Method and apparatus for navigating an aircraft from an image of the runway

• US 6,157,876 A
• Filed: 10/12/1999
• Issued: 12/05/2000
• Est. Priority Date: 10/12/1999
• Status: Expired due to Term

• Current Assignee: Honeywell International Inc.
• Original Assignee: Honeywell International Inc.
• Inventors: Wilkens, Dean R., Tarleton, Norman G. Jr., Symosek, Peter F.
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Beaulieu, Yonel
• Application Number:
  US09/416,479
• Time in Patent Office: 420 Days
• Field of Search: 701/16, 701/17, 701/18, 701/14, 701/200, 701/211, 701/300, 244/183, 244/114 R, 342/33, 342/450, 342/451, 342/46, 342/63, 73/178 T, 73/178 R, 340/945, 340/948, 340/951, 348/113, 348/117, 348/119
• US Class Current: 701/16
• CPC Class Codes: G01S 3/785 using adjustment of orientation of directivity characteristics of a detector or detector system to give a desired condition of signal derived from that detector or detector system
• CPC Class Codes: G01S 5/16 using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 5/163 Determination of attitude using inertial means G01C9/00; control of attitude G05D1/49
• CPC Class Codes: G05D 1/0676 specially adapted for landing

Abstract

An image sensor attached to an aircraft generates an image. The image includes a runway and other objects. The edges within the image are detected and Nav Data is used to predict the coordinates defining the runway. The predicted coordinates and the detected edges are correlated to determine the location of the runway within the image. The location of the runway within the image is then used to determine the lateral and vertical deviation of the aircraft relative to the runway.

Claims

1. A method for providing navigational information for navigating an aircraft, said method comprising the steps of:

receiving first image data generated by an image sensor attached to the aircraft, wherein the first image data represents a first image comprising a runway and other objects captured by the image sensor, wherein the first image data comprises digital signal samples, and wherein each of the digital signal samples corresponds to a brightness value at one of a plurality of grid coordinates on a grid representing the first image;

predicting the grid coordinates defining a first set of at least three edges of the runway by using the aircraft'"'"'s Nav Data, to produce predicted coordinates;

detecting a second set of at least three edges of the runway in the first image data, to produce detected edges;

determining the grid coordinates defining said detected edges, to produce edge coordinates; and

correlating said predicted coordinates with said edge coordinates, to produce runway coordinates for navigating the aircraft.

2. The method of claim 1, wherein said detecting step comprises detecting the second set of at least three edges of the runway and a plurality of edges of the other objects in the first image data, to produce detected edges.

3. The method of claim 1, wherein second image data is generated in a same manner as the first image data, said method further comprising, after said correlating step, the steps of:

receiving said second image data;

detecting at least a third set of three edges of the runway in the second image data, to produce said detected edges;

determining the grid coordinates defining said detected edges, to produce said edge coordinates;

updating said predicted coordinates with said runway coordinates; and

correlating said predicted coordinates with said edge coordinates, to produce said runway coordinates for navigating the aircraft.

4. The method of claim 3, wherein said third set of at least three edges of the runway in said detecting steps comprises at least three edges of the runway and a plurality of edges of the other objects.

5. The method of claim 3, further comprising, before said correlating step, the step of filtering said predicted coordinates.

6. A method for providing navigational information for navigating an aircraft, said method comprising the steps of:

receiving runway coordinates defining a runway in an image generated by an image sensor attached to the aircraft, wherein said image is represented by a plurality of grid coordinates on a grid, and wherein the plurality of grid coordinates comprises the runway coordinates; and

calculating the lateral deviation and the vertical deviation of the aircraft relative to the runway by using said runway coordinates.

7. The method of claim 6, further comprising, before said calculating step, the step of:

translating said runway coordinates by using the pitch and roll of the aircraft, to produce said runway coordinates.

8. The method of claim 6, wherein said calculating step comprises the steps of:

determining the center points of both ends of the runway by using said runway coordinates;

translating said center points by using the pitch and roll of the aircraft, to produce translated center points; and

calculating the lateral deviation and the vertical deviation of the aircraft relative to the runway by using said translated center points.

9. A method for providing navigational information for navigating an aircraft, said method comprising the steps of:

receiving first image data generated by an image sensor attached to the aircraft, wherein the first image data represents a first image comprising a runway and other objects captured by the image sensor, wherein the first image data comprises digital signal samples, and wherein each of the digital signal samples corresponds to a brightness value at one of a plurality of grid coordinates on a grid representing the first image;

determining the grid coordinates defining at least three edges of the runway in the first image data, to produce runway coordinates; and

calculating the lateral deviation and the vertical deviation of the aircraft relative to the runway by using said runway coordinates.

10. The method of claim 9, wherein said determining step comprises the steps of:

predicting the grid coordinates a second set of at least three edges of the runway by using the aircraft'"'"'s Nav Data, to produce predicted coordinates;

using the first set of at least three edges of the runway in the first image data to produce detected edges;

determining the grid coordinates defining said detected edges, to produce edge coordinates; and

correlating said predicted coordinates with said edge coordinates, to produce said runway coordinates.

11. The method of claim 9, further comprising, after said determining step, the step of:

translating said runway coordinates by using the pitch and roll of the aircraft, to produce said runway coordinates.

12. The method of claim 9, wherein said calculating step comprises the steps of:

determining the center points of both ends of the runway by using said runway coordinates;

translating said center points by using the pitch and roll of the aircraft, to produce translated center points; and

calculating the lateral deviation and the vertical deviation of the aircraft relative to the runway by using said translated center points.

13. The method of claim 10, further comprising, after said correlating step, the step of:

translating said runway coordinates by using the pitch and roll of the aircraft, to produce said runway coordinates.

14. A method for providing navigational information for navigating an aircraft, said method comprising the steps of:

receiving first image data generated by an image sensor attached to the aircraft, wherein the first image data represents a first image comprising a runway and other objects captured by the image sensor, wherein the first image data comprises digital signal samples, and wherein each of the digital signal samples corresponds to a brightness value at one of a plurality of grid coordinates on a grid representing the first image;

predicting the grid coordinates defining at least a first set of three edges of the runway by using the aircraft'"'"'s Nav Data, to produce predicted coordinates;

detecting at least a second set of three edges of the runway and a plurality of edges of the other objects in the first image data, to produce detected edges;

determining the grid coordinates defining said detected edges, to produce edge coordinates;

correlating said predicted coordinates with said edge coordinates, to produce said runway coordinates;

determining the center points of both ends of the runway by using said runway coordinates;

translating said center points by using the pitch and roll of the aircraft, to produce translated center points; and

calculating the lateral deviation and the vertical deviation of the aircraft relative to the runway by using said translated center points.

15. The method of claim 14, wherein second image data is generated in a similar manner as the first image data, said method further comprising, after said calculating step, the steps of:

receiving said second image data;

detecting at least a third set of three edges of the runway in the second image data, to produce said detected edges;

determining the grid coordinates defining said detected edges, to produce said edge coordinates;

correlating said runway coordinates with said edge coordinates, to produce said runway coordinates;

determining said center points of both ends of the runway by using said runway coordinates;

translating said center points by using the pitch and roll of the aircraft, to produce said translated center points; and

calculating said lateral deviation and said vertical deviation of the aircraft relative to the runway by using said translated center points.

16. A computer-readable medium containing a set of computer executable instructions for performing a method of providing navigational information for navigating an aircraft, said method comprising the steps of:

receiving first image data generated by an image sensor attached to the aircraft, wherein the first image data represents a first image comprising a runway and other objects captured by the image sensor, wherein the first image data comprises digital signal samples, and wherein each of the digital signal samples corresponds to a brightness value at one of a plurality of grid coordinates on a grid representing the first image;

predicting the grid coordinates defining at least three edges of the runway by using the aircraft'"'"'s Nav Data, to produce predicted coordinates;

using the at least three edges of the runway in the first image data to produce detected edges;

determining the grid coordinates defining said detected edges, to produce edge coordinates; and

correlating said predicted coordinates with said edge coordinates, to produce runway coordinates for navigating the aircraft.

17. A computer-readable medium containing a set of computer executable instructions for performing a method of providing navigational information for navigating an aircraft, said method comprising the steps of:

receiving runway coordinates defining a runway in an image generated by an image sensor attached to the aircraft, wherein said image is represented by a plurality of grid coordinates on a grid, and wherein the plurality of grid coordinates comprises the runway coordinates; and

calculating the lateral deviation and the vertical deviation of the aircraft relative to the runway by using said runway coordinates.

18. A computer-readable medium containing a set of computer executable instructions for performing a method of providing navigational information for navigating an aircraft, said method comprising the steps of:

receiving first image data generated by an image sensor attached to the aircraft, wherein the first image data represents a first image comprising a runway and other objects captured by the image sensor, wherein the first image data comprises digital signal samples, and wherein each of the digital signal samples corresponds to a brightness value at one of a plurality of grid coordinates on a grid representing the first image;

determining the grid coordinates defining at least three edges of the runway, to produce runway coordinates; and

calculating the lateral deviation and the vertical deviation of the aircraft relative to the runway by using said runway coordinates.