DE102016109903A1 - Apparatus and method for determining a position of an aircraft approaching a runway - Google Patents

Abstract

A device (10) for determining a position (P) of an aircraft (2) approaching a runway (1) is proposed. The device (10) comprises a camera (11) arranged on or at the runway (1) for taking an image (B) of the approaching aircraft (2) which is directed onto a glide path (G) using alignment information (AI). the runway (1) is aligned, and a determination unit (12) for determining the position (P) of the aircraft (2) in dependence on the captured image (B) of the aircraft (2) and the alignment information (AI).

Description

The present invention relates to an apparatus and method for determining a position of an aircraft approaching a runway.

The position of the aircraft approaching the runway is tracked by air traffic controllers in the tower or at remote tower airports by air traffic controllers in a central office. Due to the aspect angle, the distance and the possibly poor visibility conditions and relatively imprecise and time-delayed radar information, the air traffic controller can only estimate relatively difficult, if the approaching aircraft is always on the correct glide path of the runway and can safely reach the runway threshold of the runway. In addition, conventionally, the air traffic controller does not receive continuous, precise and at the same time objective flight altitude information of the aircraft.

Against this background, an object of the present invention is to improve the determination of a position of an aircraft approaching a runway.

Accordingly, there is provided an apparatus for determining a position of an aircraft approaching a runway having a camera disposed on or at the runway for taking a picture of the approaching aircraft aligned with a runway glide path using an alignment information. Furthermore, the apparatus comprises a determination unit for determining the position of the aircraft in dependence on the captured image of the aircraft and the alignment information.

The camera is aligned with the glide path of the runway. The camera is thus set up to have its line of sight track the approaching aircraft along the glideslope.

As a result, the image of the aircraft captured by the camera always provides a relation of the actual position of the aircraft to the glide path of the runway at a specific or known distance of the aircraft. In particular, this relation includes a deviation, for example in elevation and in azimuth, of the aircraft from the glide path. This makes it possible to advantageously determine the absolute position of the aircraft as a function of the orientation information of the camera on the glide path and as a function of the relation obtained from the recorded image.

The camera is, for example, an infrared camera, a day-vision camera and / or comprises a millimeter-wave radar. The camera can also be referred to as a glide path camera. The glide path can also be referred to as the approach path.

The position of the aircraft determined by the destination unit can be visualized to an air traffic controller by means of one or more screens, for example. This visualization may also preferably include visual markers in the visual field and other information, such as course deviations and / or height deviations of the aircraft. Furthermore, it is also possible to provide the position of the aircraft determined by the destination unit, optionally in a predetermined data format, to other systems.

The destination unit may be part of a control device, such as a computer. The destination unit can be arranged, for example, in the airport tower or tower. Alternatively, the determination unit may also be integrated in the camera. The determination unit may in particular be software in a higher-level system.

The aircraft is for example an aircraft, a drone or a helicopter.

According to an embodiment, the camera is aligned with the sliding path according to the alignment information such that an aircraft landing on the glide path without deviation is in the center of the image taken by the camera.

In particular, in this embodiment, the camera is permanently installed. Accordingly, if the aircraft in the captured image is not in the center of the image, then it can be directly deduced that the aircraft has a deviation from the glide slope. From the deviation of the aircraft from the glide path represented in the image, the absolute position of the aircraft at a specific or known distance of the aircraft can be determined via the alignment information which indicates the glide path.

According to another embodiment, the alignment information comprises azimuth angle information and elevation angle information for aligning the camera with the glide path of the runway.

Thus, the alignment information indicates how to align and, in particular, install the camera in terms of azimuth and elevation.

According to another embodiment, the glide path of the runway is straight. A straight glide path is used, for example, in an ILS approach (ILS).

According to another embodiment, the glide path of the runway is curved. A curved glide path is used, for example, in the case of a GBAS (Ground Based Augmentation System) approach or an RNAV approach (Area Navigation).

According to a further embodiment, the determining unit for determining the position of the aircraft is adapted to determine an elevation angle and an azimuth angle of the aircraft. The elevation angle and the azimuth angle of the aircraft are important information for the air traffic controller.

In another embodiment, the aircraft position determining unit is configured to determine an elevation angle and an azimuth angle of the aircraft relative to a tangent that contacts the earth's surface at a location of the camera.

According to a further embodiment, the camera is permanently installed and the determining unit for determining the position of the aircraft is arranged to determine a first angular deviation in elevation and a second angular deviation in azimuth of the approaching aircraft from the glide path of the runway by means of the captured image and determine the elevation angle and the azimuth angle of the aircraft using the alignment information, the first angular deviation and the second angular deviation.

For the example of the fixed camera, which is aligned with the glide path, the glide path on the captured image of the camera is exactly in the center of the captured image. Due to this, in a simple case, the first angular deviation in elevation and the second angular deviation in azimuth of the approaching aircraft can be easily measured by the distances from the center of the image which maps the glide path. In a simple embodiment, the pixels for each of these distances can be counted.

According to a further embodiment, the device comprises a tracking device which is adapted to track an orientation of the camera to a current position of the aircraft such that the approaching aircraft is in the center of the image captured by the camera.

In this embodiment, the center of the image taken by the camera forms the actual position of the aircraft. The determination unit is then set up to determine the deviation between the desired position and the actual position and to determine therefrom the position of the aircraft.

According to a further embodiment, the tracking device is adapted to track the orientation of the camera to a desired position of the aircraft. A lateral storage of the aircraft in the image then represents the deviation between the actual position and the desired position of the aircraft. From this deviation, the determination unit can determine the position of the aircraft.

According to a further embodiment, the device comprises a tracking unit for tracking the aircraft approaching the runway. In this case, the tracking unit is set up to provide tracking information as a function of the tracking of the approaching aircraft.

According to a further embodiment, the tracking device is set up to track the orientation of the camera to the current position of the aircraft in dependence on the provided tracking information.

According to another embodiment, the tracking device comprises a pan-tilt head on which the camera is installed.

According to a further embodiment, the device comprises a provisioning device, which is set up to optically output the position of the aircraft determined by the determination unit to an air traffic controller.

The provisioning device comprises in particular one or more screens for the air traffic controller. The provisioning device is arranged in particular in the airport tower or in a control center of a remote tower airport.

According to a further embodiment, the device comprises a rangefinder for measuring a distance of the aircraft from the camera and a computing unit. In this case, the computing unit is set up for an elevation angle, an azimuth angle, an altitude of the aircraft, a speed of the aircraft and / or a rate of descent of the aircraft depending on the captured image of the aircraft measured distance of the aircraft and the alignment information.

Thus, the position of the aircraft which can be provided to the air traffic controller advantageously comprises the elevation angle of the aircraft, the azimuth angle of the aircraft, the height of the aircraft, the speed of the aircraft and / or the rate of descent of the aircraft. This information may be suitably formatted into any data format and provided to other systems. The rangefinder is in particular a laser-based sensor. The data format is preferably the ASTERIX format.

In addition, a method is proposed for determining a position of an aircraft approaching a runway. The method comprises the following steps:
Capturing an image of the approaching aircraft by means of a camera disposed on or at the runway which is aligned with a runway glide path using an alignment information, and
Determining the position of the aircraft depending on the captured image of the aircraft and the alignment information.

According to a development of the method, the position of the aircraft is determined as a function of the recorded image of the aircraft, the alignment information and at least one information supplied by an external system. Examples of the at least one information provided by the external system include the distance of the aircraft to the camera, the height of the aircraft, the speed of the aircraft, and the rate of descent of the aircraft. Examples of the external system include radar and ADS-B.

Furthermore, a computer program product is proposed, which causes the execution of the method as explained above on a program-controlled device.

A computer program product, such as a computer program means may, for example, be used as a storage medium, e.g. Memory card, USB stick, CD-ROM, DVD, or even in the form of a downloadable file provided by a server in a network or delivered. This can be done, for example, in a wireless communication network by transmitting a corresponding file with the computer program product or the computer program means.

The embodiments and features described for the proposed device apply accordingly to the proposed method.

Further possible implementations of the invention also include not explicitly mentioned combinations of features or embodiments described above or below with regard to the exemplary embodiments. The skilled person will also add individual aspects as improvements or additions to the respective basic form of the invention.

Further advantageous embodiments and aspects of the invention are the subject of the dependent claims and the embodiments of the invention described below. Furthermore, the invention will be explained in more detail by means of preferred embodiments with reference to the attached figures.

1 shows a schematic view of a first embodiment of an apparatus for determining a position of an aircraft approaching a runway;

2 FIG. 12 is a schematic illustration of an example of alignment information for aligning the camera with the runway glide path. FIG 1 ;

3 shows a schematic representation of a first example of the specific position of the approaching aircraft on the runway;

4 shows a schematic representation of an example of a by the camera 1 captured image of the aircraft;

5 shows a schematic view of an embodiment of a camera with a tracking device;

6 shows a schematic view of a second embodiment of an apparatus for determining a position of an aircraft approaching a runway;

7 shows a schematic representation of a second example of the particular position of the approaching aircraft on the runway;

8th shows a schematic view of a third embodiment of a device determining a position of an aircraft approaching a runway; and

9 FIG. 12 is a schematic flow diagram of one embodiment of a method for determining a position of an aircraft approaching a runway.

In the figures, the same or functionally identical elements have been given the same reference numerals, unless stated otherwise.

In 1 is a schematic view of a first embodiment of a device 10 for determining a position P of a runway 1 approaching aircraft 2 shown.

The device 10 for determining the position P of the approaching aircraft 2 includes a camera 11 and a destination unit 12 ,

The camera 11 is on or at the runway 1 arranged and arranged, an image B or a plurality of images B of the approaching aircraft 2 take. Here is the camera 11 using an alignment information AI on a glide path G of the runway 1 aligned. In the example of 1 flies the approaching aircraft 2 according to the glide path G of the runway 1 but currently has a certain angular deviation W1 to the glide path G. In the 1 E denotes the distance of the aircraft 2 from the camera 11 , H denotes the height of the aircraft 2 over a tangent T. The tangent T touches the earth's surface in a site of the camera 11 , α denotes the angle of the glide path G to the tangent T. β denotes the elevation angle of the aircraft 2 to the tangent T. Since it at the 1 is a two-dimensional representation, the azimuth angle γ (see, for example 3 or 7 ) in the 1 not shown.

The alignment information AI for aligning the camera 11 on the glide path G of the runway 1 includes azimuth angle information AW and elevation angle information EW for aligning the camera 11 on the glide path G of the runway 1 (please refer 2 ).

Here is the camera 11 in particular aligned in accordance with the alignment information AI on the Gleitpfad G that an approaching without a deviation on the glide path G aircraft 2 right in the middle of the camera 11 taken picture B is.

In the example of 1 the glide path G is straight. A straight glide path G is used, for example, in an ILS approach (ILS). Alternatively, the sliding path G may also be curved (not shown). A curved glide path is used, for example, during a GBAS approach (GBAS) or during an RNAV approach.

For example, the camera 11 permanently installed. Alternatively, the camera 11 also be installed on a pan-tilt head, leaving the camera 11 the position P of the aircraft 2 is traceable. Details will be provided with reference to 5 explained.

The destination unit 12 the device 10 is set to position P of the aircraft 2 depending on the captured image B of the aircraft 2 and the alignment information AI to determine. In particular, the destination unit determines 12 while an elevation angle β and an azimuth angle γ of the aircraft 2 (please refer 3 ).

4 shows a schematic representation of an example of a through the camera 11 to 1 taken picture B of the runway 1 approaching aircraft 2 , The example of 4 shows one from a fixed camera 11 captured image B. Since the fixed camera 11 is aligned exactly to the glide path G, the glide path G is in the image B of 4 right in the middle. That in the picture B the 4 shown crosshair is to improve the visualization for an air traffic controller advantageously.

In the example of picture B the 4 has the aircraft 2 a deviation from the glide path G. The representation of 4 is different from the representation of 1 in that the image B of the 4 represents a two-dimensional deviation from the glide path G, whereas the 1 can only represent a one-dimensional deviation W1. In the 1 and 2 W1 denotes a first angular deviation in elevation. In addition, in the 4 a second angular deviation W2 in azimuth of the approaching aircraft 2 from the glide path G of the runway 1 shown.

Here is the destination unit 12 for determining the position P of the aircraft 2 preferably arranged to the first angular deviation W1 in elevation and the second angular deviation W2 in azimuth of the approaching aircraft 2 from the glide path G of the runway 1 to be determined by means of the captured image B. In a simple case, the distances W1 and W2 in the image B of the 4 be measured. In one embodiment, the pixels for W1 and W2 may each be counted.

In 5 is a schematic view of an embodiment of a camera 11 with a tracking device 13 shown. The tracking device 13 is, for example, a pan-tilt Head, by means of which the orientation of the camera 11 is adjustable in elevation and azimuth. In particular, the tracking device 13 so controllable that the orientation of the camera 11 to the current position P of the aircraft 2 tracked so that the approaching aircraft 2 always in the center of the camera 11 captured image is.

Furthermore, the camera includes 11 preferably a control device 14 which is used to control the camera 11 and for controlling the tracking device 13 is set up.

The tax facility 14 includes in particular a tracking unit 15 to track the on the runway 1 approaching aircraft, with the tracking unit 15 is adapted to tracking information TI depending on the tracking of the approaching aircraft 2 provide. In this case, the tracking device 13 to set up the orientation of the camera 11 to the current position P of the aircraft 2 to track in response to the provided tracking information TI.

In 6 is a schematic view of a second embodiment of a device 10 for determining a position P of a runway 1 approaching aircraft 2 shown.

The second embodiment of the device 10 to 6 is based on the first embodiment of the device 10 to 1 and includes all features of the first embodiment according to 1 ,

In addition, the device includes 10 of the 6 a provisioning facility 16 which is adapted to that of the destination unit 12 certain position P of the aircraft 2 visually issue an air traffic controller. The provisioning facility 16 For this purpose, in particular comprises a control device 17 and one or more screens 18 ,

Furthermore, the device comprises 10 a rangefinder 19 for measuring a distance E of the aircraft 2 from the camera 11 , In particular, the rangefinder 19 in the camera 11 integrated or on the camera 11 arranged. In addition, the destination unit includes 12 preferably a computing unit 20 , which is adapted to the elevation angle β, the azimuth angle γ, the height H of the aircraft 2 , the speed V of the aircraft 2 and the sink rate S of the aircraft 2 depending on the captured image B of the aircraft 2 to determine the measured distance E of the aircraft and the alignment information AI. This shows the 7 a schematic representation of a second example of the specific position P of the approaching aircraft on the runway. According to the 7 For example, the position P includes the elevation angle β, the azimuth angle γ, the height H, the speed V, and the descent rate S of the aircraft 2 , It is also possible that individual information, such as the distance E, the height H, the speed V, the sinking rate S are also supplied by external systems, such as radar or ADS-B.

In 8th is a schematic view of a third embodiment of a device 10 for determining a position P of a runway 1 approaching aircraft 2 shown.

The third embodiment of 8th is based on the first embodiment of 1 , Includes all the features of the first embodiment, and moreover, that at each end of the runway 1 a camera 11 , which on the respective glide path G of the runway 1 is aligned, is provided.

Accordingly, the device has 10 one determination unit each 12 for the two cameras 11 , In the example of 8th are the destination units 12 in a tower 21 or airport tower arranged. The determination units 12 are - as in 6 shown - with provisioning facilities 16 connectable to the air traffic controller.

9 shows a schematic flow diagram of an embodiment of a method for determining a position P of a runway 1 approaching aircraft 2 ,

The procedure of 9 includes the following steps 901 and 902 :
In step 901 becomes an image B or a plurality of images B of the approaching aircraft 2 by means of on or at the runway 1 arranged camera 11 added. Here is the camera 11 using an alignment information AI on a glide path G of the runway 1 aligned.

In step 902 becomes the position P of the aircraft 2 depending on the captured image B of the aircraft 2 and the alignment information AI determined.

Although the present invention has been described with reference to embodiments, it is variously modifiable.

LIST OF REFERENCE NUMBERS

1

 Runway

2

 aircraft

10

 contraption

11

 camera

12

 Determination unit

13

 Tracking device

14

 Control device

15

 Tracking unit

16

 Deployment device

17

 Control device

18

 screen

19

 rangefinder

20

 Computing unit

21

 Tower

901

 step

902

 step

α

 Angle of the glidepath

AI

 Organizing information

AW

 Azimuth angle information

β

 Elevation angle

B

 image

e

 distance

EW

 Elevation angle information

γ

 Azimuth angle

G

 glide path

H

 height

P

 Position of the aircraft

S

 descent rate

T

 tangent

TI

 Tracking Information

V

 speed

Claims (16)

Contraption ( 10 ) for determining a position (P) of a runway ( 1 ) approaching aircraft ( 2 ), with: one on or at the runway ( 1 ) arranged camera ( 11 ) for taking a picture (B) of the approaching aircraft ( 2 ) using alignment information (AI) on a glide path (G) of the runway ( 1 ) and a destination unit ( 12 ) for determining the position (P) of the aircraft ( 2 ) depending on the captured image (B) of the aircraft ( 2 ) and alignment information (AI). Device according to claim 1, characterized in that the camera ( 11 ) according to the alignment information (AI) is aligned with the glide path (G) such that an aircraft approaching without deviation on the glide path (G) ( 2 ) in the center of the camera ( 11 ) recorded image (B). Apparatus according to claim 1 or 2, characterized in that the alignment information (AI) an azimuth angle information (AW) and an elevation angle information (EW) for the alignment of the camera ( 11 ) on the gliding path (G) of the runway ( 1 ). Device according to one of claims 1 to 3, characterized in that the glide path (G) of the runway ( 1 ) is straight or curved. Device according to one of claims 1 to 4, characterized in that the determination unit ( 12 ) for determining the position (P) of the aircraft ( 2 ) is adapted to an elevation angle (β) and an azimuth angle (γ) of the aircraft ( 2 ). Device according to one of claims 1 to 4, characterized in that the determination unit ( 12 ) for determining the position (P) of the aircraft ( 2 ) is adapted to an elevation angle (β) and an azimuth angle (γ) of the aircraft ( 2 ) relative to a tangent (T), which the earth's surface in a place of installation of the camera ( 11 ) to determine. Device according to one of claims 1 to 6, characterized in that the camera ( 11 ) is permanently installed. Device according to claim 7, characterized in that the determining unit ( 12 ) for determining the position (P) of the aircraft ( 2 ) is arranged to have a first angular deviation (W1) in elevation and a second angular deviation (W2) in azimuth of the approaching aircraft ( 2 ) from the gliding path (G) of the runway ( 1 ) by means of the recorded image (B) and the elevation angle (β) and the azimuth angle (γ) of the aircraft ( 2 ) using the registration information (AI), the first angular deviation (W1) and the second angular deviation (W12). Device according to one of claims 1 to 6, characterized by a tracking device ( 13 ), which is adapted to an orientation of the camera ( 11 ) to a current position (P) of the aircraft ( 2 ) such that the approaching aircraft ( 2 ) in the center of the camera ( 11 ) recorded image (B). Device according to one of claims 1 to 9, characterized by a tracking unit ( 15 ) for tracking the runway ( 1 ) approaching aircraft ( 2 ), the tracking unit ( 15 ) is set up to provide tracking information (TI) as a function of the tracking of the approaching aircraft ( 2 ). Device according to claims 9 and 10, characterized in that the tracking Facility ( 13 ) is adjusted to the orientation of the camera ( 11 ) to the current position (P) of the aircraft ( 2 ) depending on the provided tracking information (TI). Device according to one of claims 9 to 11, characterized in that the tracking device ( 13 ) has a pan-tilt head on which the camera ( 11 ) is installed. Device according to one of Claims 1 to 12, characterized by a provision device ( 16 ), which is set up by the destination unit ( 12 ) certain position (P) of the aircraft ( 2 ) visually issue an air traffic controller. Device according to one of claims 1 to 13, characterized by a rangefinder ( 19 ) for measuring a distance (E) of the aircraft ( 2 ) from the camera ( 11 ) and a computing unit ( 20 ), which is adapted to an elevation angle (β), an azimuth angle (γ), a height (H) of the aircraft ( 2 ), a speed (V) of the aircraft ( 2 ) and / or a sinking rate (S) of the aircraft ( 2 ) depending on the captured image (B) of the aircraft ( 2 ), the measured distance (E) of the aircraft ( 2 ) and alignment information (AI). Method for determining a position (P) of a runway ( 1 ) approaching aircraft ( 2 ), with the steps: Recording ( 901 ) of an image (B) of the approaching aircraft ( 2 ) by means of on or at the runway ( 1 ) arranged camera ( 11 ) using alignment information (AI) on a glide path (G) of the runway ( 1 ) and determining ( 902 ) the position (P) of the aircraft ( 2 ) depending on the captured image (B) of the aircraft ( 2 ) and alignment information (AI). Method according to claim 15, characterized in that the position (P) of the aircraft ( 2 ) depending on the captured image (B) of the aircraft ( 2 ), the alignment information (AI), and at least one information provided by an external system.

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