Aircraft identification and docking guidance systems

• US 6,023,665 A
• Filed: 07/17/1997
• Issued: 02/08/2000
• Est. Priority Date: 10/14/1994
• Status: Expired due to Term

• Current Assignee: Safegate International AB (ADB Safegate BVBA)
• Original Assignee: Airport Technology In Scandinavia AB
• Inventors: Millgard, Lars
• Primary Examiner(s): SHAH, KAMINI S
• Application Number:
  US08/817,368
• Time in Patent Office: 936 Days
• Field of Search: 364/561, 356/28, 356/5.07, 356/3.14, 342/67, 342/27, 342/357, 342/386, 340/583, 340/936, 340/962, 340/958, 382/104, 382/216, 382/217, 702/94, 702/95, 702/151-159
• US Class Current: 702/151
• CPC Class Codes: B64F 1/002 Taxiing aids
• CPC Class Codes: B64F 1/36 Other airport installations ground installations for de-icing aircraft B64F5/20
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 7/4802 using analysis of echo signal for target characterisation; Target signature; Target cross-section
• CPC Class Codes: G01S 7/4811 common to transmitter and receiver
• CPC Class Codes: G01S 7/497 Means for monitoring or calibrating
• CPC Class Codes: G08G 5/0026 located on the ground
• CPC Class Codes: G08G 5/0082 for monitoring traffic from a ground station radar or analogous systems specially adapted for traffic control G01S13/91
• CPC Class Codes: G08G 5/065 Navigation or guidance aids, e.g. for taxiing or rolling

Abstract

A system for detecting, identifying and docking aircraft using laser pulses to obtain a profile of an object in the distance. The system initially scans the area in front of the gate until it locates and identifies an object. Once the identity of the object is known, the system tracks the object. By using the information from the profile, the system can in real time display the type of airplane, the distance from the stopping point and the lateral position of the airplane.

Claims

1. A system for verifying the shape of a detected object comprising:

means for projecting light pulses in angular coordinates onto an object;

means for collecting light pulses reflected off said object and for determining the detected shape of said object;

means for comparing said detected shape with a profile corresponding to the shape of a known object and for determining whether said detected shape corresponds to said known shape;

means for directing said projected light pulses onto a calibration element positioned in a known angular direction and at a known distance from said

means for directing said projected light for purposes of calibration of said system; and

wherein the means for directing said projected light comprises a second mirror system.

2. The system of claim 1 wherein the light pulses are projected onto a mirror system with means for adjusting the mirror system to project the light pulses outwardly.

3. The system of claim 2 wherein said adjustable mirror system is operated by step motors under the control of a programmed microprocessor.

4. The system of claim 3 wherein:

the microprocessor totals the number of reflected pulses in each scan of said capture zone;

said microprocessor determines the largest sum of reflected pulses for three adjacent sectors; and

said microprocessor determines that an object has been detected if the largest sum of reflected pulses for three adjacent sectors is at least a predetermined minimum number out of a total number of pulses projected within said three adjacent sectors and the number of reflected pulses in the three sectors with the largest sum is more than half of the total number of reflected pulses in the scan of said capture zone.

5. The system of claim 1 further including means for tracking an incoming object, said tracking means comprising:

means for detecting the position of said incoming object relative to an imaginary axial line projecting from a predetermined point and for detecting the distance between said object and said predetermined point whereby tracking of the location of said object is enabled.

6. The system of claim 5 wherein:

a comparison table is generated containing information about collected light pulses and said information is compared with a profile table indicating the shape of known objects;

a distance distribution table is generated recording the distribution of distances from the object to said collection means for each collected light pulse; and

an average distance is calculated from the detected position of said object to a desired stopping position for said object.

7. The system of claim 6 wherein the average distance to the stopping position is calculated by averaging the distance to said stopping position recorded for the entries in the comparison table corresponding to the two adjacent entries in the distance distribution table having the largest sum.

8. The system of claim 6 wherein the average stopping distance is communicated to a computer on board the aircraft allowing that computer to stop the aircraft when said aircraft reaches said stopping positions.

9. The system of claim 1 wherein:

said light pulses are reflected off said calibration element and are received at a detector;

determining a detected angular direction of the element relative to said light source based on said pulses received at said detector and in accordance with predetermined angular parameters; and

comparing said detected angular direction with said known angular direction to determine whether said detected angular direction corresponds to said known angular direction.

10. The system of claim 9 further comprising:

means for adjusting the angular parameters if said detected angular direction and said known angular direction do not correspond so that the detected angular direction is caused to correspond essentially to the known angular direction.

11. The system of claim 9 further comprising:

means for determining the detected distance of said calibration element from said light source based on predetermined distance parameters; and

comparing said detected distance with a known distance of said calibration element from said light source to determine whether said detected distance corresponds to said known distance.

12. The system of claim 9 further comprising:

means for adjusting the distance parameters if said detected distance and said known distance do not correspond so that the detected distance is caused to correspond essentially to the known distance.

13. The system of claim 1 wherein the angular direction and distance of said calibration means from said means for directing said projected light in a horizontal plane are calibrated while the angular direction and distance of said calibration means from said means for directing said projected light in a vertical plane are held constant.

14. A system for tracking an incoming object comprising:

means for generating light pulses;

means for projecting said pulses outwardly onto an incoming object and for reflecting said light pulses off said object;

means for collecting the light pulses reflected off of said object;

means for detecting the position relative to an imaginary axial line projecting from a predetermined point and for detecting the distance between said object and said predetermined point whereby tracking of the location of said object is enabled;

wherein

a comparison table is generated reflecting information about the laser scan and is compared with a profile table indicating the shape of known objects;

a distance distribution table is generated recording the distribution of distances from the nose of the object to the measuring device for each reflected pulse; and

an average distance to a desired stopping position is calculated.

15. The tracking system of claim 14 wherein the average distance to the stopping position is calculated by averaging the distance to said stopping position recorded for the entries in the comparison table corresponding to the two adjacent entries in the distance distribution table having the largest sum.

16. The tracking system of claim 14 wherein a display shows the distance from the object to the stopping point, the type of object and the location of the object compared to center.

17. The tracking system of claim 14 wherein the average stopping distance is communicated to a computer on board the aircraft allowing that computer to stop the aircraft when said aircraft reaches said stopping position.

18. An aircraft identification and docking guidance system for verifying the shape of a detected aircraft comprising:

an adjustable, non-rotary mirror assembly including a first mirror for continuously projecting laser light pulses outwardly in horizontal planar angular coordinates onto an aircraft and a second mirror for continuously projecting laser light pulses outwardly in vertical planar angular coordinates onto said aircraft;

means for collecting light pulses reflected off said aircraft and for determining the detected shape of said aircraft; and

means for comparing said detected shape with a profile corresponding to the shape of a known aircraft and for determining whether said detected shape corresponds to said known shape.

19. The system of claim 18 further including means for directing said projected light pulses onto a calibration element positioned in a known angular direction and at a known distance from said means for directing said projected light for purposes of calibration of said system.

20. The system of claim 19 wherein the means for directing said projected light comprises a second mirror system.

21. A method for verifying the shape of a detected object comprising:

projecting light pulses in angular coordinates onto an object;

reflecting said pulses back to a detector and determining the detected shape of the object based on said reflected pulses;

comparing said detected shape with a profile corresponding to the shape of a known object;

determining whether said detected shape corresponds to said known shape;

comparing said detected shape with a profile corresponding to the shape of a known object and for determining whether said detected shape corresponds to said known shape;

directing said projected light pulses onto a calibration element positioned in a known angular direction and at a known distance from said means for directing said projected light for purposes of calibration of said system; and

wherein means for directing said projected light comprises a second mirror system.

22. The method of claim 21 wherein the profile corresponding to the shape of a known object comprises sets of expected reflected pulses at various distances from the stopping point.

23. The method of claim 21 wherein a microprocessor is programmed to identify an object.