specially adapted for landing}
- B64C 27/04: Helicopters
- B64C 39/024: {of the remote controlled vehicle type, i.e. RPV}
- G01S 13/867: {Combination of radar systems with cameras}
- G01S 13/913: {for landing purposes}
- G01S 13/933: of aircraft or spacecraft
- G06T 7/74: {involving reference images or patches}
- G08G 5/21: located onboard the aircraft
- G08G 5/54: for approach or landing
- G08G 5/74: for monitoring terrain
- G06T 2207/10032: Satellite or aerial image; Remote sensing
- G06T 2207/30184: Infrastructure
- B64D: EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- B64C: AEROPLANES; HELICOPTERS
- 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
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- 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

A landing zone landing assistance system for a rotary wing aircraft, the system includes a computer, an HMI for interacting with the pilot of the aircraft, an optical assembly provided with at least one optical sensor, a radar assembly provided with at least one radar detector and an inertial unit, wherein the computer is configured to implement the following steps: a first step (Step1) consisting in determining an optical image of the possible landing zone; a second step (Step2) consisting in determining the relative position of the landing zone with respect to said system in the terrestrial reference frame; a third step (Step3) consisting in determining a landing zone approach path; and a fourth step (Step4) consisting in supplying to the HMI a deviation between the position of the system and the approach path.

## Claims

### Claim 1

A landing zone landing assistance system for a rotary wing aircraft, the system comprising a computer, an HMI for interacting with the pilot of the aircraft, an optical assembly provided with at least one optical sensor, a radar assembly provided with at least one radar detector, and an inertial unit, wherein the computer is configured to implement the following steps:
a first step (Step1) comprising determining an optical image of the possible landing zone based on the data supplied by the optical assembly, the possible landing zone representing the intersection of the field of the optical assembly and of the field of the radar assembly, and in transmitting this image to the HMI allowing the pilot to select a landing zone, on the possible landing zone reduced to said intersection;
a second step (Step2) comprising determining the relative position of the landing zone with respect to said system in the terrestrial reference frame, based on the landing zone supplied by the HMI selected by the pilot, in the possible landing zone, on data supplied by the inertial unit, on data supplied by the optical assembly, and on data supplied by the radar assembly;
a third step (Step3) comprising determining a landing zone approach path based on the relative position of the landing zone with respect to said system and on approach parameters supplied by the HMI on instructions from the pilot; and
a fourth step (Step4) comprising supplying to the HMI a deviation between the position of the system and the approach path, based on data supplied by the inertial unit, on data supplied by the radar assembly, and on the relative position of the landing zone.

### Claim 2 (depends on 1)

The system according to claim 1, wherein the computer is configured to implement the second step (Step2) based on:
data supplied by the radar assembly, comprising the distance, the azimuth and the elevation of the selected landing zone in the reference frame of the system;
data supplied by the inertial unit comprising the roll, yaw and pitch angles of the system defining the attitude of the system and its heading with respect to the terrestrial reference frame;
and configured to determine the relative position of the landing zone with respect to said system in the terrestrial reference frame by using a transition matrix determined on the basis of data supplied by the inertial unit.

### Claim 3 (depends on 1)

The system according to claim 1, wherein the computer is configured to implement the third step (Step3) based on:
the relative position of the landing zone with respect to said system in the terrestrial reference frame; and
approach parameters supplied by the HMI on instructions from the pilot, comprising whether or not he or she wants to perform a hover flight before vertical descent, and, in the case of hover flight before vertical descent, the height (HHOVER) with respect to the landing zone, the slope (θ) with respect to the horizon, and its heading (φ).

### Claim 4 (depends on 1)

The system according to claim 1, wherein the approach parameters supplied by the HMI on instructions from the pilot, are determined on the basis of modifiable predefined configurations dependent on charts corresponding to the model of the aircraft for which it is intended.

### Claim 5 (depends on 1)

The system according to claim 1, wherein the computer is configured to implement the fourth step (Step4) based on cyclical calculations of a deviation between the position of the system and the approach path.

### Claim 6 (depends on 5)

The system according to claim 5, wherein, in case of hover flight before vertical descent, the computer is configured to calculate the deviation between the position of the system and the approach path in spherical coordinates, centered initially on the hover flight point (HHOVER), then, secondly, centered on the landing zone.

### Claim 7 (depends on 1)

The system according to claim 1, wherein the HMI is configured to be made available to the pilot on an additional dedicated display device or a display device already dedicated to the control of the aircraft.

### Claim 8 (depends on 1)

The system according to claim 1, using, in addition, location data from a GNSS system in order to enhance the accuracy of the position of the system.

### Claim 9

A helicopter provided with a landing zone landing assistance system for a rotary wing aircraft, the system comprising a computer, an HMI for interacting with the pilot of the aircraft, an optical assembly provided with at least one optical sensor, a radar assembly provided with at least one radar detector, and an inertial unit, wherein the computer is configured to implement the following steps:
a first step (Step1) comprising determining an optical image of the possible landing zone based on the data supplied by the optical assembly, the possible landing zone representing the intersection of the field of the optical assembly and of the field of the radar assembly, and in transmitting this image to the HMI allowing the pilot to select a landing zone, on the possible landing zone reduced to said intersection;
a second step (Step2) comprising determining the relative position of the landing zone with respect to said system in the terrestrial reference frame, based on the landing zone supplied by the HMI selected by the pilot, in the possible landing zone, on data supplied by the inertial unit, on data supplied by the optical assembly, and on data supplied by the radar assembly:
a third step (Step3) comprising determining a landing zone approach path based on the relative position of the landing zone with respect to said system and on approach parameters supplied by the HMI on instructions from the pilot; and
a fourth step (Step4) comprising supplying to the HMI a deviation between the position of the system and the approach path, based on data supplied by the inertial unit, on data supplied by the radar assembly, and on the relative position of the landing zone.

### Claim 10

A drone provided with a landing zone landing assistance system for a rotary wing aircraft, the system comprising a computer, an HMI for interacting with the pilot of the aircraft, an optical assembly provided with at least one optical sensor, a radar assembly provided with at least one radar detector, and an inertial unit, wherein the computer is configured to implement the following steps:
a first step (Step1) comprising determining an optical image of the possible landing zone based on the data supplied by the optical assembly, the possible landing zone representing the intersection of the field of the optical assembly and of the field of the radar assembly, and in transmitting this image to the HMI allowing the pilot to select a landing zone, on the possible landing zone reduced to said intersection;
a second step (Step2) comprising determining the relative position of the landing zone with respect to said system in the terrestrial reference frame, based on the landing zone supplied by the HMI selected by the pilot, in the possible landing zone, on data supplied by the inertial unit, on data supplied by the optical assembly, and on data supplied by the radar assembly:
a third step (Step3) comprising determining a landing zone approach path based on the relative position of the landing zone with respect to said system and on approach parameters supplied by the HMI on instructions from the pilot; and
a fourth step (Step4) comprising supplying to the HMI a deviation between the position of the system and the approach path, based on data supplied by the inertial unit, on data supplied by the radar assembly, and on the relative position of the landing zone.