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US 12,518,642 B2Granted
Systems and methods for landing and terrain flight assistance
AssigneeElbit Systems Ltd.
InventorsYoav Ophir, Ayelet Mashiah
Life of this patent
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Abstract
A method and a system for landing and terrain flight assistance are provided herein. The method may include the following steps: obtaining, by at least one imaging sensor disposed on an aerial platform, at least two images of at least a portion of a specified region of a terrain; determining, based on the at least two images, a 3D model of at least a portion of the specified region; receiving a predetermined model of at least a portion of the specified region; determining a real-world geographic location of the aerial platform based on the 3D model and the predetermined model; and determining flight instructions based on the 3D model and the determined geographic location of the aerial platform.
Claims16
A method of providing a computer-assisted landing and terrain flight assistance, the method comprising:
- obtaining, by an imaging sensor disposed on an aerial platform, at least two images of at least a portion of a specified region of a terrain when the aerial platform is at corresponding at least two different geographic locations;
- tracking a line of sight (LOS) of a user of the aerial platform with respect to the specified region using a LOS tracking device;
- determining, based on the at least two images, a 3D model comprising a set of data values that provide a 3D representation of at least a portion of the specified region, wherein the 3D model is determined according to the tracked LOS of the user;
- analyzing, by a computer processor, at least a portion of data values of the 3D model based on a predetermined classification dataset to provide one or more classified subsets of data values of the 3D model;
- filtering, by a geolocation anchoring module, on the computer processor, the 3D model based on classified subsets of data values to provide a filtered 3D model, wherein said filtering comprises removing, by the geolocation anchoring module, data values of temporal objects, wherein said data values of temporal objects are removed based on dynamics of change of the tracked LOS of the user;
- receiving a predetermined model comprising a set of predetermined data values that provide a representation of at least a portion of the specified region, wherein real-world geographic locations of at least some of the predetermined data values are known;
- comparing, by the computer processor, at least a portion of the filtered 3D model and at least a portion of the predetermined model;
- determining a real-world geographic location of the aerial platform based on the comparison of at least a portion of the filtered 3D model and at least a portion of the predetermined model;
- determining flight instructions based on the filtered 3D model and the determined real-world geographic location of the aerial platform;
- updating, by the computer processor, one or more data values of the filtered 3D model with corresponding one or more data values of the pre-determined model upon detection of a reduction of a quality of the one or more data values of the filtered 3D model;
- and
- displaying, by the computer processor, the updated filtered 3D model on a display.
9 more elements
A computer-assisted system for landing and terrain flight assistance, the system comprising:
- an imaging sensor adapted to be disposed on an aerial platform and adapted to obtain at least two images of at least a portion of a specified region of a terrain when the aerial platform is at corresponding at least two different geographic locations;
- a geolocation anchoring module;
- a line of sight (LOS) tracking device adapted to track a LOS of a user of the aerial platform with respect to the specified region;
- and
- a processing unit configured to:
- receive the at least two images;
- determine, based on the at least two images, a 3D model comprising a set of data values that provide a 3D representation of at least a portion of the specified region, wherein the 3D model is determined according to the tracked LOS of the user;
- analyze at least a portion of data values of the 3D model based on a predetermined classification dataset to provide one or more classified subsets of data values of the 3D model;
- filter, by the geolocation anchoring module, the 3D model based on classified subsets of data values to provide a filtered 3D model, comprising the removal of data values of temporal objects by the geolocation anchoring module, wherein said removal of data values of temporal objects is based on dynamics of change of the tracked LOS of the user;
- receive a predetermined model comprising a set of predetermined data values that provide a representation of at least a portion of the specified region, real-world geographic locations of at least some of the predetermined data values are known;
- compare at least a portion of the filtered 3D model and at least a portion of the predetermined model;
- determine a real-world geographic location of the aerial platform based on the comparison of at least a portion of the filtered 3D model and at least a portion of the predetermined model;
- determine flight instructions based on the filtered 3D model and the determined real-world geographic location of the aerial platform;
- update one or more data values of the filtered 3D model with corresponding one or more data values of the pre-determined model upon detection of a reduction of a quality of the one or more data values of the filtered 3D model;
- and
- displaying by the computer processor, the updated filtered 3D model on a display.
13 more elements
Dependencies are inferred from the claim text.