Method and system for detecting ground obstacles from an airborne platform

• US 8,519,882 B2
• Filed: 11/03/2010
• Issued: 08/27/2013
• Est. Priority Date: 11/04/2009
• Status: Active Grant

• Current Assignee: Nederlandse Organisatie Voor Toegepast-Natuurwetenschappelijk Onderzoek Tno, Rockwell Collins France
• Original Assignee: Nederlandse Organisatie Voor Toegepast-Natuurwetenschappelijk Onderzoek Tno, Rockwell Collins France
• Inventors: Huizing, Albert Gezinus, Otten, Maternus Petrus Gerardus, Elferink, Franciscus Hendrikus, Van Dijk, Sebastiaan Gerardus Maria, Itcia, Eric, Mazuel, Sbastien
• Primary Examiner(s): Keith, Jack W
• Assistant Examiner(s): BYTHROW, PETER M
• Application Number:
  US12/939,035
• Publication Number:
  US 20110133979A1
• Time in Patent Office: 1,028 Days
• Field of Search: 342/25.R, 342/25.A, 342/25.B, 342/25.C, 342/25.D, 342/25.E, 342/25.F, 342/29
• US Class Current: 342/25.R
• CPC Class Codes: G01S 13/536 using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves
• CPC Class Codes: G01S 2013/0263 Passive array antenna
• CPC Class Codes: G01S 7/414 Discriminating targets with respect to background clutter

Abstract

This method for detecting ground obstacles from an airborne platform comprises:

• • a step of illuminating the whole field of view of interest with an electromagnetic wave in the range of 0.1 to 100 GHz;
  • a step of receiving the echoes with multiple antenna elements from the whole field of interest and of transforming said echoes into a digital signal per antenna element;
  • a step of combining said digital signals simultaneously in order to obtain simultaneously multiple beams;
  • a step of Range and Velocity filtering each beam in parallel;
  • a step of applying on each filtered beam a detection process using a threshold on amplitude to detect potential ground obstacles; and
  • a step of discriminating said ground obstacles from said potential ground obstacles due to their specific signature in terms of both relative velocity and distance using velocity of the airborne platform.

Claims

1. A method for detecting ground obstacles from an airborne platform comprising:

illuminating a whole field of view of interest with an electromagnetic wave in a range of 0.1 to 100 GHz using a transmit antenna;

receiving data from echoes obtained from the whole field of view of interest using multiple antenna elements;

transforming, using a detection system comprising a processor, the data from the echoes into a digital signal for each of the multiple antenna elements;

combining, the detection system, the digital signals simultaneously in order to obtain simultaneously multiple beams covering the whole field of view of interest using spatial transformation processing;

filtering, using the detection system, each beam in parallel utilizing a range and velocity filtering procedure over a long integration time so that a given ground obstacle is observed at different distances over the integration time;

applying, using the detection system, on each filtered beam a detection process, wherein the detection process utilizes a threshold on amplitude to detect potential ground obstacles; and

discriminating, using the detection system, the ground obstacles from the potential ground obstacles in a range velocity diagram based on a velocity of the airborne platform and a height or elevation of the ground obstacles, wherein the height or elevation of a ground obstacle constitutes a specific signature in terms of both a relative velocity and a relative distance, wherein the height or elevation of an obstacle at a given range corresponds to a specific relative velocity which is distinct from that of ground obstacles at a same range and having a lower height or elevation, and wherein the height or elevation of an obstacle at a given relative velocity corresponds to a specific range which is distinct from that of ground obstacles having a same relative velocity and a lower height or elevation.

2. The method of claim 1, wherein the step of discriminating also uses an altitude of the airborne platform.

3. The method of claim 1, wherein the range and velocity procedure includes a range of migration compensation process using the velocity and an altitude of the airborne platform.

4. The method of claim 1, further comprising applying a spatial time adaptive filtering implemented by forming a specific beam directed to an assumed obstacle and optimizing a signal to ground clutter plus noise ratio, the filtering including calculating a covariance matrix for at least two beams formed simultaneously of the same azimuth, the filtering further including optimizing a signal to ground-noise ratio in a given direction by forming a weight vector using the covariance matrix and a steering vector in the direction, the filtering further including applying the weight vector to the beams and summing channels to form a specific beam directed to the assumed obstacle which optimizes the signal to clutter plus noise ratio.

5. The method of claim 1, wherein the threshold is an adaptive threshold determined using at least one of the velocity and an altitude of the airborne platform.

6. The method of claim 1, wherein the detection process uses a CFAR technique in which a ground clutter plus noise is estimated using a priori ground clutter data.

7. The method of claim 6, wherein the noise is estimated at constant velocity using a Gaussian windowing.

8. The method of claim 1, wherein the electromagnetic wave is characterized by a Frequency Modulated Continuous Wave form.

9. The method of claim 1, wherein the wave frequency is between 9 GHz to 18 GHz.

18. The method of claim 1, wherein the step of discriminating is further based on an evolution of the specific signature.

10. A detecting system for detecting ground obstacles from an airborne platform comprising:

a transmit antenna configured to illuminate a whole field of view of interest with an electromagnetic wave in a range of 0.1 to 100 GHz;

multiple antenna elements configured to receive echoes from the whole field of view of interest and means for transforming the echoes into a digital signal for each of the multiple antenna elements;

means for combining the digital signals simultaneously in order to obtain simultaneously multiple beams covering the whole field of view of interest using spatial transformation processing;

filtering means for range and velocity filtering each beam in parallel over a long integration time so that a given ground obstacle is observed at different distances over the integration time;

detection means for applying on each filtered beam a detection process using a threshold on amplitude to detect potential ground obstacles; and

discriminating means for discriminating the ground obstacles from the potential ground obstacles in a range velocity diagram based on a velocity of the airborne platform and a height or elevation of the ground obstacles, wherein the height or elevation of a ground obstacle constitutes a specific signature in terms of both relative velocity and relative distance, wherein the height or elevation of an obstacle at a given range corresponds to a specific relative velocity which is distinct from that of ground obstacles at a same range and having a lower height or elevation, and wherein the height or elevation of an obstacle at a given relative velocity corresponds to a specific range which is distinct from that of ground obstacles having a same relative velocity and a lower height or elevation.

11. The detecting system of claim 10, wherein the discriminating means also uses altitude of the airborne platform.

12. The detecting system of claim 10, wherein the filtering means includes a range migration compensation process using the velocity and an altitude of the airborne platform.

13. The detecting system of claim 10, wherein the threshold is an adaptive threshold determined using at least one of the velocity and an altitude of the airborne platform.

14. A detecting system for detecting ground obstacles from an airborne platform comprising:

a transmit antenna configured to illuminate a whole field of view of interest with an electromagnetic wave in a range of 0.1 to 100 GHz;

multiple antenna elements configured to receive echoes from the whole field of view of interest;

a conversion device configured to transform the echoes into a digital signal for each of the multiple antenna elements;

a combining device configured to combine the digital signals simultaneously in order to obtain simultaneously multiple beams covering the whole field of view of interest using spatial transformation processing;

a filtering device configured to filter the data utilizing a range and velocity filtering process for each beam in parallel over a long integration time so that a given ground obstacle is observed at different distances over the integration time;

a detection device configured to apply on each filtered beam a detection process using a threshold on amplitude to detect potential ground obstacles; and

a discriminating device configured to discriminate the ground obstacles from the potential ground obstacles in a range velocity diagram based on a velocity of the airborne platform and a height or elevation of the ground obstacles, wherein the height or elevation of a ground obstacle constitutes a specific signature in terms of both relative velocity and relative distance, wherein the height or elevation of an obstacle at a given range corresponds to a specific relative velocity which is distinct from that of ground obstacles at a same range and having a lower height or elevation, and wherein the height or elevation of an obstacle at a given relative velocity corresponds to a specific range which is distinct from that of ground obstacles having a same relative velocity and a lower height or elevation.

15. The detecting system of claim 14, wherein the discriminating device is further configured to use altitude of the airborne platform.

16. The detecting system of claim 14, wherein the filtering device is further configured to utilize a range migration compensation process using the velocity and an altitude of the airborne platform.

17. The detecting system of claim 14, wherein the threshold is an adaptive threshold determined using at least one of the velocity and an altitude of the airborne platform.