Runway location determination

• US 9,406,235 B2
• Filed: 04/10/2014
• Issued: 08/02/2016
• Est. Priority Date: 04/10/2014
• Status: Active Grant

• Current Assignee: Honeywell International Inc.
• Original Assignee: Honeywell International Inc.
• Inventors: Conner, Kevin J, Haissig, Christine Marie, Brandao, Ruy C.
• Primary Examiner(s): ARTHUR JEANGLAUDE, GERTRUDE
• Application Number:
  US14/250,022
• Publication Number:
  US 20150294573A1
• Time in Patent Office: 845 Days
• Field of Search: 701/3, 701/14, 701/16, 701/9, 701/120, 701/301, 701/408, 701/532, 340/972, 340/945, 340/961
• US Class Current: 1/1
• CPC Class Codes: G01C 21/30 Map- or contour-matching
• CPC Class Codes: G08G 5/0013 with a ground station
• CPC Class Codes: G08G 5/0017 Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information head-up displays G02B27/01; ground or aircraft-carrier-deck-installations B64F
• CPC Class Codes: G08G 5/0082 for monitoring traffic from a ground station radar or analogous systems specially adapted for traffic control G01S13/91
• CPC Class Codes: G08G 5/065 Navigation or guidance aids, e.g. for taxiing or rolling

Abstract

In some examples described herein, a runway location is determined based on aircraft state information from at least one aircraft. For example, a processor may determine the coordinates of one or more points of a runway based on aircraft state information generated by one or more aircraft using the runway. In some examples, the processor may aggregate coordinates determined from the aircraft state information provided by a plurality of different aircraft in order to determine the location of the runway. The processor can be located onboard an aircraft providing the state information, onboard a different aircraft, or external to any aircraft.

Claims

1. A method comprising:

receiving, by a processor, aircraft state information from at least one aircraft, the aircraft state information including position information for the at least one aircraft;

determining, by the processor and based on the aircraft state information, the at least one aircraft is landing or taking off;

determining, by the processor, the position information for the at least one aircraft during the landing or take off of the respective aircraft;

determining, by the processor, a location of a runway based on the received aircraft state information, wherein determining the location of the runway comprises deriving coordinates of one or more points of the runway based on the position information for the at least one aircraft during the landing or take off of the respective aircraft; and

after determining the location of the runway, storing the determined location of the runway in a memory.

2. The method of claim 1, wherein the position information comprises at least one of geographic coordinates or relative coordinates of the at least one aircraft.

3. The method of claim 1, wherein deriving the coordinates of one or more points of the runway comprises determining coordinates of one or more points along an approximated centerline of the runway.

4. The method of claim 3, further comprising determining the approximated centerline of the runway, wherein determining the approximated centerline of the runway comprises:

determining, based on the received aircraft state information, a turnoff point of the at least one aircraft from the runway; and

determining the approximated centerline extends substantially parallel to a heading of the at least one aircraft during a landing of the at least one aircraft on the runway and up to the turnoff point.

5. The method of claim 3, wherein the at least one aircraft comprises a plurality of aircraft, the method further comprising determining the approximated centerline of the runway, wherein determining the approximated centerline of the runway comprises:

determining, based on the received aircraft state information, turnoff points of the plurality of aircraft from the runway; and

fitting a line to the turnoff points using linear regression, wherein the line is the approximated centerline of the runway.

6. The method of claim 3, further comprising determining the approximated centerline of the runway, wherein determining the approximated centerline of the runway comprises:

determining, based on the received aircraft state information, a liftoff point of the at least one aircraft from the runway; and

determining the centerline extends substantially parallel to a heading of the at least one aircraft during a takeoff of the at least one aircraft on the runway and to the liftoff point.

7. The method of claim 3, wherein the at least one aircraft comprises a plurality of aircraft, the method further comprising determining the approximated centerline of the runway, wherein determining the location of the approximated centerline of the runway comprises:

determining, based on the received aircraft state information, liftoff points of the plurality of aircraft from the runway; and

fitting a line to the liftoff points using linear regression, wherein the line is the approximated centerline of the runway.

8. The method of claim 3, wherein determining coordinates of one or more points along an approximated centerline of the runway comprises:

determining coordinates of a first point near a first end of the runway and along the approximated centerline; and

determining coordinates of a second point near a second end of the runway and along the approximated centerline, wherein the runway extends between the first end and the second end.

9. The method of claim 8, wherein determining the coordinates of the first point comprises determining, based on the aircraft state information, coordinates of the at least one aircraft immediately after touchdown on the runway, the coordinates defining a third point near the first end of the runway, wherein the first point is aligned with the third point.

10. The method of claim 8, wherein determining the coordinates of the first point comprises:

determining, based on the aircraft state information, coordinates of the at least one aircraft immediately after touchdown on the runway, the coordinates defining a third point; and

extrapolating, from the third point, a fourth point near the first end of the runway, wherein the first point is aligned with the fourth point.

11. The method of claim 8, wherein determining the coordinates of the first point comprises:

determining, based on the aircraft state information, first coordinates of the at least one aircraft immediately prior to touchdown on the runway, the first coordinates defining a third point;

determining, based on the aircraft state information, second coordinates of the at least one aircraft immediately after touchdown on the runway, the second coordinates defining a fourth point; and

interpolating the first point between third and fourth points.

12. The method of claim 8, wherein determining the coordinates of the second point comprises determining, based on the received aircraft state information, a turnoff point of the at least one aircraft from the runway, wherein the second point is aligned with the turnoff point.

13. The method of claim 8, wherein determining the coordinates of the second point comprises:

determining, based on the received aircraft state information, a turnoff point of the at least one aircraft from the runway; and

extrapolating, from the turnoff point, a third point near the second end of the runway, wherein the second point is aligned with the third point.

14. The method of claim 8, wherein determining the coordinates of the second point comprises:

determining, based on the received aircraft state information, a turnoff point of the at least one aircraft from the runway;

determining, based on the received aircraft state information, a turnoff vector of the at least one aircraft from the runway; and

in response to determining the turnoff vector indicates the speed of the at least one aircraft was below a predetermined speed, determining the second point is aligned with the turnoff point.

15. The method of claim 8, wherein determining the coordinates of the first point comprises determining, based on the aircraft state information, coordinates of the at least one aircraft at a beginning of an acceleration run on the runway, the coordinates defining a third point near the first end of the runway, wherein the first point is aligned with the third point.

16. The method of claim 8, wherein determining the coordinates of the first point comprises:

determining, based on the aircraft state information, coordinates of the at least one aircraft at a beginning of an acceleration run on the runway, the coordinates defining a third point; and

extrapolating, from the third point, a fourth point near along the first end of the runway, wherein the first point is aligned with the fourth point.

17. The method of claim 8, wherein determining the coordinates of the second point comprises determining, based on the aircraft state information, coordinates of the at least one aircraft at liftoff from the runway, the coordinates defining a third point near the second end of the runway, wherein the second point is aligned with the third point.

18. The method of claim 8, wherein determining the coordinates of the second point comprises:

determining, based on the aircraft state information, coordinates of the at least one aircraft at liftoff from the runway; and

extrapolating, from the coordinates of the at least one aircraft at liftoff, a third point near the second end of the runway, wherein the second point is aligned with the third point.

19. The method of claim 8, wherein determining the coordinates of the second point comprises:

determining, based on the aircraft state information, first coordinates of the at least one aircraft at liftoff from the runway, the first coordinates defining a third point;

determining, based on the aircraft state information, second coordinates of the at least one aircraft immediately after liftoff from the runway, the second coordinates defining a fourth point; and

interpolating the second point between the third and fourth points.

20. The method of claim 8, wherein determining the coordinates of the second point comprises:

determining, based on the aircraft state information, a type of the at least one aircraft;

determining a nominal length of the runway based on the type of the at least one aircraft; and

determining the second point is along the approximated centerline the nominal length of the runway away from the first point.

21. The method of claim 1, wherein the processor is onboard a first aircraft and receiving the aircraft state information from the at least one aircraft comprises receiving the aircraft state information from at least one aircraft other than the first aircraft.

22. The method of claim 1, wherein the processor is onboard a first aircraft and receiving the aircraft state information from the at least one aircraft comprises receiving the aircraft state information from at least the first aircraft.

23. The method of claim 1, wherein the processor is external to the at least one aircraft.

24. The method of claim 1, wherein the position information for the at least one aircraft during the landing or take off comprises position information for the at least one aircraft during use of the runway by the at least one aircraft.

25. A system comprising:

a memory; and

a processor configured to;

receive aircraft state information from at least one aircraft, the aircraft state information including position information for the at least one aircraft,

determine, based on the aircraft state information, the at least one aircraft is landing or taking off,

determine the position information for the at least one aircraft during the landing or take off of the respective aircraft,

determine a location of a runway based on the received aircraft position information by at least deriving coordinates of one or more points of the runway based on the position information for the at least one aircraft during the landing or take off of the respective aircraft, and

after determining the location of the runway, store the determined location in the memory.

26. The system of claim 25, wherein the processor is onboard an aircraft and is configured to receive the aircraft state information from the aircraft.

27. The system of claim 25, wherein the processor is onboard an aircraft and is configured to receive the aircraft state information from at least one different aircraft.

28. The system of claim 25, wherein the processor is external to an aircraft.

29. The system of claim 25, wherein the position information comprises at least one of geographic coordinates or relative coordinates of the at least one aircraft.

30. The system of claim 25, wherein the processor is configured to derive the coordinates of one or more points of the runway by at least determining coordinates of one or more points along an approximated centerline of the runway.

31. The system of claim 30, wherein the processor is configured to determine the approximated centerline of the runway by at least:

determining, based on the received aircraft state information, a turnoff point of the at least one aircraft from the runway; and

determining the approximated centerline extends substantially parallel to a heading of the at least one aircraft during a landing of the at least one aircraft on the runway and up to the turnoff point.

32. The system of claim 30, wherein the at least one aircraft comprises a plurality of aircraft, and wherein the processor is configured to determine the approximated centerline of the runway by at least:

determining, based on the received aircraft state information, turnoff points of the plurality of aircraft from the runway; and

fitting a line to the turnoff points using linear regression, wherein the line is the approximated centerline of the runway.

33. The system of claim 30, wherein the processor is configured to determine the approximated centerline of the runway by at least:

determining, based on the received aircraft state information, a liftoff point of the at least one aircraft from the runway; and

determining the centerline extends substantially parallel to a heading of the at least one aircraft during a takeoff of the at least one aircraft on the runway and to the liftoff point.

34. The system of claim 30, wherein the at least one aircraft comprises a plurality of aircraft, and wherein the processor is configured to determine the approximated centerline of the runway by at least:

determining, based on the received aircraft state information, liftoff points of the plurality of aircraft from the runway; and

fitting a line to the liftoff points using linear regression, wherein the line is the approximated centerline of the runway.

35. The system of claim 30, wherein the processor is configured to determine the coordinates of one or more points along an approximated centerline of the runway by at least:

determining coordinates of a first point near a first end of the runway and along the approximated centerline; and

determining coordinates of a second point near a second end of the runway and along the approximated centerline, wherein the runway extends between the first end and the second end.

36. The system of claim 35, wherein the processor is configured to determine the coordinates of the first point by at least determining, based on the aircraft state information, coordinates of the at least one aircraft immediately after touchdown on the runway, the coordinates defining a third point near the first end of the runway, wherein the first point is aligned with the third point.

37. The system of claim 35, wherein the processor is configured to determine the coordinates of the first point by at least:

determining, based on the aircraft state information, coordinates of the at least one aircraft immediately after touchdown on the runway, the coordinates defining a third point; and

extrapolating, from the third point, a fourth point near the first end of the runway, wherein the first point is aligned with the fourth point.

38. The system of claim 35, wherein the processor is configured to determine the coordinates of the first point by at least:

determining, based on the aircraft state information, first coordinates of the at least one aircraft immediately prior to touchdown on the runway, the first coordinates defining a third point;

determining, based on the aircraft state information, second coordinates of the at least one aircraft immediately after touchdown on the runway, the second coordinates defining a fourth point; and

interpolating the first point between third and fourth points.

39. The system of claim 35, wherein the processor is configured to determine the coordinates of the second point by at least determining, based on the received aircraft state information, a turnoff point of the at least one aircraft from the runway, wherein the second point is aligned with the turnoff point.

40. The system of claim 35, wherein the processor is configured to determine the coordinates of the second point by at least:

determining, based on the received aircraft state information, a turnoff point of the at least one aircraft from the runway; and

extrapolating, from the turnoff point, a third point near the second end of the runway, wherein the second point is aligned with the third point.

41. The system of claim 35, wherein the processor is configured to determine the coordinates of the second point by at least:

determining, based on the received aircraft state information, a turnoff point of the at least one aircraft from the runway;

determining, based on the received aircraft state information, a turnoff vector of the at least one aircraft from the runway; and

in response to determining the turnoff vector indicates the speed of the at least one aircraft was below a predetermined speed, determining the second point is aligned with the turnoff point.

42. The system of claim 35, wherein the processor is configured to determine the coordinates of the first point by at least determining, based on the aircraft state information, coordinates of the at least one aircraft at a beginning of an acceleration run on the runway, the coordinates defining a third point near the first end of the runway, wherein the first point is aligned with the third point.

43. The system of claim 35, wherein the processor is configured to determine the coordinates of the first point by at least:

determining, based on the aircraft state information, coordinates of the at least one aircraft at a beginning of an acceleration run on the runway, the coordinates defining a third point; and

extrapolating, from the third point, a fourth point near along the first end of the runway, wherein the first point is aligned with the fourth point.

44. The system of claim 35, wherein the processor is configured to determine the coordinates of the second point by at least determining, based on the aircraft state information, coordinates of the at least one aircraft at liftoff from the runway, the coordinates defining a third point near the second end of the runway, wherein the second point is aligned with the third point.

45. The system of claim 35, wherein the processor is configured to determine the coordinates of the second point by at least:

determining, based on the aircraft state information, coordinates of the at least one aircraft at liftoff from the runway; and

extrapolating, from the coordinates of the at least one aircraft at liftoff, a third point near the second end of the runway, wherein the second point is aligned with the third point.

46. The system of claim 35, wherein the processor is configured to determine the coordinates of the second point by at least:

determining, based on the aircraft state information, first coordinates of the at least one aircraft at liftoff from the runway, the first coordinates defining a third point;

determining, based on the aircraft state information, second coordinates of the at least one aircraft immediately after liftoff from the runway, the second coordinates defining a fourth point; and

interpolating the second point between the third and fourth points.

47. The system of claim 35, wherein determining the coordinates of the second point comprises:

determining, based on the aircraft state information, a type of the at least one aircraft;

determining a nominal length of the runway based on the type of the at least one aircraft; and

determining the second point is along the approximated centerline the nominal length of the runway away from the first point.

49. The system of claim 25, wherein the position information for the at least one aircraft during the landing or take off comprises position information for the at least one aircraft during use of the runway by the at least one aircraft.

48. A system comprising:

means for receiving aircraft state information from at least one aircraft, the aircraft state information including position information for the at least one aircraft;

means for determining, based on the aircraft state information, the at least one aircraft is landing or taking off;

means for determining the position information for the at least one aircraft during the landing or take off of the respective aircraft;

means for determining a location of a runway based on the received aircraft state information, wherein the means for determining determines the location of the runway by at least deriving coordinates of one or more points of the runway based on the position information for the at least one aircraft during the landing or take off of the respective aircraft; and

means for storing the determined location of the runway in a memory after the means for determining determines the location of the runway.