Method and system for providing docking guidance to a pilot of a taxiing aircraft

Patent metadata

Field	Value
Publication number	US-10249203-B2
Application number	US-201715489369-A
Country	US
Kind code	B2
Filing date	Apr 17, 2017
Priority date	Apr 17, 2017
Publication date	Apr 2, 2019
Grant date	Apr 2, 2019

Abstract

Apparatus and associated methods relate to using an image of a fiducial located indicating a parking location for the aircraft to provide docking guidance data to a pilot of an aircraft. The fiducial has vertically-separated indicia and laterally-separated indicia. A camera is configured to mount at a camera location so as to be able to capture two-dimensional images of a scene external to the aircraft. The two-dimensional image includes pixel data generated by the two-dimensional array of light-sensitive pixels. A digital processor identifies first and second sets of pixel coordinates corresponding to the two vertically-separated and the two laterally-separated indicia, respectively. The digital processor then calculates, based at least in part on the identified first pixel coordinates corresponding to the two vertically-separated indicia, a range to the parking location.

First claim

The invention claimed is:

1. A system for providing docking guidance to a pilot of a taxiing aircraft, the system comprising:
a camera configured for mounting at a camera location on the taxiing aircraft, the camera configured to generate a two-dimensional image of a scene external to the taxiing aircraft, the generated two-dimensional image comprising pixel data generated by the two-dimensional array of light-sensitive pixels; and
a digital processor configured to identify first and second sets of pixel coordinates within the generated two-dimensional image of the scene external to the taxiing aircraft, the identified first and second sets of pixel coordinates corresponding to two vertically-separated and two laterally-separated indicia, respectively, of an alignment fiducial indicating a parking location for the taxiing aircraft, the digital processor further configured to calculate, based at least in part on the identified first pixel coordinates corresponding to the two vertically-separated indicia, a range to the parking location indicated by the alignment fiducial.

2. The system of claim 1 , further comprising a cockpit alarm and display module configured to provide a visual display of the generated image of the scene aligned with the optical axis of the camera, the provided visual display annotated with the calculated range to the parking location.

3. The system of claim 1 , wherein the digital processor is further configured to calculate, based at least in part on the identified second pixel coordinates corresponding to the two laterally-separated indicia, an angle of the taxiing aircraft with respect to a normal vector of the alignment fiducial.

4. The system of claim 1 , wherein the digital processor is further configured to calculate, based at least in part on the identified second pixel coordinates corresponding to the two laterally-separated indicia, a lateral translation of the longitudinal axis of the taxiing aircraft with respect to the parking location identified by the alignment fiducial.

5. The system of claim 1 , further comprising:
a light projector configured to be mounted at a projector location on the taxiing aircraft and to project spatially-patterned light from the light projector onto the scene external to the taxiing aircraft, thereby providing illumination of a spatially-patterned portion of the scene external to the taxiing aircraft,
wherein the digital processor is further configured to identify a third set of pixel coordinates within the image of the scene external to the taxiing aircraft, the identified third set of pixel coordinates corresponding to the spatially-patterned portion of the scene, the digital processor further configured to use triangulation, based on the projector location of the light projector, the camera location of the camera and the identified third set of pixel coordinates, to calculate location(s) and/or range(s) of object(s) in the scene external to the taxiing aircraft from which the spatially-patterned light projected by the light projector is reflected.

6. The system of claim 5 , wherein the spatially-patterned light projected by the light projector comprises infrared light.

7. The system of claim 6 , wherein the camera is an infrared camera and the light-sensitive pixels are sensitive to infrared light.

8. The system of claim 5 , further comprising a cockpit alarm and display module configured to generate a visual display of the image aligned with the optical axis of the camera annotated with the calculated location(s) and/or range(s) of object(s) in the scene external to the taxiing aircraft.

9. The system of claim 8 , wherein the cockpit alarm and display module includes an audible alarm that is activated when the calculated location(s) and/or range(s) indicate one or more of the object(s) in the scene has a combination of an location(s) and/or range(s) corresponding to a risk of collision relative to the taxiing aircraft.

10. The system of claim 5 , wherein the digital processor is further configured to determine pixel boundaries of the object(s) in the scene.

11. The system of claim 10 , wherein the digital processor is further configured to identify a fourth set of pixel coordinates that lie within the determined pixel boundaries of the object(s) in the scene external to the taxiing aircraft.

12. A method for providing docking guidance to a pilot of a taxiing aircraft, the method comprising:
generating, by a camera mounted at a camera location on an aircraft, a two-dimensional image of a scene external to the taxiing aircraft, the generated two-dimensional image comprising pixel data generated by the two-dimensional array of light-sensitive pixels;
identifying first and second sets of pixel coordinates within the image of the scene external to the aircraft, the identified first and second sets of pixel coordinates corresponding to two vertically-separated and two laterally-separated indicia, respectively, of an alignment fiducial indicating a parking location for the aircraft;
calculating, based at least in part on the identified first pixel coordinates corresponding to the two vertically-separated indicia, a range to the parking location; and
generating a visual display of the image of the scene aligned with the optical axis of the camera, the visual display annotated with the calculated range to the parking location.

13. The method of claim 12 , further comprising:
calculating, based at least in part on the identified second pixel coordinates corresponding to the two laterally-separated indicia, an angle of the taxiing aircraft with respect to a normal vector of the alignment fiducial.

14. The method of claim 13 , further comprising:
calculating, based at least in part on the identified second pixel coordinates corresponding to the two laterally-separated indicia, a lateral translation of the longitudinal axis of the taxiing aircraft with respect to the parking location identified by the alignment fiducial.

15. The method of claim 13 , further comprising:
projecting, from a projector location on the taxiing aircraft, light of a spatial pattern onto the scene external to the aircraft, thereby illuminating a spatially-patterned portion of the scene;
identifying a third set of pixel coordinates within the image of the scene external to the aircraft, the identified third set of pixel coordinates corresponding to the spatially-patterned portion of the scene; and
calculating, using triangulation based on the projector location of the light projector, the camera location of the camera and the identified third set of pixel coordinates, location(s) and/or range(s) of object(s) in the scene external to the aircraft from which the spatially-patterned light projected by the light projector is reflected.

16. The method of claim 15 , further comprising:
generating a visual display of the image external to the taxiing aircraft, the visual display annotated with the calculated location(s) and/or range(s) of object(s) in the scene external to the aircraft.

17. The method of claim 16 , further comprising:
activating an audible alarm when the calculated location(s) and/or range(s) of object(s) indicate one or more of the object(s) in the scene has a combination of a location(s) and/or range(s) corresponding to a risk of collision relative to the taxiing aircraft.

18. The method of claim 16 , further comprising:
determining pixel boundaries of the object(s) in the scene.

19. The method of claim 18 , further comprising:
calculating location(s) and/or range(s) of object(s) corre

Assignees

• Rosemount Aerospace Inc

Inventors

• Pesik Joseph T
• Ell Todd Anthony
• Rutkiewicz Robert

Classifications

• B64F1/002

  Taxiing aids · CPC title

• H04N7/183

  for receiving images from a single remote source · CPC title

• G06T2207/30264

  Parking · CPC title

• G06T2207/30204

  Marker · CPC title

• G06T2207/10048

  Infrared image · CPC title