Collision avoidance system and method for unmanned aircraft

• US 10,520,944 B2
• Filed: 01/05/2018
• Issued: 12/31/2019
• Est. Priority Date: 01/06/2017
• Status: Active Grant

• Current Assignee: Aurora Flight Sciences Corporation (The Boeing Co.)
• Original Assignee: Aurora Flight Sciences Corporation (The Boeing Co.)
• Inventors: Kunzi, Fabrice, Kehlenbeck, Andrew, Rogers, Donald, Sardonini, Michael, Scott, Edward
• Primary Examiner(s): Lee, Tyler J
• Application Number:
  US15/863,529
• Publication Number:
  US 20180196435A1
• Time in Patent Office: 725 Days
• CPC Class Codes: G05D 1/0055 with safety arrangements
• 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 1/0202 specially adapted to aircraft
• CPC Class Codes: G05D 1/101 specially adapted for aircraft
• CPC Class Codes: G05D 1/102 specially adapted for vertical take-off of aircraft
• CPC Class Codes: G08G 5/0013 with a ground station
• CPC Class Codes: G08G 5/0021 located in the aircraft
• CPC Class Codes: G08G 5/0069 specially adapted for an unmanned aircraft
• CPC Class Codes: G08G 5/025 Navigation or guidance aids radar or analogous systems specially adapted for landing purposes G01S13/913
• 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 obstacle-avoidance system for a vehicle, the obstacle-avoidance system may comprise: a communication device; a plurality of sensors, the plurality of sensors configured to detect collision threats within a predetermined distance of the vehicle; and a processor. The processor may communicatively couple to the communication device and the plurality of sensors and configured to receive navigation commands being communicated to a control system via said communication device. The processor may also receive, from at least one of said plurality of sensors, obstruction data reflecting the position of an obstruction. Using the obstruction data, the processor identifies a direction for avoiding said obstruction. In response, the processor may output, via said communication device, a command to said control system causing the vehicle to travel in said flight direction. Using the obstruction data, the processor may further perform a landing assist module, a three-region collision protection function with pilot override, and/or a target-filtering function.

Claims

1. A method for providing collision protection in an aircraft, the method comprising:

receiving a sensor input from a sensor positioned on the aircraft and operatively coupled with a processor, wherein the sensor is configured to identify obstacles within a field of view;

receiving a pilot command stream from a pilot;

identifying an obstacle within the field of view based at least in part on said sensor input;

determining a region from a plurality of regions within the field of view in which the obstacle is positioned, wherein the region is determined based at least in part on the sensor input;

setting a control input as a function of the region determined from the plurality of regions;

inputting the control inputs to a proportional-derivative (PD) controller to generate control data;

generating, via the processor, a control command stream as a function of the control data; and

comparing, via the processor, the control command stream to the pilot command stream to determine whether the pilot command stream from the pilot is safe.

2. The method of claim 1, wherein the control command stream is communicated to a flight controller of the aircraft in lieu of the pilot command stream when the pilot command stream from the pilot is determined not to be safe.

3. The method of claim 1, wherein the pilot command stream is communicated to a flight controller of the aircraft when the pilot command stream from the pilot is determined to be safe.

4. The method of claim 1, wherein the sensor input comprises a range-rate estimate or a range estimate.

5. The method of claim 1, wherein the plurality of regions comprises a first region, a second region, and a third region.

6. The method of claim 1, wherein a pilot command stream is determined not to be safe if the pilot command stream can be interpreted by the processor as attempting to (1) reduce a range between the aircraft and the obstacle or (2) increase a rate of the aircraft above a rate limit set by the control data.

7. The method of claim 1, further comprising the step of receiving a pilot override command from the pilot, wherein the pilot override command overrides the control command stream.

8. The method of claim 1, further comprising the step of performing a target-filtering operation.

9. The method of claim 8, wherein the target-filtering operation comprises the steps of:

receiving range and magnitude data from a RADAR system for an obstacle within a line of sight of the aircraft;

determining, via the processor and based at least in part on the range and magnitude data, whether the magnitude is saturated;

calculating, via the processor, a standard deviation of at least a portion of a trace reflecting the range and magnitude data over time;

determining, via the processor, a new range point for the trace;

calculating, via the processor, a minimum difference between the new range point for the trace and an assigned range from incoming data; and

calculating a confidence and low-pass value, via the processor, via a critically damped low-pass filter (LPF).

10. A navigation system for providing collision protection in an aircraft, the navigation system comprising:

a sensor configured to couple to the aircraft and to identify obstacles within a field of view;

a processor operatively coupled with the sensor and a memory device, wherein the processor is configured to receive a pilot command stream from a pilot, wherein the processor is further configured to;

identify an obstacle within the field of view based at least in part on a sensor input from said sensor;

determine a region from a plurality of regions within the field of view in which the obstacle is positioned, wherein the region is determined based at least in part on the sensor input;

set a control input as a function of the region determined from the plurality of regions;

input the control inputs to a proportional-derivative (PD) controller to generate control data;

generate, via the processor, a control command stream as a function of the control data; and

compare, via the processor, the control command stream to the pilot command stream to determine whether the pilot command stream from the pilot is safe.

11. The navigation system of claim 10, wherein the control command stream is communicated to a flight controller of the aircraft in lieu of the pilot command stream when the pilot command stream from the pilot is determined not to be safe.

12. The navigation system of claim 10, wherein the plurality of regions comprises a first region, a second region, and a third region.

13. The navigation system of claim 10, wherein a pilot command stream is determined not to be safe if the pilot command stream can be interpreted by the processor as attempting to (1) reduce a range between the aircraft and the obstacle or (2) increase a rate of the aircraft above a rate limit set by the control data.

14. The navigation system of claim 10, wherein the processor is configured to receive a pilot override command from the pilot that overrides the control command stream.

15. The navigation system of claim 10, wherein the aircraft is a vertical take-off and landing (VTOL) aircraft.

16. The navigation system of claim 10, further comprising a landing assist module to instruct the aircraft to perform a landing maneuver to avoid an obstruction detected below the aircraft.

17. The navigation system of claim 10, wherein the processor is configured to perform a target-filtering operation.

18. The navigation system of claim 17, wherein the target-filtering operation comprises the steps of:

receiving range and magnitude data from a RADAR system for an obstacle within a line of sight of the aircraft;

determining, via the processor and based at least in part on the range and magnitude data, whether the magnitude is saturated;

calculating, via the processor, a standard deviation of at least a portion of a trace reflecting the range and magnitude data over time;

determining, via the processor, a new range point for the trace;

calculating, via the processor, a minimum difference between the new range point for the trace and an assigned range from incoming data; and

calculating a confidence and low-pass value, via the processor, via a critically damped low-pass filter (LPF).

19. The navigation system of claim 18, wherein the confidence and low-pass value is calculated using a weighted average of statistical terms derived from a signal mean, a standard deviation, and a magnitude.

20. The navigation system of claim 19, wherein the weighted average is operator-defined for a desired filter performance.