Method for precision localization of aircraft in dynamic Euclidean reference frames while moving

A system, comprising:

• computer hardware comprising memory coupled with one or more processors configured to:
• determine distances and angles between three or more moving objects comprising an autonomous aircraft, a capture device, and a host vehicle;
• determine positions in a local Euclidean reference frame of the autonomous aircraft, the capture device, and the host vehicle;
• determine relative position and motion paths of the three or more moving objects with respect to each other object;
• command an articulating mechanism to a fixed point moving with the host vehicle, the articulating mechanism comprising a free-moving end coupled with the capture device and a secured end coupled with the host vehicle;
• control a position of the capture device relative to the autonomous aircraft based on sensor inputs of sensors and the relative positions of the three or more moving objects;
• and
• control the articulating mechanism to capture the autonomous aircraft using the capture device while the autonomous aircraft tracks the fixed point in the local Euclidean reference frame that moves with the host vehicle.

One or more non-transitory computer readable media storing instructions thereon that, when executed by one or more processors, cause the one or more processors to perform operations, comprising:

• determining distances and angles between three or more moving objects comprising an autonomous aircraft, a capture device, and a host vehicle;
• determining positions in a local Euclidean reference frame of the autonomous aircraft, the capture device, and the host vehicle;
• determining relative position and motion paths of the three or more moving objects with respect to each other object;
• commanding an articulating mechanism to a fixed point moving with the host vehicle, the articulating mechanism comprising a free-moving end coupled with the capture device and a secured end coupled with the host vehicle;
• controlling a position of the capture device relative to the autonomous aircraft based on sensor inputs of sensors and the relative positions of the three or more moving objects;
• and
• controlling the articulating mechanism to capture the autonomous aircraft using the capture device while the autonomous aircraft tracks the fixed point in the local Euclidean reference frame that moves with the host vehicle.

A method, comprising:

• causing, by computer hardware, a sensor transmitter coupled with a host vehicle to transmit a signal to an autonomous aircraft;
• receiving, by a sensor coupled with the autonomous aircraft, the signal;
• determining, by second computer hardware of the autonomous aircraft, a position of the autonomous aircraft in a local Euclidean reference frame using the received signal;
• transmitting, using the second computer hardware, the position of the autonomous aircraft in the local Euclidean reference frame to the computer hardware;
• determining, by the computer hardware using sensors, distances and angles between three or more moving objects comprising the autonomous aircraft, a capture device, and the host vehicle;
• determining, by the computer hardware, positions in the local Euclidean reference frame of the autonomous aircraft, the capture device, and the host vehicle;
• determining, by the computer hardware, relative position and motion paths of the three or more moving objects with respect to each other object;
• commanding, by the computer hardware, an articulating mechanism to a fixed point moving with the host vehicle, the articulating mechanism comprising a free-moving end coupled with the capture device and a secured end coupled with the host vehicle;
• controlling, by the computer hardware, a position of the capture device relative to the autonomous aircraft based on sensor inputs of the sensors and the relative positions of the three or more moving objects;
• and
• controlling, by the computer hardware, the articulating mechanism to capture the autonomous aircraft using the capture device.

A method, comprising:

• receiving, by a sensor of an autonomous aircraft, a signal transmitted by a sensor transmitter coupled with a host vehicle;
• determining, by second computer hardware of the autonomous aircraft using the signal, a position in a local Euclidean reference frame of the autonomous aircraft;
• determining, by computer hardware using sensors, distances and angles between three or more moving objects comprising the autonomous aircraft, a capture device, and the host vehicle;
• determining, by the computer hardware, positions in the local Euclidean reference frame of the autonomous aircraft, the capture device, and the host vehicle;
• determining, by the computer hardware, relative position and motion paths of the three or more moving objects with respect to each other object;
• commanding, by the computer hardware, an articulating mechanism to a fixed point moving with the host vehicle, the articulating mechanism comprising a free-moving end coupled with the capture device and a secured end coupled with the host vehicle;
• controlling, by the computer hardware, a position of the capture device relative to the autonomous aircraft based on sensor inputs of the sensors and the relative positions of the three or more moving objects;
• and
• controlling, by the computer hardware, the articulating mechanism to capture the autonomous aircraft using the capture device.

A system, comprising:

• computer hardware comprising memory coupled with one or more processors configured to:
• determine distances and angles between three or more moving objects comprising an autonomous aircraft, a capture device, and a host vehicle;
• determine positions in a local Euclidean reference frame of the autonomous aircraft, the capture device, and the host vehicle;
• determine relative position and motion paths of the three or more moving objects with respect to each other object;
• command an articulating mechanism to a fixed point moving with the host vehicle, the articulating mechanism comprising a free-moving end coupled with the capture device and a secured end coupled with the host vehicle, wherein the fixed point in the local Euclidean reference frame is set to be within a range of motion of the free-moving end of the articulating mechanism;
• control a position of the capture device relative to the autonomous aircraft based on sensor inputs of sensors and the relative positions of the three or more moving objects;
• and
• control the articulating mechanism to capture the autonomous aircraft using the capture device.