Enhanced LiDAR air data using supplementary sensor outputs

Patent metadata

Field	Value
Publication number	US-10444367-B2
Application number	US-201615171502-A
Country	US
Kind code	B2
Filing date	Jun 2, 2016
Priority date	Feb 26, 2016
Publication date	Oct 15, 2019
Grant date	Oct 15, 2019

Abstract

A method of enhancing LiDAR data is provided. The method includes inputting LiDAR data from at least one LiDAR sensor; inputting data from at least one of: at least one static pressure sensor; and at least one total air temperature sensor; and extracting accurate air data parameters by processing one of: the LiDAR data and static pressure data from the static pressure sensor; the LiDAR data and true temperature data from the total air temperature sensor; or the LiDAR data, the static pressure data from the static pressure sensor, and the true temperature data from the total air temperature sensor. The method also includes generating augmented air data based on the extracted accurate air data parameters and outputting the augmented air data.

First claim

What is claimed is:

1. A method of enhancing LiDAR data extraction, the method comprising:
inputting, from at least one LiDAR sensor, LiDAR data generated from a backscattered return signal;
inputting sensor data from at least one pressure sensor, or at least one temperature sensor, or combinations thereof;
extracting air data parameters with enhanced accuracy by a process comprising:
providing a model representing a lineshape used to fit the backscattered return signal, the model represented by a function having a set of variables comprising P, T, L p , D, V s , m, or r, which respectively represent air pressure, air temperature, laser properties, Doppler shift, sampling volume of the LiDAR sensor, Mie scattering, and Rayleigh scattering;
enhancing the fit of the lineshape to the backscattered return signal by restricting the pressure variable by using the sensor data from the at least one pressure sensor; or
enhancing the fit of the lineshape to the backscattered return signal by restricting the temperature variable by using the sensor data from the at least one temperature sensor; or
enhancing the fit of the lineshape to the backscattered return signal by restricting the pressure variable and the temperature variable by using the sensor data from a combination of the at least one pressure sensor and the at least one temperature sensor;
wherein by using the sensor data from the at least one pressure sensor, or the sensor data from the at least one temperature sensor, or the sensor data from the combination of the at least one pressure sensor and the at least one temperature sensor, a calculated accuracy of any remaining variables is enhanced by reducing the degrees of freedom of the fit;

generating augmented air data based on the extracted air data parameters; and
outputting the augmented air data.

2. The method of claim 1 , further comprising:
inputting the augmented air data at one of: a flight management system; or a vehicle computer; and
generating critical parameters for control of a vehicle based on the augmented air data input to the one of: the flight management system; or the vehicle computer.

3. The method of claim 2 , wherein the critical parameters for control of the vehicle include at least one of vehicle altitude, true air speed, Mach number, rate of climb, rate of descent, angle of side slip, and angle of attack, the method further comprising:
using the critical parameters at the flight management system to control the vehicle.

4. The method of claim 1 , wherein inputting sensor data from at least one pressure sensor comprises:
inputting static pressure data from at least one static pressure sensor.

5. The method of claim 4 ,
wherein inputting the LiDAR data from the at least one LiDAR sensor comprises inputting the backscattered return signal having a LiDAR backscatter lineshape at a LiDAR air data processor,
wherein the static pressure data input from the at least one static pressure sensor is processed at a static pressure processor, the method further comprising:
outputting static pressure from the static pressure processor to the LiDAR air data processor; and
deriving the air data parameters of a true air speed vector, a true air temperature, and a static pressure based on the processing of the LiDAR data and the static pressure at the LiDAR air data processor.

6. The method of claim 4 , wherein inputting the LiDAR data from the at least one LiDAR sensor comprises inputting the backscattered return signal having a LiDAR backscatter lineshape at a LiDAR air data processor, the method further comprising:
outputting the static pressure data from the at least one static pressure sensor to the LiDAR air data processor;
processing the static pressure data input from the at least one static pressure sensor at the LiDAR air data processor; and
deriving the air data parameters of a true air speed vector, a true air temperature, and a static pressure based on processing the LiDAR data and the static pressure data at the LiDAR air data processor.

7. A system to enhance LiDAR data extraction, the system comprising:
at least one LiDAR sensor configured to generate LiDAR data from a backscattered return signal for use on a vehicle;
at least one pressure sensor configured to generate pressure data, or at least one temperature sensor configured to generate temperature data, or combinations thereof, for use on the vehicle; and
at least one processor operative to process the LiDAR data from the at least one LiDAR sensor, and sensor data from the at least one pressure sensor or the at least one temperature sensor or the combinations thereof, wherein the at least one processor is operative to extract air data parameters with enhanced accuracy by a process comprising:
providing a model representing a lineshape used to fit the backscattered return signal, the model represented by a function having a set of variables comprising P, T, L p , D, V s , m, or r, which respectively represent air pressure, air temperature, laser properties, Doppler shift, sampling volume of the LiDAR sensor, Mie scattering, and Rayleigh scattering;
enhancing the fit of the lineshape to the backscattered return signal by restricting the pressure variable by using the sensor data from the at least one pressure sensor; or
enhancing the fit of the lineshape to the backscattered return signal by restricting the temperature variable by using the sensor data from the at least one temperature sensor; or
enhancing the fit of the lineshape to the backscattered return signal by restricting the pressure variable and the temperature variable by using the sensor data from a combination of the at least one pressure sensor and the at least one temperature sensor;
wherein by using the sensor data from the at least one pressure sensor, or the sensor data from the at least one temperature sensor, or the sensor data from the combination of the at least one pressure sensor and the at least one temperature sensor, a calculated accuracy of any remaining variables is enhanced by reducing the degrees of freedom of the fit.

8. The system of claim 7 , wherein the at least one processor comprises:
a LiDAR air data processor configured to input the LiDAR data from the at least one LiDAR sensor; and
a static pressure processor configured to input static pressure data from the at least one pressure sensor and to output a static pressure to the LiDAR air data processor, wherein augmented air data is output from the LiDAR air data processor.

Assignees

• Honeywell Int Inc

Inventors

• Lodden Grant
• Fan Xiao Zhu
• Kimmel Danny Thomas
• Northcutt Brett Gordon

Classifications

• G01P5/26

  by measuring the direct influence of the streaming fluid on the properties of a detecting optical wave · CPC title

• G01S17/86

  Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders · CPC title

• G01P21/025

  for measuring speed of fluids; for measuring speed of bodies relative to fluids (for measuring volume flow G01F25/10) · CPC title

• G01S17/58

  Velocity or trajectory determination systems; Sense-of-movement determination systems · CPC title

• B64D43/02

  for indicating aircraft speed or stalling conditions · CPC title