System and method for detecting obstacles in aerial systems

• US 10,453,351 B2
• Filed: 07/17/2017
• Issued: 10/22/2019
• Est. Priority Date: 07/17/2017
• Status: Active Grant

• Current Assignee: Aurora Flight Sciences Corporation (The Boeing Co.)
• Original Assignee: Aurora Flight Sciences Corporation (The Boeing Co.)
• Inventors: Choi, Jae-Woo, Saunders, Jeffrey, Paduano, James D.
• Primary Examiner(s): Nguyen, Tan Q
• Application Number:
  US15/651,512
• Publication Number:
  US 20190019423A1
• Time in Patent Office: 827 Days
• Field of Search: 701 3, 701300, 701301
• CPC Class Codes: G01S 13/723 by using numerical data
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/933 of aircraft or spacecraft
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/106 Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
• CPC Class Codes: G08G 5/0039 Modification of a flight plan
• CPC Class Codes: G08G 5/0078 for monitoring traffic from the aircraft radar or analogous systems specially adapted for traffic control G01S13/91
• CPC Class Codes: G08G 5/0086 for monitoring terrain radar or analogous systems specially adapted for terrain avoidance G01S13/935
• CPC Class Codes: G08G 5/04 Anti-collision systems
• 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

Abstract

An automated detection and avoidance system that provides a pilot with high-fidelity knowledge of the aircraft'"'"'s physical state, and notifies the pilot of any deviations in expected state based on predictive models. The automated detection and avoidance system may include a processor and a sensor payload operatively coupled to the processor to detect a non-cooperative obstacle within a first airspace adjacent the aircraft. The sensor payload may comprise a radar to radially scan the first airspace, and a camera to scan a second airspace within said first airspace.

Claims

1. An obstacle detection system for use in an aircraft, the obstacle detection system comprising:

a sensor payload to detect a non-cooperative obstacle within a first airspace that is adjacent the aircraft, the sensor payload comprising

a radar to radially scan the first airspace at a first resolution to generate radar information, and

a camera to image the non-cooperative obstacle in a second airspace within said first airspace at a second resolution to generate optical information, wherein the second resolution is higher than the first resolution; and

a processor operatively coupled with the sensor payload, wherein the processor is configured to

determine, using the radar information, a location of the non-cooperative obstacle in the first airspace,

direct the camera toward the location of the non-cooperative obstacle using the radar information, and

process the optical information of the non-cooperative obstacle to identify features of the non-cooperative obstacle.

2. The obstacle detection system of claim 1, wherein the processor is configured to assign a threat level to the non-cooperative obstacle as a function of the optical information.

3. The obstacle detection system of claim 1, wherein the processor calculates a scan angle using the location of the non-cooperative obstacle and pans the camera in accordance with the scan angle to image the non-cooperative obstacle.

4. The obstacle detection system of claim 1, wherein the camera includes a visible-near infrared electro-optic (EO) sensor or a long wave infrared sensor.

5. The obstacle detection system of claim 1, wherein the optical information includes at least one of a thermal cross section and an optical cross section and the radar information comprises a radar cross section, wherein the processor in configured to combine the optical cross section and the radar cross section to identify the non-cooperative obstacle.

6. The obstacle detection system of claim 1, wherein the radar information includes a two-dimensional (2D) location of the non-cooperative obstacle within the first airspace, and the optical information includes an azimuthal location of the non-cooperative obstacle within the second airspace.

7. The obstacle detection system of claim 1, wherein the processor is configured to generate a predicted flight path for the non-cooperative obstacle based at least in part on the radar information and the optical information.

8. The obstacle detection system of claim 7, wherein the processor is configured to generate an obstacle-avoidance navigational route to avoid a collision with the non-cooperative obstacle based at least in part on the predicted flight path.

9. The obstacle detection system of claim 8, further comprising a human-machine interface operatively coupled with the processor to enable a human pilot to monitor the obstacle-avoidance navigational route.

10. The obstacle detection system of claim 1, wherein the first airspace provides a 360-degree field of view about the aircraft.

11. The obstacle detection system of claim 10, wherein the 360-degree field of view resides in a plane that is parallel to a line of flight defined by the aircraft.

12. A method for detecting and avoiding a non-cooperative obstacle during operation of an aircraft, the method comprising:

scanning a first airspace using a radar system to generate radar information having a first resolution;

determining a location of the non-cooperative obstacle in the first airspace using the radar information;

directing a camera toward the location of the non-cooperative obstacle using the radar information;

imaging the non-cooperative obstacle in a second airspace using the camera to generate optical information at a second resolution that is higher than the first resolution, wherein the second airspace is within said first airspace;

tracking the non-cooperative obstacle based at least in part on the radar information and the optical information;

generating a predicted flight path based at least in part on the radar information and the optical information;

generating an obstacle-avoidance navigational route to avoid the non-cooperative obstacle; and

communicating the obstacle-avoidance navigational route to a flight control system of the aircraft.

13. The method of claim 12, wherein the aircraft is configured to execute autonomously the obstacle-avoidance navigational route.

14. The method of claim 12, wherein the camera includes a long wave infrared sensor configured to pan and tilt.

15. The method of claim 12, further comprising the step of determining an azimuthal location of the non-cooperative obstacle within the second airspace using the camera.

16. The method of claim 12, wherein the radar system is a mechanically rotating marine radar.

17. The method of claim 16, wherein the radar information includes a two-dimensional (2D) radial map of the first airspace.

18. The method of claim 12, further comprising the step of generating, via the processor, a predicted flight path for the non-cooperative obstacle based at least in part on the data received from the sensor payload.

19. A sensor payload for an aircraft to detect a non-cooperative obstacle within an airspace adjacent the aircraft, the sensor payload comprising:

a radar to radially scan the airspace to provide a location of the non-cooperative obstacle;

a first sensor to detect a thermal signature of the non-cooperative obstacle at the location;

a second sensor to image the non-cooperative obstacle at the location; and

a processor operatively coupled with each of the radar, the first sensor, and the second sensor, wherein the processor is configured to determine the location of the non-cooperative obstacle using data from the radar, to direct at least one of the first sensor and the second sensor toward the location of the non-cooperative obstacle, and to classify the non-cooperative obstacle at the location using the thermal signature from the first sensor and the image from the second sensor.

20. The sensor payload of claim 19, wherein the second sensor includes a long wave infrared sensor.

21. The sensor payload of claim 19, wherein the second sensor includes a visible-near infrared electro-optic (EO) sensor.