Landing detection systems
View Patent ↗The disclosure describes systems and methods for detecting an aerial vehicle landing. One method includes performing at least two of a plurality of landing tests to detect the landing of the aerial vehicle. The plurality of landing tests include a static test, a thrust test, and a shock test. Upon a detection of the landing by one of the at least two landing tests performed, the method further includes performing a free-fall test to detect a free fall of the aerial vehicle. The free fall of the aerial vehicle is a change in altitude of the aerial vehicle above an altitude change threshold. Upon a lack of a detection of the free fall by the free-fall test, the method includes setting a landed state for the aerial vehicle. Upon a detection of the free fall by the free-fall test, the method includes setting an in-air state for the aerial vehicle.
1. A method for detecting a landing of an aerial vehicle, comprising: performing a static test to detect the landing of the aerial vehicle, the static test comprising:
upon a determination that the aerial vehicle has a static state, running a static timer for a first time period; and
upon expiration of the first time period, determining that the aerial vehicle remains in the static state;
performing a thrust test to detect the landing of the aerial vehicle, the thrust test comprising:
upon a determination that a thrust level of the aerial vehicle is below a thrust threshold, running a thrust timer for a second time period;
upon expiration of the second time period, determining that the thrust level of the aerial vehicle remains below the thrust threshold; and
upon a determination that the thrust level of the aerial vehicle remains below the thrust threshold, determining that a change in altitude of the aerial vehicle over the second time period is below an altitude change threshold; performing a shock test to detect the landing of the aerial vehicle, the shock test comprising:
upon a determination that a shock is detected, determining that the aerial vehicle experienced a previous descent; and
upon a determination that the aerial vehicle experienced the previous descent, determining that a control input of the aerial vehicle has a stick-down state; upon a detection of the landing by one of the static test, the thrust test, or the shock test, performing a free-fall test to detect a free fall of the aerial vehicle;
upon a lack of a detection of the free fall by the free-fall test, setting a landed state for the aerial vehicle and disarming a rotor of the aerial vehicle; and
upon a detection of the free fall by the free-fall test, setting an in-air state for the aerial vehicle and not disarming the rotor of the aerial vehicle.
2. The method of claim 1 , wherein detecting the free fall comprises determining that a change in altitude of the aerial vehicle over a third time period is above the altitude change threshold.
3. The method of claim 1 , further comprising:
upon a detection of the free fall by the free-fall test, setting an in-air state for the aerial vehicle.
4. The method of claim 1 , wherein the static test, the thrust test, and the shock test are performed approximately simultaneously.
5. A non-transitory computer-readable storage medium, comprising executable instructions that, when executed by a processor, facilitate performance of operations, comprising:
performing a plurality of landing tests to detect a landing of an aerial vehicle, the plurality of landing tests including a static test, a thrust test, and a shock test;
upon a detection of the landing by one of the plurality of landing tests, performing a free-fall test to detect a free fall of the aerial vehicle;
upon a lack of a detection of the free fall by the free-fall test, setting a landed state for the aerial vehicle and disarming a rotor of the aerial vehicle; and
upon a detection of the free fall by the free-fall test, setting an in-air state for the aerial vehicle and not disarming the rotor of the aerial vehicle.
6. The medium of claim 5 , wherein the static test comprises:
upon a determination that the aerial vehicle has a static state, running a static timer for a predetermined time period; and
upon expiration of the predetermined time period, determining that the aerial vehicle remains in the static state.
7. The medium of claim 6 , wherein the static state of the aerial vehicle indicates movement of the aerial vehicle below a movement threshold.
8. The medium of claim 5 , wherein the thrust test comprises:
upon a determination that a thrust level of the aerial vehicle is below a thrust threshold, running a thrust timer for a predetermined time period;
upon expiration of the predetermined time period, determining that the thrust level of the aerial vehicle remains below the thrust threshold; and
upon a determination that the thrust level of the aerial vehicle remains below the thrust threshold, determining that a change in altitude of the aerial vehicle is below an altitude change threshold.
9. The medium of claim 5 , wherein the shock test comprises:
upon a determination that a shock is detected, determining that the aerial vehicle experienced a previous descent; and
upon a determination that the aerial vehicle experienced the previous descent, determining that a control input of the aerial vehicle has a stick-down state.
10. The medium of claim 9 , wherein a previous descent is determined based on a detection of a decrease in altitude of the aerial vehicle over a previous, predetermined time period.
11. The medium of claim 5 , wherein detecting the free fall comprises determining that a change in altitude of the aerial vehicle is above an altitude change threshold.
12. The medium of claim 5 , further comprising:
upon a detection of the free fall by the free-fall test, setting an in-air state for the aerial vehicle.
13. The medium of claim 12 , wherein the in-air state of the aerial vehicle indicates movement of the aerial vehicle above a movement threshold and the landed state of the aerial vehicle indicates movement of the aerial vehicle below the movement threshold.
14. The medium of claim 5 , wherein the static test, the thrust test, and the shock test are performed simultaneously.
15. A method for detecting a landing of an aerial vehicle, comprising: performing at least two landing tests to detect the landing of the aerial vehicle, the landing tests including a static test, a thrust test, and a shock test;
upon a detection of the landing by one of the at least two landing tests performed, performing a free-fall test to detect a free fall of the aerial vehicle, wherein the free fall of the aerial vehicle is a change in altitude of the aerial vehicle above an altitude change threshold;
upon a lack of a detection of the free fall by the free-fall test, setting a landed state for the aerial vehicle and disarming a rotor of the aerial vehicle;
upon a detection of the free fall by the free-fall test, setting an in-air state for the aerial vehicle and not disarming the rotor of the aerial vehicle.
16. The method of claim 15 , wherein the static test is one of the at least two landing tests performed, the static test comprising:
upon a determination that the aerial vehicle has a static state, running a static timer for a predetermined time period; and
upon expiration of the predetermined time period, determining that the aerial vehicle remains in the static state.
17. The method of claim 15 , wherein the thrust test is one of the at least two landing tests performed, the thrust test comprising:
upon a determination that a thrust level of the aerial vehicle is below a thrust threshold, running a thrust timer for a predetermined time period;
upon expiration of the predetermined time period, determining that the thrust level of the aerial vehicle remains below the thrust threshold; and
upon a determination that the thrust level of the aerial vehicle remains below the thrust threshold, determining that the change in altitude of the aerial vehicle is below the altitude change threshold.
18. The method of claim 15 , wherein the shock test is one of the at least two landing tests performed, the shock test comprising:
upon a determination that a shock is detected, determining that the aerial vehicle experienced a previous descent; and
upon a determination that the aerial vehicle experienced the previous descent, determining that a control input of the aerial vehicle has a stick-down state.
19. The method of claim 15 , wherein the at least two landing tests performed are performed simultaneously.
20. The method of claim 15 , wherein the in-air state of the aerial vehicle indicates movement of the aerial vehicle above a movement threshold and the landed state of the aerial vehicle indicates movement of the aerial vehicle below the movement threshold.