Automatic landing system for vertical take-off and landing aircraft, vertical take-off and landing aircraft, and landing control method for vertical take-off and landing aircraft

A landing control method for a vertical take-off and landing aircraft comprising:

• performing image processing on an image captured by an imaging device that is mounted on a vertical take-off and landing aircraft, the image including a marker group provided at a target landing point, to acquire a relative position between the vertical take-off and landing aircraft and the target landing point, the target landing point being provided on a moving object;
• and
• controlling the vertical take-off and landing aircraft such that the relative position becomes zero, wherein
• the marker group includes a plurality of markers that are arranged side by side and that have different center positions from each other,
• the markers are larger as arranged farther away from the target landing point,
• the acquiring of the relative position includes acquiring the relative position based on a distance between the marker recognized in the image and the target landing point, and
• wherein the controlling of the vertical take-off and landing aircraft includes controlling the vertical take-off and landing aircraft based on the relative position, a relative velocity between the vertical take-off and landing aircraft and the target landing point, a relative heading between a heading of the vertical take-off and landing aircraft and a heading of the moving object, and an acceleration of the vertical take-off and landing aircraft.