METHOD OF AUTOMATIC DRONE LANDING FOR MONITORING OF LONG STRUCTURES Russian patent published in 2014 - IPC G01M3/00 B64C19/00 

FIELD: transport.

SUBSTANCE: invention relates to application of drones and can be used for continuous control over conditions of oil- and gas-lines, storages, high-voltage lines and similar long structures. Proposed method comprises measurement of flight altitude H, horizontal distance to design distance to touch-down point D, deviation from vertical plane extending through runway axis ΔZ, definition of three velocity components and acceleration at touch-down point, generation of pilot path of lower flight H₀(D,D₀) and Z₀(D,D₀) from the point of landing start at the distance D₀ reference tough-down point, definition of drone deviation from reference landing part Δh=H-H₀(D,D₀) and ΔZ=Z-Z₀(D_,D₀), generation of control signals proceeding from measurement results and feeding them to drone control surfaces. Drone landing path cross-section is set as a circle located on the plane perpendicular to reference part and with centre at landing reference line. In case the drone flies out from reference cross-section a new landing part is generated.

EFFECT: higher reliability and safety.

3 cl, 2 dwg