Method of and apparatus for guiding agricultural aircraft

• US 4,398,195 A
• Filed: 10/16/1979
• Issued: 08/09/1983
• Est. Priority Date: 07/02/1979
• Status: Expired due to Term

• Current Assignee: DEL NORTE Technology, Inc. (Kubota Corporation)
• Original Assignee: DEL NORTE Technology, Inc. (Kubota Corporation)
• Inventors: Dano, Paul K.
• Primary Examiner(s): Tubbesing, T. H.
• Application Number:
  US06/085,284
• Time in Patent Office: 1,393 Days
• Field of Search: 343/6.5 R, 343/7.3, 343/15
• US Class Current: 342/46
• CPC Class Codes: G01S 13/46 Indirect determination of position data
• CPC Class Codes: G01S 13/876 Combination of several spaced transponders or reflectors of known location for determining the position of a receiver G01S13/874 takes precedence
• CPC Class Codes: G01S 2013/466 by Trilateration, i.e. two antennas or two sensors determine separately the distance to a target, whereby with the knowledge of the baseline length, i.e. the distance between the antennas or sensors, the position data of the target is determined

Abstract

A microprocessor controls a radar trilateralization system, used on board an aircraft to provide pattern flying. A suitable hard wired board may be added to the microprocessor to enable it to read out any suitable flight pattern. A plurality of transponders are set up at known positions to establish a baseline. Then, by using known radar techniques, the system feeds radar derived, distance information into the microprocessor. The microprocessor calculates the airplane'"'"'s position from these radar signals, relates that position to the X, Y grid locations in a desired flight pattern, and then gives an instrument readout. The pilot keeps a display of the instrument over an appropriate index, and the airplane flies over the entire predetermined flight pattern.

Claims

1. A vehicular radar guidance system comprising memory means associated with said vehicle for storing an arbitrarily selected predetermined vehicle travel pattern, means responsive to the receipt of radar signals for continuously detecting distances between a vehicle and the two ends of a baseline, means responsive to the detected distances for continuously and automatically displaying a signal of a vehicular course which may be followed to inherently cause said vehicle to follow said predetermined travel pattern, and means onboard said vehicle for rejecting detected distances which are inconsistent with previously detected distances.

2. The vehicular radar guidance system of claim 1 wherein said memory means is a replaceable memory means for permanently storing a predetermined one of a plurality of arbitrarily selected vehicle travel patterns, means for connecting said replaceable memory means into said system, whereby any one of said plurality of travel patterns may be selected by replacing said memory means, whereby said vehicle follows said predetermined travel pattern which is permanently stored in said replaceable memory means.

3. The system of claim 2 and means for storing data relative to the geographical dimensions of said vehicle travel pattern, and means responsive jointly to the stored pattern, the stored data, and the detected distances for altering said display to adapt said travel pattern to the physical configuration of a geographical area.

4. The system of claim 2 and means for storing the position of said vehicle with respect to said stored travel pattern by signals generated while said vehicle is in any one of a number of possible geographical positions corresponding to a desired starting point of said travel pattern.

5. The system of claim 1 and means responsive to the rejection of said inconsistent detected distances for storing the last previously acceptable detected distance for comparison with the next detected distance.

6. A vehicular radar guidance system comprising memory means associated with said vehicle for storing a predetermined vehicle travel pattern, means responsive to the receipt of radar signals for continuously detecting distances between a vehicle and the two ends of a baseline, means responsive to a detection of minimum distances from the vehicle to the two ends of said baseline for storing said minimum distance as the length of said baseline, whereby initial flight data may be acquired when said vehicle approaches, moves over and then leaves said baseline, and means responsive to the detected distances for continuously and automatically displaying a signal of a vehicular course which may be followed to inherently cause said vehicle to follow said travel pattern.

7. The system of claim 6 and means for rejecting said minimum distance detection unless said baseline first appears to become shorter and thereafter appears to become longer.

8. A process for guiding an aircraft responsive to radar signal, said process comprising the steps of:

a. storing an arbitrary and preselected aircraft flight pattern in said aircraft, each of said flight patterns being stored on an individually replaceable memory means;

b. continuously receiving radar signals and responsive thereto detecting distances between said aircraft and two ends of a base line defined by two transponders, each transponder having an antenna whereby said aircraft flies at some height above said antenna;

c. rejecting distances detected in step b. which are inconsistant with previously detected distances;

d. continuously and automatically displaying an aircraft course jointly responsive to the flight pattern stored in step a. and the radar signals received in step b.; and

e. following said aircraft flight pattern across an area on the surface of the earth which is removed from said base line by a distance which is at least ten times the difference between the altitude of said aircraft and the height of said antennas.

9. A process of claim 8 wherein there are a plurality of said replaceable memory means, each of said memory means providing for controlling a flight pattern of an aircraft to provide uniform coverage of a predetermined geographic area, said process comprising the added steps of:

f. selecting one of said plurality of replaceable memory means, each of said memory means permanently storing a different one of many flight patterns;

g. assembling said selected memory means into a microprocessor control circuit;

h. storing data in said system indicating geographical dimensions of an area to be covered by said flight pattern; and

i. storing signals while flying over said area in order to coordinate the physical position of said aircraft with said flight pattern.

10. The process of claim 9 and the added step of correlating the physical position of said aircraft which coordinates in a flight pattern in said memory means to automatically display the locations of said aircraft in said flight pattern whereby the position of said aircraft is continuously displayed as a function of said flight pattern so that said aircraft follows said pattern solely by obeying said display.

11. The process of claim 10 and the added step of using radar signals to operate said display.

12. The process of claim 11 wherein said radar signals are transmitted between said aircraft and two separated points.

13. A system for improving the accuracy of radar readings, especially readings used for vehicular guidance, said system comprising a plurality of stations each of which is identified by a pulse repetition rate which is unique to that particular station, means for transmitting station identification cyclically recurring radar pulses, more than one of said plurality of stations receiving said radar pulses intended only for the station which is identified by the predetermined repetition rate of said transmitted radar pulses, means having a variable cyclically recurring acceptance window width for receiving within a single window both at least a selected one of said cyclically recurring radar pulses at said identification rate and any spurious radar frequency pulses which may occur during said window and which recur at a rate which is randomly different from said cyclically recurring rate, said pulses occurring during said window having substantially any suitable energy content relative to each other, means for progressively narrowing the width of said acceptance window centered upon a pulse which continuously appears in the acceptance window at the recurring repetition rate which identifies a desired station, and means for widening said acceptance window if pulses do not reappear during said acceptance window, whereby said window becomes progressively more narrow as it centers and collapses upon a validly recurring radar pulse at the desired station identification rate regardless of the relative energy content of the various signals.

14. A system for improving the accuracy of radar readings, especially readings used for vehicular guidance, said system comprising means for transmitting cyclically recurring radar pulses at a predetermined repetition rate, means having a variable acceptance window width for receiving said cyclically recurring radar pulses and spurious pulses which recur at a random rate, means for progressively narrowing the width of said acceptance window centered upon a pulse which appears at a recurring repetition rate, means for widening said acceptance window if pulses do not reappear during said acceptance window, whereby said window becomes progressively more narrow as it centers and collapses upon a validly recurring radar pulse, means responsive to each acceptable pulse appearing in said acceptance window for storing an incremental count in a memory to indicate an occurrence thereof, the storage being at a memory address indicating the distance measurement of the accepted pulse, means for detecting the address storing a maximum number of said incremental counts, and means for averaging the distance measurements of pulses stored at the detected address and a predetermined number of addresses on opposite sides thereof.

15. The system of claim 14 and means for giving a simple arithmetical average of the distance measurements and means for combining the average based on said detected address and said simple arithmetical average.

16. The system of claim 14 wherein said memory comprises a counter which counts a predetermined number of clock pulses beginning with a transmission of a radar pulse and ending with the receipt of a returned pulse whereby the count stored in said memory constitutes said address.

17. A process using radar signals for guiding vehicles which move at relatively high speed, the speeds being great enough to cause inaccuracy responsive to the movement of said vehicle between the time when a radar interrogation pulse is sent and the time when the reply pulse is received, said process comprising the steps of:

a. acquiring on board said vehicle ranging and distance data from a plurality of geographically separated and stationary transponder stations responsive to an exchange of interrogation and reply pulses, whereby inaccuracy may result from the distance traveled by the vehicle during said exchange;

b. deriving data relative to the distance which the vehicle travels during said exchange and the acquisitions of the data readings from the individual tranponder stations; and

c. adjusting the data received in step a. by the data derived during step b. to correlate the different positions of said vehicle during said exchange, whereby the readings derived from said two pulses become as if they were taken relative to the same geographical point.

18. The process of claim 17 wherein said data deriving of step b. relative to the distance of vehicle travel comprises the added step of counting cyclically recurring pulses from a stable source during the intervals between said successive readings, and said data adjusting of step c. comprises the added step of adjusting the data acquired from at least one of said transponder stations in response to the counted pulses.

19. The process of claim 17 wherein step a. includes successively reading out more than two of said transponder stations.

20. The process of claim 17 wherein step b. includes deriving said data on a plurality of said vehicles with said onboard data acquisition means.