Methods and systems for radar aided aircraft positioning for approaches and landings

• US 8,160,758 B2
• Filed: 05/22/2006
• Issued: 04/17/2012
• Est. Priority Date: 05/22/2006
• Status: Active Grant

• Current Assignee: Honeywell International Inc.
• Original Assignee: Honeywell International Inc.
• Inventors: Call, Curtis J., Hedin, David E., Vacanti, David C.
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): PECHE, JORGE O
• Application Number:
  US11/419,595
• Publication Number:
  US 20100256840A1
• Time in Patent Office: 2,157 Days
• Field of Search: 701/3, 701/4, 701/16, 701/14, 701/223, 701/226, 701/301, 342/26, 342/33, 342/64, 342/43, 342/158, 342/179, 342/197, 342/29, 342/59
• US Class Current: 701/16
• CPC Class Codes: G01C 21/1652 with ranging devices, e.g. LIDAR or RADAR
• CPC Class Codes: G01S 13/86 Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
• CPC Class Codes: G01S 13/935 for terrain-avoidance
• CPC Class Codes: G01S 5/02522 The radio-map containing measured values of non-radio values
• CPC Class Codes: G01S 7/4004 of parts of a radar system

Abstract

A method for radar aided positioning of an air vehicle for approach and landing is described. The method includes integrating global navigation satellite system (GNSS) data and inertial data to calculate a position of the air vehicle, scanning the environment forward of the air vehicle with a radar, and accessing a database of terrain features and their radar signatures. The method further includes matching features in the radar scan data to the radar signatures in the database to determine an actual position of the air vehicle and synthesizing glide slope and localizer signals for the approach and landing based on the determined actual position.

Claims

1. A method for radar aided positioning of an air vehicle for approach and landing, said method comprising:

integrating global navigation satellite system (GNSS) data and inertial data to calculate a position of the air vehicle;

scanning the environment forward of the air vehicle with a radar;

accessing a database of terrain features and their radar signatures;

matching features in the radar scan data to the radar signatures in the database to determine an actual position of the air vehicle; and

synthesizing glide slope and localizer signals for the approach and landing based on the determined actual position.

2. A method according to claim 1 further comprising augmenting the GNSS data with at least one of satellite based augmentation system (SBAS) and ground based augmentation system (GBAS) data.

3. A method according to claim 1 wherein scanning the environment forward of the vehicle with a radar comprises producing a scan of the terrain and airport environment forward of the air vehicle.

4. A method according to claim 1 wherein matching features in the radar scan data to the radar signatures in the database comprises utilizing at least one of image correlation, edge detection, and scene matching algorithms to recognize reference points.

5. A method according to claim 4 further comprising:

selecting as reference points objects having radar signatures and geolocations whose positions can be precisely measured; and

utilizing reference point measurements to validate the integrated GPS data and inertial data.

6. A method according to claim 4 wherein at least a portion of the reference point comprise three dimensional geolocations.

7. A method according to claim 1 wherein synthesizing glide slope and localizer signals comprises:

accessing published approach, landing, and rollout path information for the approach and landing area; and

generating glide slope and localizer error signals proportional to the amount of deviation between the determined actual position of the aircraft and an aircraft position defined in the approach, landing, and rollout path information.

8. A method according to claim 7 further comprising utilizing the error signals to adjust a flight path of the air vehicle.

9. A method according to claim 1 further comprising overlaying the radar image of the approach and landing area on a electronic horizontal display.

10. A method according to claim 1 matching features in the radar image to the radar signatures in the database comprises determining a distance between the air vehicle and at least one of the features in the radar image to determine an actual position of the air vehicle.

11. A method according to claim 1 wherein the radar signatures in the database include one or more of runway edges, intersections of runways and taxiways, runway of approach area lighting fixtures, and radar corner reflectors.

12. An approach and landing system for an air vehicle comprising:

an inertial data source configured to provide a position of the air vehicle;

a radar system configured to scan the environment forward of the air vehicle;

a database of terrain features including a location for each terrain feature stored in said database; and

a processing device, said processing device programmed to match terrain features from a radar scan of the forward environment with terrain features in said database to monitor and refine the position of the air vehicle received from said inertial data source, said processing device is programmed to synthesize at least one of a glide slope signal and a localizer signal for the approach and landing based on the refined air vehicle position.

13. An approach and landing system according to claim 12 wherein said inertial data source comprises GNSS data augmented with data from at least one of a satellite based augmentation system (e.g., FAA'"'"'s WAAS) or a ground based augmentation system (e.g., FAA'"'"'s LAAS).

14. An approach and landing system according to claim 13 wherein the satellite based augmentation system comprises a wide area augmentation system and the ground based augmentation system comprises a local area augmentation system.

15. An approach and landing system according to claim 12 wherein said processing device is programmed to match features within scan data received from said radar to features within said database utilizing at least one of image correlation, edge detection, and scene matching algorithms.

16. An approach and landing system according to claim 12 further comprising a database of approach, landing, and rollout path information for approach and landing areas, wherein said processing device is configured to generate at least one of glide slope error signals and localizer error signals proportional to the amount of deviation between the position of the aircraft and an aircraft position defined in the approach, landing, and rollout path information.

17. An approach and landing system according to claim 16 further comprising a flight control computer configured to utilize the at least one of glide slope error signals and localizer error signals to adjust a flight path of the air vehicle.

18. An approach and landing system according to claim 12 further comprising a display, said system configured to utilize data from said radar system to overlay a radar image of the approach and landing area on said display.

19. An approach and landing system according to claim 12 wherein to refine a position of the air vehicle, said processing device is configured to determine a distance between the air vehicle and one of the terrain features in the radar image to determine an actual position of the air vehicle.

20. An approach and landing system according to claim 12 wherein terrain features in said database comprise at least one of runway edges, intersections of runways and taxiways, runway of approach area lighting fixtures, and radar corner reflectors.