Radar antenna elevation error estimation method and apparatus

• US 9,024,805 B1
• Filed: 09/26/2012
• Issued: 05/05/2015
• Est. Priority Date: 09/26/2012
• Status: Active Grant

• Current Assignee: Rockwell Collins, Inc. (Raytheon Technologies Corporation d/b/a RTX)
• Original Assignee: Rockwell Collins, Inc. (Raytheon Technologies Corporation d/b/a RTX)
• Inventors: Jinkins, Richard D., Rademaker, Richard M., Woodell, Daniel L.
• Primary Examiner(s): GREGORY, BERNARR E
• Application Number:
  US13/627,788
• Time in Patent Office: 951 Days
• Field of Search: 340/945, 340/947, 340/951, 340/963, 340/970, 701/1, 701/3, 701/4, 701/8, 701/9, 342/29, 342/33, 342 73- 81, 342/118, 342120-123, 342/165, 342173-175, 342/195
• US Class Current: 342/120
• CPC Class Codes: G01S 13/882 for altimeters measuring height using barometric means G01C5/06
• CPC Class Codes: G01S 5/0247 Determining attitude

Abstract

Methods and systems of determining the altitude of an aircraft are provided. The method includes receiving data associated with aircraft position, a position of a first point and a second point on the runway, and an altitude of the first point and the second point, radar returns from the runway. The method includes determining a first range and second range between the aircraft, and the first point and the second point. The method includes determining a first angle and a second angle between the first point and second point, and the aircraft. The method includes determining a corrected angle. The method includes determining the altitude of the aircraft based on the corrected angle, the runway altitude of at least one of the first point and the second point, and at least one of the first range and the second range.

Claims

1. A method of determining altitude of an aircraft using an onboard radar/antenna system, the method comprising:

receiving first data associated with an aircraft position;

receiving second data associated with a position of a first point and a second point on the runway, and an altitude of the first point and the second point on the runway;

providing radar signals to the runway using the onboard radar/antenna system;

receiving radar returns from the runway using the onboard radar/antenna system wherein third data is associated with the radar returns from the runway;

determining a first range between the aircraft and the first point on the runway and a second range between the aircraft and the second point on the runway, using the first and second data;

determining a first angle between the first point on the runway and the aircraft, and a second angle between the second point on the runway and the aircraft, using the third data;

determining a corrected angle relative to the first point and the second point; and

determining the altitude of the aircraft based on the corrected angle, the altitude of at least one of the first point and the second point, and at least one of the first range and the second range.

2. The method of claim 1, wherein the first point is a first end of the runway and the second point is a second end of the runway.

3. The method of claim 1, wherein determining a corrected angle comprises:

calculating an error in at least one of the first angle and the second angle, using the first range, the second range, the first angle, the second angle, an altitude of the first point, and an altitude of the second point; and

calculating a corrected angle using the error and at least one of the first angle and the second angle.

4. The method of claim 1, wherein determining a corrected angle comprises:

calculating an error in the response of a radar/antenna system configured to receive the radar returns from the runway; and

calculating a corrected angle using at least one of the first angle, the second angle, and the error in the response of the radar/antenna system.

5. The method of claim 4, wherein calculating an error in the response of the radar/antenna system comprises:

computing a first slope of the runway using the altitude and the position of the first point and the second point of the second data;

estimating a second slope of the runway using at least one of the first angle, the second angle, the first range, and the second range of the third data; and

calculating an error in the response of the radar/antenna system using the first slope and the second slope.

6. The method of claim 5, wherein the error in the response of the radar/antenna system comprises the difference between the second slope and the first slope.

7. The method of claim 1, wherein the radar returns are received at the radar/antenna system in at least one of a stationary viewing angle and a plurality of viewing angles during one movement interval.

8. An aircraft radar system for an aircraft, comprising:

a receive circuit configured to receive radar returns from an antenna; and

processing electronics configured to;

compute a first slope of a runway;

estimate a second slope of the runway using the radar returns provided to the processing electronics from the receive circuit, the radar returns being associated with radar signals striking the runway;

estimate an error in the pointing angle of the antenna using the first slope and the second slope; and

estimate an aircraft altitude using a range from the aircraft to the runway and a corrected angle between the aircraft and the runway.

9. The aircraft radar system of claim 8, wherein the processing electronics are configured to estimate an aircraft altitude using a range from the aircraft to the runway and the corrected angle between the aircraft and the runway, wherein the error in the pointing angle of the antenna is removed from the corrected angle.

10. The aircraft radar system of claim 8, wherein the processing electronics are configured to compute the first slope of the runway using an altitude and a position of at least two points on the runway.

11. The aircraft radar system of claim 8, wherein the processing electronics are configured to estimate the second slope of the runway using at least one of a first angle between the aircraft and a first point of the runway, a second angle between the aircraft and a second point of the runway, a first range from the aircraft to the first point of the runway, and a second range from the aircraft to the second point of the runway.

12. The aircraft radar system of claim 8, wherein the processing electronics are configured to estimate the second slope of the runway using a plurality of angles to a plurality of points on the runway, and a plurality of ranges from the aircraft to the plurality of points on the runway.

13. The aircraft radar system of claim 12, wherein the processing electronics are configured to use a robust fitting method to determine the second slope from the plurality slopes.

14. The aircraft radar system of claim 8, wherein the processing electronics are configured to estimate the error in the pointing angle by subtracting the first slope from the second slope.

15. An apparatus, comprising:

means for receiving radar returns from the runway; and

means for determining (a) a plurality of ranges between an aircraft and a plurality of points on the runway, the plurality of ranges including a first range between the aircraft and a first point on the runway and a second range between the aircraft and a second point on the runway, using first data associated with an aircraft position and second data associated with positions and altitudes of a plurality of points on the runway, the plurality of points on the runway including the first point and the second point on the runway;

(b) a plurality of angles between the aircraft and the plurality of points, using the radar returns;

(c) a corrected angle relative to at least two of the plurality of points; and

(d) an altitude of the aircraft based on the corrected angle, the altitude and range of at least one of the plurality of points.

16. The apparatus of claim 15, wherein the first point is a first end of the runway and the second point is a second end of the runway.

17. The apparatus of claim 15, wherein the means for determining:

calculates an error in the response of a radar/antenna system configured to receive the radar returns from the runway; and

calculates a corrected angle using at least two of the plurality of angles and the error in the response.

18. The apparatus of claim 17, wherein the means for determining:

estimates a first slope of the runway using the altitude and position of at least two of the points of the second data;

estimates a second slope of the runway using the plurality of ranges and angles of the plurality of points using the radar returns; and

calculates an error in the response using the first slope and the second slope.

19. The apparatus of claim 18, wherein a robust fitting method is used to estimate the second slope.

20. The apparatus of claim 18, wherein the error in the response comprises the difference between the second slope and the first slope.

21. The apparatus of claim 15, wherein the means for receiving receives the radar returns in at least one of a stationary viewing angle and a plurality of viewing angles during one movement interval.