Stick figure radar tracking process

• US 5,300,933 A
• Filed: 02/24/1993
• Issued: 04/05/1994
• Est. Priority Date: 02/24/1993
• Status: Expired due to Fees

• Current Assignee: Daniel H. Wagner Associates, Inc.
• Original Assignee: Daniel H. Wagner Associates, Inc.
• Inventors: Discenza, Joseph H., Butler, C. Allen
• Primary Examiner(s): TUBBESING, THEODORE
• Application Number:
  US08/021,661
• Time in Patent Office: 405 Days
• Field of Search: 342/29, 342/36, 342/96, 342/179
• US Class Current: 342/36
• CPC Class Codes: G01S 13/66 Radar-tracking systems; Analogous systems
• CPC Class Codes: G01S 13/89 for mapping or imaging
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 13/934 on airport surfaces, e.g. while taxiing
• CPC Class Codes: G01S 7/411 Identification of targets based on measurements of radar reflectivity G01S7/415 takes precedence

Abstract

A process for reducing the likelihood of runway incursions wherein the major components of an aircraft are individually tracked by radar instead of tracking only the overall image of the aircraft to more accurately predict possible runway incursions due to the rapid and accurate indication of any change in aircraft orientation during each sweep of the radar.

Claims

1. An improved method for radar tracking of ground traffic at an airport to reduce the occurrence of runway incursions, comprising the steps of:

employing a radar system to continuously sweep an airport area and detect individual major components of individual fixed and moving objects within the sweep area on and adjacent to a specific runway;

combining and centroiding the images from several individual aircraft components detected to provide an estimate of the true center and orientation of the aircraft and to form a stick-figure tracker for the aircraft being observed;

identifying the aircraft observed by comparing the stick figure tracker obtained with known stick figure trackers for the type aircraft suspected in the area;

measuring the range and bearing of the individual aircraft components; and

tracking each individual component in the stick figure tracker to thereby indicate and predict the precise relative location of critical aircraft physical components and give instantaneous information of any change in aircraft bearing between radar sweeps.

2. The method of claim 1 wherein the steps of combining and centroiding the images from the several individual aircraft components includes the steps of:

measuring the components of the radar stick figure defined by s_i,t_i, relative to a point s_o,t_o, on the centerline between the aft-most points on the aircraft image wingtips using a set of component radar centroid measurements x_i,y_i, (where i=1 . . . , m≦

5);

computer determining the least squares estimate of the center (x_o,y_o) and the clockwise orientation angle θ

of the stick figure by observing

space="preserve" listing-type="equation">x.sub.i =x.sub.o +s.sub.i cos θ

+t.sub.i sin θ

space="preserve" listing-type="equation">y.sub.i =y.sub.o +t.sub.i cos θ

-s.sub.i sin θ

adding an error term and computer solving to yield a set of similar equations for the unknowns, x_o, y_o, sin θ

, and cos θ

wherein,

space="preserve" listing-type="equation">x.sub.i =x.sub.o +s.sub.i cos θ

+t.sub.i sin θ

+ε

(x.sub.i)

space="preserve" listing-type="equation">y.sub.i =y.sub.o +t.sub.i cos θ

-s.sub.i sin θ

+ε

(y.sub.i)

estimating the unknowns by linear regress wherein,

space="preserve" listing-type="equation">Y=(x.sub.1,y.sub.1 x.sub.2,y.sub.2 . . . x.sub.n,y.sub.n)

space="preserve" listing-type="equation">X=[(1,0,s.sub.1,t.sub.1), (0,1,t.sub.1,-s.sub.1), . . . (1,0,s.sub.n,t.sub.n), (0,1,t.sub.n,-s.sub.n)]

space="preserve" listing-type="equation">ε

=(ε

(x.sub.1),ε

(y.sub.1), . . . ,ε

(x.sub.n),ε

(y.sub.n))

space="preserve" listing-type="equation">β

=(x.sub.o,y.sub.o, sin θ

, cos θ

);

changing the equations to matrix form to become the canonical multiple regression model

space="preserve" listing-type="equation">Y=Xβ

+ε

with the solution for the least squares estimate being

space="preserve" listing-type="equation">β

=(X.sup.T X).sup.-1 X.sup.T Y

and the weighted least square solution, using the total radar energy (w_i) from each component wherein W is the diagonal matrix whose ith diagonal entry is w_i², to give the optimal least squares estimate equation

space="preserve" listing-type="equation">β

=(X.sup.T WX).sup.-1 X.sup.T WY.

3. An improved method of radar tracking of ground traffic at or near an airport runway to reduce the likelihood of runway incursions, comprising the steps of:

providing a radar system for observing a specific area of an airport;

sweeping the specific airport area observed periodically by the radar system;

employing a data extraction process in the radar system to detect the major individual components of any aircraft within the observed specific area; and

computer combining the separate major individual component images to provide an estimate of the true center and orientation of the aircraft observed and to predict the precise locations of the critical physical components of the aircraft.

4. The method of claim 3 including the steps of:

displaying the combined component images on the radar screen according to the geometric relationship of the detected component parts to each other and to the geometry of the aircraft observed to thereby produce a stick figure image of the aircraft;

providing an overlay plan view outline of the suspected aircraft on the radar screen over the stick figure image being viewed; and

employing the stick figure image and overlay to provide instantaneous indication of the aircraft orientation and any change therein from a previous radar sweep observation.

5. The method of claim 3 wherein the step of employing a data extraction process in the radar system to detect the major individual components of the aircraft includes the steps of detecting individual images of the aircraft nose, right wing, tail, left wing and fuselage.

6. The method of claim 3 wherein the step of computer combining of the separate major individual component images includes the step of centroiding each individual component image and reducing the impact of any radar induced clutter on the radar screen.

7. The method of claim 3 wherein the estimate of the aircraft true center and clockwise orientation thereof are computer obtained by a weighted least squares process employing the optimal weighted least squares estimate formula:

space="preserve" listing-type="equation">β

=(X.sup.T WX).sup.-1 X.sup.T WY.

where

W is the diagonal matrix whose ith diagonal entry is W_i²,

X is [(1,0,s₁,t₁), (0,1,t₁,-s₁), . . . (1,0,s_n,t_n), (0,1,t_n,-s_n)]

X^T is the mathematical transpose of X, and,

Y is (x₁,y₁ x₂,y₂ . . . x_n,y_n)