Aircraft ground velocity determination system

• US 4,495,589 A
• Filed: 09/20/1982
• Issued: 01/22/1985
• Est. Priority Date: 09/20/1982
• Status: Expired due to Fees

• Current Assignee: Crane Company
• Original Assignee: Crane Company
• Inventors: Hirzel, Edgar A.
• Primary Examiner(s): Chin, Gary
• Application Number:
  US06/419,996
• Time in Patent Office: 855 Days
• Field of Search: 364/426, 364/565, 364/569, 364/428, 364/433, 324/160, 324/172, 324/175, 356/27, 356/28, 356/4, 377/20, 377/23, 377/24, 358/105
• US Class Current: 702/144
• CPC Class Codes: G01P 3/806 in devices of the type to be classified in G01P3/68

Abstract

A system for determining the ground velocity of an aircraft is disclosed. The system includes a CCD linear optical image sensor carried by the aircraft for forming a first and second substantially instantaneous light intensity contour of the optical image of the surface of the earth lying below the aircraft. The two contours are delayed in time with respect to each other. A computer, included in the system, compares the two contours to determine the relative position shift between the two contours by utilizing cross-correlation techniques. The computer then corrects the contour position shift for the aircraft altitude and divides the corrected position shift by the time delay between the two contours to obtain the aircraft ground velocity. A signal indicative of the aircraft ground velocity is output by the system.

Claims

1. Apparatus for determining the ground velocity of an aircraft comprising:

means for detecting from the aircraft a first radiant energy contour of a first area of the earth'"'"'s surface and, after a time delay, a second radiant energy contour of a second area of the earth'"'"'s surface, which second area overlaps in part with the first area;

means for comparing said first contour with said second contour to produce a position shift signal which represents the relative contour position shift necessary to obtain the maximum degree of correlation between said first contour and said second contour;

means for producing an altitude correction signal;

means for multiplying said position shift signal by said altitude correction signal so as to produce a distance signal; and

means for dividing said distance signal by said time delay to obtain a ground velocity signal of the aircraft.

2. The apparatus of claim 1 further comprising means for focusing radiant energy on said detecting means.

3. The apparatus of claim 2 wherein said focusing means includes means for allowing only light of near infrared wavelengths to be focused on said detecting means.

4. The apparatus of claim 1 wherein said detecting means includes a plurality of radiant energy detection elements and said first contour is detected by a first set of said elements and said second contour is detected by a second set of said elements which are interspersed among said elements of said first set.

5. The apparatus of claim 1 wherein said comparing means comprises:

means for digitizing said first and second contours;

means for arranging said first and second digitized contours in an initial orientation with respect to each other and for incrementally shifting said first digitized contour to a plurality of successive positions relative to said second digitized contour;

means for multiplying the corresponding points of said first and second digitized contours and for summing the products;

means for storing the sums of the products; and

means for identifying the greatest sum obtained over said plurality of successive positions.

6. Apparatus for determining the ground velocity of an aircraft comprising:

at least one optical image sensor, which includes a plurality of image forming elements, carried by the aircraft;

means for enabling said elements to form a first optical image of a first area of the earth'"'"'s surface and, after a time delay, enabling said elements to form a second optical image of a second area of the earth'"'"'s surface which overlaps in part with said first area;

means for controlling the length of time said elements are enabled and said time delay;

means for comparing said first image with said second image to produce a position shift signal representing the relative image position shift necessary to obtain the maximum degree of correlation between said first and second images;

means for generating an altitude correction signal;

means for multiplying said position shift signal by said altitude correction signal so as to produce a distance signal; and

means for dividing said distance signal by said time delay to obtain a signal representing the ground velocity of the aircraft.

7. The apparatus of claim 6 wherein said sensor is a linear image sensor.

8. The apparatus of claim 6 wherein said sensor is rigidly mounted to the aircraft.

9. The apparatus of claim 6 wherein said sensor maintains a constant orientation with respect to the earth'"'"'s surface.

10. The apparatus of claim 6 further comprising means for focusing an optical image on said sensor.

11. The apparatus of claim 6 further comprising a filtering means which rejects light of wavelengths shorter than near infrared wavelengths as sensed by said optical image sensor.

12. The apparatus of claim 6 wherein said controlling means includes means for setting the time said sensor is enabled as a function of the time delay, the aircraft altitude, and the average intensity of at least one image detected previously.

13. The apparatus of claim 6 wherein said means for controlling the time said elements are enabled includes:

means for calculating a first and second light average intensity signal of a first and a second image, respectively;

means for calculating a combined average intensity signal of the average intensity signals of a plurality of images formed previously;

means for increasing the time said elements are enabled when said combined average intensity signal falls below a first threshold; and

means for decreasing the time said elements are enabled when said combined average intensity signal exceeds a second threshold.

14. The apparatus of claim 6 wherein said enabling means enables a first set of said elements to form said first image and enables a second set of said elements to form said second image, and said elements of said first set are interspersed amongst said elements of said second set.

15. The apparatus of claim 6 wherein said comparing means comprises:

means for digitizing said first and second images;

means for arranging said first and second digitized images in an initial orientation with respect to each other and for incrementally shifting said first digitized image to a plurality of successive positions relative to said second digitized image;

means for multiplying the corresponding points of said first and second digitized images and for summing the products;

means for storing the sums of the products; and

means for identifying the greatest sum obtained over said plurality of successive positions.

16. Apparatus for determining the ground velocity of an aircraft comprising:

a plurality of light sensitive elements which generate electrical signals in response to incident light;

means for enabling a first set of said elements to form a first light contour from incident light emitted and reflected from a first area of the earth'"'"'s surface and, after a time delay, enabling a second set of said elements to form a second light contour from incident light emitted and reflected from a second area of the earth'"'"'s surface which partially overlaps the first area, said elements of said second set being interspersed among said elements of said first set;

means for storing said first and second light contours;

means for comparing said first and second stored light contours to produce a position shift signal representing the relative contour position shift necessary to obtain the maximum degree of correlation between said first and second stored light contours;

means for generating an altitude correction signal;

means for multiplying said position shift signal by said altitude correction signal to produce a ground distance signal;

means for dividing said distance signal by said time delay to obtain an aircraft ground velocity signal.

17. The apparatus of claim 16 wherein said elements are at least two times wider than their length.

18. The apparatus of claim 16 wherein said elements are arranged in a row.

19. The apparatus of claim 18 wherein said first set of elements includes the odd-numbered elements in said row and said second set of elements includes the even-numbered elements in said row.

20. The apparatus of claim 16 further comprising means which reject photons of light shorter than near infrared wavelengths.

21. The apparatus of claim 16 wherein said means for comparing includes:

means for digitizing said stored first and second light contours;

means for arranging said first and second digitized contours in an initial orientation with respect to each other and for incrementally shifting said first digitized contour to a plurality of successive positions relative to the second digitized contour;

means for multiplying the corresponding points of said first and second digitized contours and for summing the products at every corresponding point;

means for storing said sums; and

means for identifying the greatest sum obtained over said plurality of successive positions.

22. The apparatus of claim 16 further comprising means for adjusting the time delay to control the degree of overlap of said first and second areas and means for controlling the length of time said elements are enabled.

23. The apparatus of claim 22 wherein said controlling means and said adjusting means cooperate to control the time said elements are enabled and said time delay so that said comparing means obtains the maximum degree of correlation between said first and second contours in less than 150 position shifts.

24. An apparatus for determining the ground velocity of an aircraft comprising:

a sensor which includes a plurality of photodetector pixels, each pixel generating an electrical signal which has its magnitude proportional to the intensity of incident radiant energy;

means for enabling less than all the pixels to generate signals which represent a first light intensity contour of a first area of the earth'"'"'s surface, and after a time delay, enabling the pixels which do not form part of said first light contour to generate signals which represent a second light intensity contour of a second area of the earth'"'"'s surface which partially overlaps said first area, wherein said pixels forming said first contour are interspersed among said pixels forming said second contour;

means for adjusting the time delay to control the degree of overlap between said first and second areas;

means for controlling the exposure time of said pixels as a function of the time delay, aircraft altitude, and intensity of a light contour;

means for registering said first and second contours;

means for digitizing the magnitude of the signals representing said first and second contours;

means for storing said first and second digitized contours;

means for arranging said first and second digitized contours in an initial pixel-to-pixel orientation with respect to each other and for incrementally shifting said first digitized contour to a plurality of successive pixel-to-pixel positions relative to said second digitized contour;

means for multiplying the values of the corresponding pixels of said first and second digitized contours and for summing the products of all corresponding pixels of said first and second digitized contours for each orientation of said plurality of positions;

means for storing the sums of said products

means for identifying the greatest sum obtained over said plurality of position shifts;

means for producing a signal representing the number of successive position shifts necessary to obtain said greatest sum;

means for generating an altitude correction signal;

means for multiplying said number of shifts signal by said altitude correction signal to generate a ground distance signal of the aircraft; and

means for dividing said distance signal by said time delay to generate an aircraft ground velocity signal.

25. The apparatus of claim 24 wherein said time controlling means includes:

means for calculating first and second light average intensity signals of a first and a second registered contour, respectively;

means for calculating a loop average intensity signal of said average intensity signals;

means for calculating a combined average intensity signal of a plurality of loop average intensity signals;

means for increasing the exposure time of said photodetector pixels when said combined average intensity signal falls below a first threshold; and

means for decreasing the exposure time of said photodetector pixels when said combined average intensity signal exceeds said second threshold.

26. The apparatus in claim 24 wherein said photodetector pixels are two to twenty-five times wider than their length.

27. A method for determining the ground velocity of an aircraft comprising:

detecting from the aircraft a radiant energy contour of a first area of the earth'"'"'s surface;

after a time delay, detecting from the aircraft a radiant energy contour of a second area of the earth'"'"'s surface which partially overlaps the first area;

comparing the first contour with the second contour to produce a signal representing the relative contour position shift necessary to obtain the maximum degree of correlation between the first and second contours;

producing an altitude correction signal;

multiplying the contour position shift signal by the altitude correction signal to produce a distance signal; and

dividing the distance signal by the time delay to generate a ground velocity signal.

28. A method for determining the ground velocity of an aircraft comprising:

enabling a first set of photosensors mounted on the aircraft to form a first light intensity contour in response to light emitted and reflected from a first area of the earth'"'"'s surface;

after a time delay, enabling a second set of photosensors mounted on the aircraft to form a second light intensity contour in response to light emitted and reflected from a second area of the earth'"'"'s surface which partially overlaps the first area;

adjusting the time delay to control the degree of overlap of the first and second areas;

controlling the time the photosensors are enabled as a function of the time delay, aircraft altitude, and average intensity of a previously formed contour;

comparing the first and second contours to produce a signal representing the relative contour position shift necessary to attain the maximum degree of correlation between the first and second contours;

generating an altitude correction signal;

multiplying the relative contour shift signal by the altitude correction signal to produce a ground distance signal; and

dividing the ground distance signal by the time delay to generate a ground velocity signal.

29. The method of claim 28 wherein the time controlling step includes:

calculating first and second average intensity signals of a first and a second contour, respectively;

calculating a combined average intensity signal of the average intensity signals of a plurality of contours previously formed;

increasing the time the photosensors are enabled when the combined average intensity signal falls below a first threshold; and

decreasing the time the photosensors are enabled when the combined average intensity signal exceeds a second threshold.

30. The method of claim 28 wherein the comparing step includes:

storing the first and second contours;

digitizing the first and second stored contours;

arranging the first and second digitized contours in an initial orientation with respect to each other and incrementally shifting the first digitized contour to a plurality of successive positions relative to the second digitized contour;

multiplying the corresponding points of the first and second digitized contours and summing the products at every corresponding point;

storing the sums; and

identifying the greatest sum of the products obtained over the plurality of successive positions.

31. The method of claim 28 further comprising the step of filtering wavelengths of light shorter than near infrared wavelengths.