Method and system for providing docking guidance to a pilot of a taxiing aircraft

• US 10,249,203 B2
• Filed: 04/17/2017
• Issued: 04/02/2019
• Est. Priority Date: 04/17/2017
• Status: Active Grant

• Current Assignee: Rosemount Aerospace, Inc. (Raytheon Technologies Corporation d/b/a RTX)
• Original Assignee: Rosemount Aerospace, Inc. (Raytheon Technologies Corporation d/b/a RTX)
• Inventors: Pesik, Joseph T., Ell, Todd Anthony, Rutkiewicz, Robert
• Primary Examiner(s): Grant, II, Jerome
• Application Number:
  US15/489,369
• Publication Number:
  US 20180301045A1
• Time in Patent Office: 715 Days
• Field of Search: 382104
• CPC Class Codes: B64D 47/08 Arrangements of cameras
• CPC Class Codes: B64F 1/002 Taxiing aids
• CPC Class Codes: B64U 20/87 Mounting of imaging devices, e.g. mounting of gimbals
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/10048 Infrared image
• CPC Class Codes: G06T 2207/30204 Marker
• CPC Class Codes: G06T 2207/30264 Parking
• CPC Class Codes: G06T 7/13 Edge detection
• CPC Class Codes: G06T 7/73 using feature-based methods
• CPC Class Codes: G06V 10/143 Sensing or illuminating at different wavelengths
• CPC Class Codes: G06V 10/145 Illumination specially adapted for pattern recognition, e.g. using gratings
• CPC Class Codes: G06V 10/245 by locating a pattern; Special marks for positioning
• CPC Class Codes: G06V 20/586 of parking space
• CPC Class Codes: G08G 5/0021 located in the aircraft
• CPC Class Codes: G08G 5/045 Navigation or guidance aids, e.g. determination of anti-collision manoeuvers radar or analogous systems specially adapted for anti-collision between aircraft G01S13/933
• CPC Class Codes: G08G 5/065 Navigation or guidance aids, e.g. for taxiing or rolling
• CPC Class Codes: H04N 5/33 Transforming infrared radiation cameras or camera modules for generating image signals from infrared radiation H04N23/20; circuitry of SSIS for transforming infrared radiation into image signals H04N25/20
• CPC Class Codes: H04N 7/183 for receiving images from a single remote source

Abstract

Apparatus and associated methods relate to using an image of a fiducial located indicating a parking location for the aircraft to provide docking guidance data to a pilot of an aircraft. The fiducial has vertically-separated indicia and laterally-separated indicia. A camera is configured to mount at a camera location so as to be able to capture two-dimensional images of a scene external to the aircraft. The two-dimensional image includes pixel data generated by the two-dimensional array of light-sensitive pixels. A digital processor identifies first and second sets of pixel coordinates corresponding to the two vertically-separated and the two laterally-separated indicia, respectively. The digital processor then calculates, based at least in part on the identified first pixel coordinates corresponding to the two vertically-separated indicia, a range to the parking location.

Claims

1. A system for providing docking guidance to a pilot of a taxiing aircraft, the system comprising:

a camera configured for mounting at a camera location on the taxiing aircraft, the camera configured to generate a two-dimensional image of a scene external to the taxiing aircraft, the generated two-dimensional image comprising pixel data generated by the two-dimensional array of light-sensitive pixels; and

a digital processor configured to identify first and second sets of pixel coordinates within the generated two-dimensional image of the scene external to the taxiing aircraft, the identified first and second sets of pixel coordinates corresponding to two vertically-separated and two laterally-separated indicia, respectively, of an alignment fiducial indicating a parking location for the taxiing aircraft, the digital processor further configured to calculate, based at least in part on the identified first pixel coordinates corresponding to the two vertically-separated indicia, a range to the parking location indicated by the alignment fiducial.

2. The system of claim 1, further comprising a cockpit alarm and display module configured to provide a visual display of the generated image of the scene aligned with the optical axis of the camera, the provided visual display annotated with the calculated range to the parking location.

3. The system of claim 1, wherein the digital processor is further configured to calculate, based at least in part on the identified second pixel coordinates corresponding to the two laterally-separated indicia, an angle of the taxiing aircraft with respect to a normal vector of the alignment fiducial.

4. The system of claim 1, wherein the digital processor is further configured to calculate, based at least in part on the identified second pixel coordinates corresponding to the two laterally-separated indicia, a lateral translation of the longitudinal axis of the taxiing aircraft with respect to the parking location identified by the alignment fiducial.

5. The system of claim 1, further comprising:

a light projector configured to be mounted at a projector location on the taxiing aircraft and to project spatially-patterned light from the light projector onto the scene external to the taxiing aircraft, thereby providing illumination of a spatially-patterned portion of the scene external to the taxiing aircraft,

wherein the digital processor is further configured to identify a third set of pixel coordinates within the image of the scene external to the taxiing aircraft, the identified third set of pixel coordinates corresponding to the spatially-patterned portion of the scene, the digital processor further configured to use triangulation, based on the projector location of the light projector, the camera location of the camera and the identified third set of pixel coordinates, to calculate location(s) and/or range(s) of object(s) in the scene external to the taxiing aircraft from which the spatially-patterned light projected by the light projector is reflected.

6. The system of claim 5, wherein the spatially-patterned light projected by the light projector comprises infrared light.

7. The system of claim 6, wherein the camera is an infrared camera and the light-sensitive pixels are sensitive to infrared light.

8. The system of claim 5, further comprising a cockpit alarm and display module configured to generate a visual display of the image aligned with the optical axis of the camera annotated with the calculated location(s) and/or range(s) of object(s) in the scene external to the taxiing aircraft.

9. The system of claim 8, wherein the cockpit alarm and display module includes an audible alarm that is activated when the calculated location(s) and/or range(s) indicate one or more of the object(s) in the scene has a combination of an location(s) and/or range(s) corresponding to a risk of collision relative to the taxiing aircraft.

10. The system of claim 5, wherein the digital processor is further configured to determine pixel boundaries of the object(s) in the scene.

11. The system of claim 10, wherein the digital processor is further configured to identify a fourth set of pixel coordinates that lie within the determined pixel boundaries of the object(s) in the scene external to the taxiing aircraft.

12. A method for providing docking guidance to a pilot of a taxiing aircraft, the method comprising:

generating, by a camera mounted at a camera location on an aircraft, a two-dimensional image of a scene external to the taxiing aircraft, the generated two-dimensional image comprising pixel data generated by the two-dimensional array of light-sensitive pixels;

identifying first and second sets of pixel coordinates within the image of the scene external to the aircraft, the identified first and second sets of pixel coordinates corresponding to two vertically-separated and two laterally-separated indicia, respectively, of an alignment fiducial indicating a parking location for the aircraft;

calculating, based at least in part on the identified first pixel coordinates corresponding to the two vertically-separated indicia, a range to the parking location; and

generating a visual display of the image of the scene aligned with the optical axis of the camera, the visual display annotated with the calculated range to the parking location.

13. The method of claim 12, further comprising:

calculating, based at least in part on the identified second pixel coordinates corresponding to the two laterally-separated indicia, an angle of the taxiing aircraft with respect to a normal vector of the alignment fiducial.

14. The method of claim 13, further comprising:

calculating, based at least in part on the identified second pixel coordinates corresponding to the two laterally-separated indicia, a lateral translation of the longitudinal axis of the taxiing aircraft with respect to the parking location identified by the alignment fiducial.

15. The method of claim 13, further comprising:

projecting, from a projector location on the taxiing aircraft, light of a spatial pattern onto the scene external to the aircraft, thereby illuminating a spatially-patterned portion of the scene;

identifying a third set of pixel coordinates within the image of the scene external to the aircraft, the identified third set of pixel coordinates corresponding to the spatially-patterned portion of the scene; and

calculating, using triangulation based on the projector location of the light projector, the camera location of the camera and the identified third set of pixel coordinates, location(s) and/or range(s) of object(s) in the scene external to the aircraft from which the spatially-patterned light projected by the light projector is reflected.

16. The method of claim 15, further comprising:

generating a visual display of the image external to the taxiing aircraft, the visual display annotated with the calculated location(s) and/or range(s) of object(s) in the scene external to the aircraft.

17. The method of claim 16, further comprising:

activating an audible alarm when the calculated location(s) and/or range(s) of object(s) indicate one or more of the object(s) in the scene has a combination of a location(s) and/or range(s) corresponding to a risk of collision relative to the taxiing aircraft.

18. The method of claim 16, further comprising:

determining pixel boundaries of the object(s) in the scene.

19. The method of claim 18, further comprising:

calculating location(s) and/or range(s) of object(s) corresponding to the determined pixel boundaries.

20. The method of claim 18, further comprising:

identifying a fourth set of pixel coordinates that lie within the determined pixel boundaries of the object(s) in the scene but are not included in the identified third set of pixel coordinates.