Target locating system and approach guidance system

• US 6,181,271 B1
• Filed: 08/27/1998
• Issued: 01/30/2001
• Est. Priority Date: 08/29/1997
• Status: Expired due to Fees

• Current Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Original Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Inventors: Chiba, Masaaki, Hosaka, Naoki
• Primary Examiner(s): Sotomayor, John B.
• Application Number:
  US09/141,408
• Time in Patent Office: 887 Days
• Field of Search: 342/29, 342/33, 342/34, 342/35, 342/36, 342/52, 342/55, 342/59, 342/78, 342/95, 342/96, 342/97
• US Class Current: 342/33
• CPC Class Codes: G01C 3/10 using a parallactic triangle with variable angles and a base of fixed length in the observation station, e.g. in the instrument
• CPC Class Codes: G01S 13/72 for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/913 for landing purposes
• CPC Class Codes: G01S 3/7864 T.V. type tracking systems
• CPC Class Codes: G05D 1/0676 specially adapted for landing
• CPC Class Codes: H01Q 3/20 wherein the primary active element is fixed and the reflecting device is movable

Abstract

The invention comprises a mulli-wave radar system for obtaining first target position information of a flying object by capturing and tracking the flying object from a maximum detection distance, a stereo-camera system for taking over the tracking of the flying object in the vicinity of a landing point by acquiring the first target position information of the flying object from the milli-wave radar system, and obtaining second target position information having higher precision than the first target position information, and a controller for managing the first target position information of the milli-wave radar system and the second target position information of the stereo-camera system, controlling the milli-wave radar system to capture and track the flying object to the vicinity of the landing point, and controlling the stereo-camera system to capture and track the flying object at the time of landing of the flying object.

Claims

1. A target locating system comprising:

a milli-wave radar system for obtaining first target position information of a flying object being about to land, by capturing and tracking the flying object from a maximum detection distance;

a stereo-camera system for taking over the tracking of the flying object in the vicinity of a landing point by acquiring the first target position information of the flying object from the milli-wave radar system, and obtaining second target position information having higher precision than the first target position information; and

a controller for managing the first target position information of the milli-wave radar system and the second target position information of the stereo-camera system, controlling the milli-wave radar system to capture and track the flying object to the vicinity of the landing point, and controlling the stereo-camera system to capture and track the flying object at the time of landing of the flying object.

2. The target locating system according to claim 1, wherein the milli-wave radar system and the stereo-camera system are mounted on a single gimbal structure.

3. The target locating system according to claim 1, wherein the stereo-camera system comprises at least first and second cameras, and the first and second cameras are arranged symmetrical with respect to the milli-wave radar system.

4. The target locating system according to claim 2, wherein the stereo-camera system comprises at least first and second cameras, and the first and second cameras are arranged symmetrical with respect to the milli-wave radar system.

5. The target locating system according claim 1, wherein a target tracking system of the milli-wave radar system is a conical tracking system.

6. The target locating system according to claim 1, wherein a target tracking system of the milli-wave radar system is an antenna rotary type conical tracking system.

7. The target locating system according to claim 1, wherein the milli-wave radar system is an electronic scan type antenna and the stereo-camera system has a wide field of view.

8. The target locating system according to claim 1, wherein the milli-wave radar system is a conical scan type antenna system connected to a transmission/reception system and comprising a primary radiator for transmitting and receiving an antenna beam and a reflector, situated opposite to a radiation surface of the antenna beam from the primary radiator, for reflecting the antenna beam, wherein the reflector is angularly offset from an antenna visual line to incline the antenna beam, and the reflector is rotated about the antenna visual line to conically scan the antenna beam.

9. The target locating system according to claim 8, wherein a feed line extending from the transmission/reception system to the primary radiator avoids passing through a rotary unit for rotating the reflector.

10. The target locating system according to claim 8, wherein a feed line extending from the transmission/reception system to the primary radiator is passed from the outside of the reflector to a reflection surface of the reflector, such that the feed line may not interfere with rotation of the reflector.

11. The target locating system according to claim 8, wherein the transmission/reception system is disposed behind a rear face of the reflector, and a feed line extending from the transmission/reception system to the primary radiator is passed from the transmission/reception system to a reflection surface of the reflector beyond a peripheral portion of the reflector.

12. The target locating system according to claim 8, wherein the reflector has a through-hole at a rotational axis thereof, and a feed line extending from the transmission/reception system to the primary radiator is passed from the transmission/reception system to the primary radiator through the through-hole.

13. An approach guidance system comprising:

a target locating system including a milli-wave radar system for obtaining first target position information of a flying object being about to land, by capturing and tracking the flying object from a maximum detection distance, a stereo-camera system for taking over the tracking of the flying object in the vicinity of a landing point by acquiring the first target position information of the flying object from the milli-wave radar system, and obtaining second target position information having higher precision than the first target position information, and a controller for managing the first target position information of the milli-wave radar system and the second target position information of the stereo-camera system, controlling the milli-wave radar system to capture and track the flying object to the vicinity of the landing point, and controlling the stereo-camera system to capture and track the flying object at the time of landing of the flying object; and

a control apparatus for guiding the flying object which is a target to the vicinity of the landing point on the basis of the first target position information output from the milli-wave radar system of the target locating system, and guiding the flying object to the landing point on the basis of the second target position information output from the stereo-camera system of the target locating system.

14. The approach guidance system according to claim 13, wherein the milli-wave radar system and the stereo-camera system are mounted on a single gimbal structure.

15. The approach guidance system according to claim 13, wherein the stereo-camera system comprises at least first and second cameras, and the first and second cameras are arranged symmetrical with respect to the milli-wave radar system.

16. The approach guidance system according to claim 14, wherein the stereo-camera system comprises at least first and second cameras, and the first and second cameras are arranged symmetrical with respect to the milli-wave radar system.

17. The approach guidance system according to claim 13, wherein a target tracking system of the milli-wave radar system is a conical tracking system.

18. The approach guidance system according to claim 13, wherein a target tracking system of the milli-wave radar system is an antenna rotary type conical tracking system.

19. The approach guidance system according to claim 13, wherein the milli-wave radar system is an electronic scan type antenna and the stereo-camera system has a wide field of view.

20. The approach guidance system according to claim 14, wherein the milli-wave radar system is a conical scan type antenna system connected to a transmission/reception system and comprising a primary radiator for transmitting and receiving an antenna beam and a reflector, situated opposite to a radiation surface of the antenna beam from the primary radiator, for reflecting the antenna beam, wherein the reflector is angularly offset from an antenna visual line to incline the antenna beam, and the reflector is rotated about the antenna visual line to conically scan the antenna beam.

21. The approach guidance system according to claim 20, wherein a feed line extending from the transmission/reception system to the primary radiator avoids passing through a rotary unit for rotating the reflector.

22. The approach guidance system according to claim 20, wherein a feed line extending from the transmission/reception system to the primary radiator is passed from the outside of the reflector to a reflection surface of the reflector, such that the feed line may not interfere with rotation of the reflector.

23. The approach guidance system according to claim 20, wherein the transmission/reception system is disposed behind a rear face of the reflector, and a feed line extending from the transmission/reception system to the primary radiator is passed from the transmission/reception system to a reflection surface of the reflector beyond a peripheral portion of the reflector.

24. The approach guidance system according to claim 20, wherein the reflector has a through-hole at a rotational axis thereof, and a feed line extending from the transmission/reception system to the primary radiator is passed from the transmission/reception system to the primary radiator through the through-hole.