METHOD AND ARRANGEMENT FOR ESTIMATING AT LEAST ONE PARAMETER OF AN INTRUDER

• US 20110169945A1
• Filed: 12/18/2009
• Published: 07/14/2011
• Est. Priority Date: 12/19/2008
• Status: Active Grant

• Current Assignee: Saab AB
• Original Assignee: Saab AB
• Inventors: Sundqvist, Bengt-Göran, PETRINI, Erik
• Granted Patent: US 9,384,669 B2
• Time in Patent Office: Days
• US Class Current: 348/135
• CPC Class Codes: G01S 3/7864 T.V. type tracking systems
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/30212 Military
• CPC Class Codes: G06T 2207/30261 Obstacle
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: G08G 5/0021 located in the aircraft
• 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 5/045 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: H04N 7/18 Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Abstract

A method for estimating, from a platform, at least one parameter of an intruder. The method includes generating consecutive frames of image data at different times of the intruder utilizing at least one passive sensor; determining a direction from the platform to the intruder based on the generated consecutive frames of image data; estimating a time period remaining until a potential collision between the platform and the intruder, estimating an angular extent of the intruder, as viewed by the passive sensor, based on the image data; and estimating a first relative location vector to a minimum intruder associated with the intruder, and/or estimating a second relative location vector to a maximum intruder associated with the intruder. An arrangement for generating input data to a sense-and-avoid system on-board a platform. A computer programme and a computer programme product. A platform carrying the arrangement.

Claims

1. A method for estimating, from a platform, at least one parameter of an intruder, the method comprising:

generating consecutive frames of image data at different times of said intruder with at least one passive sensor;

determining a direction from the platform to the intruder based on the generated consecutive frames of image data;

estimating a time period remaining until a potential collision between the platform and the intruder;

estimating an angular extent of the intruder, as viewed by the passive sensor, based on the image data; and

estimating a first relative location vector to a minimum intruder associated with the intruder; and

/or

estimating a second relative location vector to a maximum intruder associated with the intruder.

2. The method according to claim 1, further comprising:

determining a relative location vector interval to the intruder based on the basis said first relative location vector and said second relative location vector.

3. The method according to claim 1, further comprising:

estimating a first speed vector of the minimum intruder; and

/or

estimating a second speed vector of the maximum intruder.

4. The method according to claim 1, further comprising:

providing at least one of the first relative location vector and said second relative location vector to a sense and avoid system onboard the platform so as to prevent a collision between said platform and said intruder.

5. The method according to claim 1, further comprising:

estimating said first relative location vector to a minimum intruder based on a predetermined width associated with the minimum intruder, a smallest angular extent for which the passive sensor can detect an object, and said estimated angular extent of the intruder.

6. The method according to claim 1, further comprising:

estimating said second relative location vector to the maximum intruder based on said estimated time period remaining until a potential collision between the platform and intruder.

7. The method according to claim 1, further comprising:

estimating said second relative location vector to the maximum intruder based on a predetermined maximum width of intruders and said estimated angular extent of the intruder.

8. A computer program product, comprising:

a computer readable medium; and

programme code recorded on the computer readable medium and executable by a processor for, from a platform, estimating at least one parameter of an intruder utilizing a method comprising

generating consecutive frames of image data at different times of said intruder with at least one passive sensor,

determining a direction from the platform to the intruder based on the generated consecutive frames of image data,

estimating a time period remaining until a potential collision between the platform and the intruder,

estimating an angular extent of the intruder, as viewed by the passive sensor, based on the image data, and

estimating a first relative location vector to a minimum intruder associated with the intruder, and/or

estimating a second relative location vector to a maximum intruder associated with the intruder.

9. (canceled)

10. An arrangement for estimating, from a platform, at least one parameter of an intruder, the arrangement comprising:

a module configured to generate consecutive frames of image data at different times of said intruder with at least one passive sensor;

a module configured to determine a direction from the platform to the intruder based on the generated consecutive frames of image data;

a module configured to estimate a time period remaining until a potential collision between the platform and intruder;

a module configured to estimate an angular extent of the intruder, as viewed by the passive sensor, based on the image data; and

a module configured to estimate a first relative location vector to a minimum intruder associated with the intruder, and/or

a module configured to estimate a second relative location vector to a maximum intruder associated with the intruder.

11. The arrangement according to claim 10, further comprising:

a module configured to determine a relative location vector interval to an intruder based on said first relative location vector and said second relative location vector.

12. The arrangement according to claim 10, further comprising:

a module configured to estimate a first speed vector of the minimum intruder; and

/or

a module configured to estimate a second speed vector of the maximum intruder.

13. The arrangement according to claim 10, further comprising:

a module configured to provide at least one of the first relative location vector and said second relative location vector to a sense and avoid system onboard the platform so as to prevent a collision between said platform and said intruder.

14. A platform, comprising:

a vehicle; and

an arrangement on said vehicle for estimating at least one parameter of an intruder, the arrangement comprising;

a module configured to generate consecutive frames of image data at different times of said intruder with at least one passive sensor,

a module configured to determine a direction from the platform to the intruder based on the generated consecutive frames of image data,

a module configured to estimate a time period remaining until a potential collision between the platform and intruder,

a module configured to estimate an angular extent of the intruder, as viewed by the passive sensor, based on the image data, and

a module configured to estimate a first relative location vector to a minimum intruder associated with the intruder, and/or

a module configured to estimate a second relative location vector to a maximum intruder associated with the intruder.