Collision-avoidance system and method for unmanned aircraft

Patent metadata

Field	Value
Publication number	US-11092964-B2
Application number	US-201916724819-A
Country	US
Kind code	B2
Filing date	Dec 23, 2019
Priority date	Jan 6, 2017
Publication date	Aug 17, 2021
Grant date	Aug 17, 2021

Abstract

An obstacle-avoidance system for a vehicle, the obstacle-avoidance system may comprise: a communication device; a plurality of sensors, the plurality of sensors configured to detect collision threats within a predetermined distance of the vehicle; and a processor. The processor may communicatively couple to the communication device and the plurality of sensors and configured to receive navigation commands being communicated to a control system via said communication device. The processor may also receive, from at least one of said plurality of sensors, obstruction data reflecting the position of an obstruction. Using the obstruction data, the processor identifies a direction for avoiding said obstruction. In response, the processor may output, via said communication device, a command to said control system causing the vehicle to travel in said flight direction. Using the obstruction data, the processor may further perform a landing assist module, a three-region collision protection function with pilot override, and/or a target-filtering function.

First claim

What is claimed is:

1. A method for performing a target-filtering operation in an aircraft, the method comprising:
receiving range and magnitude data from a RADAR system for an obstacle within a line of sight of the aircraft;
determining, via a processor and based at least in part on the range and magnitude data, whether the magnitude is saturated;
setting, via the processor, the range to a predetermined value if the magnitude is saturated;
calculating, via the processor, a standard deviation of at least a portion of a trace reflecting the range and magnitude data over time;
determining, via the processor, a new range point for the trace;
calculating, via the processor, a minimum difference between the new range point for the trace and an assigned range from incoming data; and
calculating, via the processor, a confidence and low-pass value using a critically damped low-pass filter (LPF).

2. The method of claim 1 , wherein each step of claim 1 is performed for each of a predetermined number of obstacles within a line of sight of the aircraft.

3. The method of claim 2 , wherein the predetermined number of obstacles comprises five obstacles within the line of sight that are determined to be most prominent.

4. The method of claim 1 , wherein the standard deviation is of most recent 20 points of the trace through linear regression of the most recent 20 points.

5. The method of claim 1 , wherein the minimum difference is a different between a most recent range of the trace and an assigned range from incoming data.

6. The method of claim 1 , wherein the confidence and low-pass value is calculated using a weighted average of statistical terms derived from a signal mean, a standard deviation, and a magnitude.

7. The method of claim 6 , wherein the weighted average is operator-defined for a desired filter performance.

8. The method of claim 1 , further comprising the step of determining, via the processor, whether each of a plurality of conditions are met, wherein the processor is configured to calculate a new filtered range point using linear regression if one or more of the plurality of conditions are not met; and incrementing an iteration counter.

9. The method of claim 8 , wherein the plurality of conditions comprises:
whether (1) the minimum difference is greater than 3.5 times the standard deviation; and (2) the minimum difference is greater than 0.4.

10. The method of claim 8 , wherein the plurality of conditions further comprises: whether (1) the standard deviation is less than 0.2; and (2) the iteration counter is less than 15.

11. A system for performing a target-filtering operation in an aircraft, the system comprising a processor operatively coupled with a RADAR system and a memory device, wherein the processor is further configured to:
receive range and magnitude data from the RADAR system for an obstacle within a line of sight of the aircraft;
determine, based at least in part on the range and magnitude data, whether the magnitude is saturated;
setting, via a processor, the range to a predetermined value if the magnitude is saturated;
calculate a standard deviation of at least a portion of a trace reflecting the range and magnitude data over time;
determine a new range point for the trace;
calculate a minimum difference between the new range point for the trace and an assigned range from incoming data; and
calculate a confidence and low-pass value via a critically damped low-pass filter (LPF).

12. A navigation system for providing an aircraft with collision protection, the navigation system comprising:
a sensor configured to couple to the aircraft and to identify obstacles within a field of view;
a processor operatively coupled with the sensor and a memory device, wherein the processor is configured to:
receive a first command stream;
identify an obstacle within the field of view based at least in part on a sensor input from said sensor;
determine a region from a plurality of regions within the field of view in which the obstacle is positioned, wherein the region is determined based at least in part on the sensor input;
set a control input as a function of the region determined from the plurality of regions;
generate, via the processor, a second command stream as a function of control data, wherein the control data is generated based at least in part on the control inputs; and
compare, via the processor, the second command stream to the first command stream to determine whether the first command stream is safe.

13. The navigation system of claim 12 , wherein the control data is generated using a proportional-integral-derivative (PID) controller.

14. The navigation system of claim 12 , wherein the second command stream is communicated to a flight controller of the aircraft in lieu of the first command stream when the first command stream is determined not to be safe.

15. The navigation system of claim 12 , wherein the plurality of regions comprises a first region, a second region, and a third region.

16. The navigation system of claim 12 , wherein a first command stream is determined not to be safe if the first command stream can be interpreted by the processor as attempting to (1) reduce a range between the aircraft and the obstacle or (2) increase a rate of the aircraft above a rate limit set by the control data.

17. The navigation system of claim 12 , wherein the first command stream is from a pilot of the aircraft.

18. The navigation system of claim 17 , wherein the processor is configured to receive a pilot override command from the pilot that overrides the second command stream.

19. The navigation system of claim 12 , further comprising a landing assist module to instruct the aircraft to perform a landing maneuver to avoid an obstruction detected below the aircraft.

20. The navigation system of claim 12 , wherein the processor is configured to perform a target-filtering operation that comprises the steps of:
receiving range and magnitude data from a RADAR system for an obstacle within a line of sight of the aircraft;
determining, based at least in part on the range and magnitude data, whether the magnitude is saturated;
calculating a standard deviation of at least a portion of a trace reflecting the range and magnitude data over time;
determining a new range point for the trace;
calculating a minimum difference between the new range point for the trace and an assigned range from incoming data; and
calculating a confidence and low-pass value using a critically damped low-pass filter (LPF).

Assignees

• Aurora Flight Sciences Corp

Inventors

• Kunzi Fabrice
• Kehlenbeck Andrew
• Rogers Donald
• Sardonini Michael
• Scott Edward

Classifications

• G01C23/00

  Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration · CPC title

• B64C39/02

  characterised by special use · CPC title

• B64C19/00 Primary

  Aircraft control not otherwise provided for · CPC title

• G08G5/55

  for a single aircraft · CPC title

• G08G5/80 Primary

  Anti-collision systems · CPC title