Abstract
An automated aerial formation (AAF) system includes an imaging device mounted on an imaging first aircraft that receives reflected energy from an imaged second aircraft. A controller is communicatively coupled to the imaging device and a flight control system of one of the first and the second aircraft. The controller generates a three-dimensional (3D) point cloud based on the reflected energy and identifies a target 3D model in the 3D point cloud. The controller rotates and scales one of a pre-defined 3D model and the target 3D model to find a 3D point registration between the target 3D model and the pre-defined 3D model. The controller steers the flight control system of the one of first and the second aircraft into formation based on the distance and the relative pose determined from the rotating and scaling.
Document Type
Patent
Status
Issued
Issue Date
10-15-2024
Patent Number
US 12118890 [ 12,118,890 ] ; US 12118890B2
CPC Classification
G 06 N 20/00
Application number
16/985502
Assignees
United States of America as represented by the Secretary of the Air Force, Wright-Patterson AFB
Filing Date
8-5-2020
Recommended Citation
Nykl, S. L., Woolley, B., & Pecarina, J. (2024). Stereo Vision Relative Navigation of Airborne Vehicles (United States Patent No. US12118890B2). https://scholar.afit.edu/patents/112