US20140085124A1 - Systems and methods for using radar-adaptive beam pattern for wingtip protection - Google Patents

Systems and methods for using radar-adaptive beam pattern for wingtip protection Download PDF

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US20140085124A1
US20140085124A1 US13/889,537 US201313889537A US2014085124A1 US 20140085124 A1 US20140085124 A1 US 20140085124A1 US 201313889537 A US201313889537 A US 201313889537A US 2014085124 A1 US2014085124 A1 US 2014085124A1
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Prior art keywords
sensor
information
vehicle
aircraft
generated
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US13/889,537
Inventor
Matej Dusik
Jiri Vasek
James C. Kirk
David C. Vacanti
Filip Magula
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Honeywell International Inc
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Honeywell International Inc
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Priority to US201261653297P priority Critical
Priority to US201261706632P priority
Application filed by Honeywell International Inc filed Critical Honeywell International Inc
Priority to US13/889,537 priority patent/US20140085124A1/en
Assigned to HONEYWELL INTERNATIONAL INC. reassignment HONEYWELL INTERNATIONAL INC. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: VACANTI, DAVID C, Vasek, Jiri, Dusik, Matej, MAGULA, Filip, KIRK, JAMES C
Priority claimed from EP13842287.8A external-priority patent/EP2901178A4/en
Publication of US20140085124A1 publication Critical patent/US20140085124A1/en
Abandoned legal-status Critical Current

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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/66Radar-tracking systems; Analogous systems
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00Arrangements or adaptations of signal devices not provided for in one of the preceding main groups, e.g. haptic signalling
    • B60Q9/008Arrangements or adaptations of signal devices not provided for in one of the preceding main groups, e.g. haptic signalling for anti-collision purposes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C25/00Alighting gear
    • B64C25/32Alighting gear characterised by the ground or like engaging elements
    • B64C25/42Arrangements or adaptations of brakes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLYING SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D43/00Arrangements or adaptations of instruments
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLYING SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00Aircraft indicators or protectors not otherwise provided for
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C23/00Combined 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, acceleration
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/74Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
    • G01S13/76Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted
    • G01S13/765Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted with exchange of information between interrogator and responder
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88Radar or analogous systems specially adapted for specific applications
    • G01S13/93Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88Radar or analogous systems specially adapted for specific applications
    • G01S13/93Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/04Display arrangements
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G5/00Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/04Anti-collision systems
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G5/00Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/04Anti-collision systems
    • G08G5/045Navigation or guidance aids, e.g. determination of anti-collision manoeuvers
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G5/00Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/06Traffic control systems for aircraft, e.g. air-traffic control [ATC] for control when on the ground
    • G08G5/065Navigation or guidance aids, e.g. for taxiing or rolling
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88Radar or analogous systems specially adapted for specific applications
    • G01S13/93Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/933Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
    • G01S13/934Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft on airport surfaces, e.g. while taxiing
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88Radar or analogous systems specially adapted for specific applications
    • G01S13/93Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9329Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles cooperating with reflectors or transponders

Abstract

Systems and methods for adaptively steering radar beam patterns for coverage during aircraft turns. The radar sensor system is mechanically or electrically steered to alter the radar sensor's beam pattern in order to adapt the radar sensor's field of view (FOV) to cover the area of anticipated aircraft wingtip trajectory. The anticipated trajectory is derived, for example, from the aircraft groundspeed, acceleration, heading, turn rate, tiller position, attitude, taxi clearance, etc.

Description

    PRIORITY CLAIM
  • This application claims the benefit of U.S. Provisional Application Ser. No. 61/653,297, filed May 30, 2012, the contents of which are hereby incorporated by reference. This application also claims the benefit of U.S. Provisional Application Ser. No. 61/706,632, filed Sep. 27, 2012, the contents of which are hereby incorporated by reference.
  • BACKGROUND OF THE INVENTION
  • Currently there exists an expensive safety problem of aircraft wingtips clipping obstacles (e.g., 2011 Paris Air Show, an A380 accident in which a wing hit a building; 2012 Chicago O'Hare accident in which a Boeing 747 cargo aircraft's wing clipped an Embraer 140's rudder; 2011 Boston Logan Int. Airport, a Boeing 767 struck a horizontal stabilizer of a Bombardier CRJ900, etc.). Some solutions focus on object detection by radar sensors placed at the wingtips and information about these potential obstacles is presented to the pilot on a human-machine interface (e.g., head-up, head-down, or head-mounted display). A challenging drawback of this solution is the fact that the sensor signal covers only the directly forward area in front of the wingtip and leaving the side wingtip angles uncovered by the radar signal, which can be dangerous, especially in turns. Many wingtip collisions were investigated and it was found that many accidents occur in turns (e.g., 1995 London Heathrow, A340 struck B757 tail; 2006 Melbourne, B747 hit B767 horizontal stabilizer; 2010 Charlotte Douglas, A330 hit A321 rudder, etc.). Current solutions provide only limited benefit in such cases, as the obstacle would appear in the sensor's field of view (FOV) just before striking the obstacle and, thus, not providing the aircrew sufficient time for suitable reaction with respect to the given situation.
  • SUMMARY OF THE INVENTION
  • The present invention provides an enhanced system that uses adaptive steering of radar beam pattern for coverage during aircraft turns. In an exemplary solution, the radar sensor system is installed in an adaptive rack, which would mechanically or electrically alter the radar sensor's beam pattern in order to adapt the radar sensor's field of view (FOV) to cover the area of anticipated aircraft wingtip trajectory. The anticipated trajectory is derived, for example, from the aircraft groundspeed, acceleration, heading, turn rate, tiller position, attitude, taxi clearance, etc. Also, the anticipated trajectory can be derived from knowledge of the operator, i.e., the radar beam can be steered manually by the aircraft operator as well.
  • In one aspect of the invention, the radar sensor's beam pattern is steered, based on the trajectory information and/or based on knowledge of position(s) of obstacles.
  • BRIEF DESCRIPTION OF THE DRAWINGS
  • Preferred and alternative embodiments of the present invention are described in detail below with reference to the following drawings:
  • FIG. 1 is a schematic diagram of an aircraft formed in accordance with an embodiment of the present invention;
  • FIG. 2 is an exemplary image presented to an ownship operator formed in accordance with an embodiment of the present invention;
  • FIG. 3 shows an exemplary sensor's sweep range provided by a sensor on an aircraft formed in accordance with an embodiment of the present invention;
  • FIG. 4 shows an image of multiple aircraft taxiing on an airport with icons that represent steerable sensor beam patterns; and
  • FIG. 5 shows an image of multiple aircraft taxiing an airport map with icons that represent nonsteerable sensor beam patterns.
  • DETAILED DESCRIPTION OF THE INVENTION
  • In one embodiment, as shown in FIG. 1, an exemplary airport surface collision-avoidance system (ASCAS) 18 includes an aircraft 20 that includes an electrically and/or mechanically steerable sensor 26 (e.g., active sensor, radar, or passive sensor camera) included within aircraft light modules 30 or located at the other positions about the aircraft 20. The light modules 30 also include navigation/position lights 34, a processor 36, and a communication device 38. The sensors 26 are in communication via the communication device 38 (wired or wirelessly) to a user interface (UI) device 44.
  • In one embodiment, the UI device 44 includes a processor 50 (optional), a communication device (wired or wireless) 52, and an alerting device(s) 54. The UI device 44 provides audio and/or visual cues (e.g., via headphones, PC tablets, etc.) based on sensor-derived and processed information.
  • Based on information from the sensors 26, the UI device 44 provides some or all of the following functions: detect and track intruders, evaluate and prioritize threats, sensor steering and control, and declare and determine actions. Once an alert associated with a detection has been produced, then execution of a collision-avoidance action (e.g., stop the aircraft, maneuver around intruder, etc.) is manually performed by the operator or automatically by an automated system (e.g., autobrakes, auto steering).
  • In one embodiment, processing of the sensor information is done by the processor 36 at the sensor level and/or the processor 50 at the UI device 44.
  • In one embodiment, situational awareness is improved by integration with automatic dependent surveillance-broadcast/traffic information service-broadcast (ADS-B/TIS-B), airport/airline information on vehicles/aircraft/obstacles (e.g., through WiMax or other wireless communication means), and with synthetic vision system/enhanced vision system/combined vision system (SVS/EVS/CVS) received by the respective devices using the communication device 38.
  • In one embodiment, the present invention reduces false alarms by utilizing flight plan and taxi clearance information, and airport building/obstacle databases stored in memory 60 or received from a source via the communication device 52.
  • The sensors 26 included in the wing and tail navigation light modules provide near-complete sensor coverage of the aircraft 20. Full coverage can be attained by placing sensors in other lights or locations that are strategically located on the aircraft 20.
  • The pilot is alerted aurally, visually, and/or tactilely. For example, a visual alert presented on a primary flight or navigation display or an electronic flight bag (EFB) display shows aircraft wingtips outlined or a highlight of any obstructions. Aural alerting is through existing installed equipment, such as the interphone or other warning electronics or possibly the enhanced ground proximity warning system (EGPWS) platform.
  • FIG. 2 shows a top-down image 120 presented on a display that is part of the alerting device 54. The image 120 includes an ownship aircraft icon 126 with two radar beam coverage areas 124 that project forward from wingtips of the icon 126. Two range rings 132, 134 are shown on the image 120 at fixed distances in front of the wing and can be scaled using either an interface on the EFB or iPad or the cursor control device (CCD) in the aircraft, when shown on a navigation display.
  • In one embodiment, the processor 36 or 50 determines direction to steer or sweep the sensor(s) 26, based on information from any of a number of different sources ADS-B, flight management system (FMS), global positioning system (GPS), inertial navigation system (INS), etc. For example, a radar beam pattern produced by a radar sensor is adaptively steered to provide coverage of an incremented area during a sensed aircraft turn.
  • In one embodiment, the radar sensor is installed in an adaptive rack, which mechanically moves and/or adjusts the radar sensor's beam pattern in order to adapt the radar sensor's field-of-view (FOV) to cover the area into which the aircraft is taxiing (anticipated trajectory), based on the information from the other source(s). The anticipated trajectory is derived, for example, from at least some of the following data: groundspeed, acceleration, heading, turn rate, tiller position, and/or attitude, etc.
  • In one embodiment, a UI device (not shown) is included in the UI device 44. The UI device allows a user to control the steering of the beam(s).
  • In one embodiment, the sensor is installed at other fuselage areas, such as above each engine or at the nose of the aircraft, etc. Even though the sensor is not at the wingtip, the scan data is buffered, thus allowing the image 120 to be displayed.
  • FIG. 3 shows a top-down view of a taxiing aircraft 100. Three wingtip protection coverage areas 102, 104, 106 are shown. A default coverage area 102 has a centerline that is approximately parallel to a centerline of the aircraft 100. Also shown are maximum inner sensor deflection coverage area 104 and maximum outer sensor deflection coverage area 106. The processor(s) 36, 50 provide signals to mechanically or electrically steer the sensors 26. If the sensors are located elsewhere on the aircraft 100, then the processor(s) 36,50 provide signals that ensure the sensors scan the anticipated trajectory or track an identified obstacle/target. For example, if the processor(s) 36,50 determines a certain radius of turn (trajectory) of the wingtips, the sensors 26 will be steered so that the included area where the wingtips are turning is adequately covered.
  • When the beam pattern is turned, as shown in FIG. 4, obstacles 200 distributed on the surface of an airport 202 are detectable.
  • In this case, the obstacles 200 are detected as the adaptive beam pattern is directed on the basis of aircraft anticipated trajectory (turn), as determined by the processor(s) 36, 50, based on trajectory information determined from speed, heading, and position information received from another vehicle/aircraft system, such as a global positioning system (GPS), inertial navigation system (INS), comparable system or by operator input. The detected obstacle can be therefore presented to the pilot on a display inside the cockpit, see exemplary display image 120 in FIG. 2.
  • The beam coverage areas 124 will show any obstacles that are sensed when the radar has been steered. In one embodiment, the beam coverage areas 124 are parallel with the ownship icon 126 and an indicator (i.e., text (e.g., Steering Left), arrow . . . ) is presented to indicate to the operator the direction that the sensor is being steered. In another embodiment, the beam coverage areas 124 are curved (not shown) based on the determined trajectory, radius of turn, or location of a tracked target.
  • The beam coverages shown are given as examples. Actual beam coverages may expand into more of a cone, and permit somewhat wider effective coverage at distance. Adaptive beam steering, coupled with an ability to selectively widen the field of view to one that spreads outward with distance, will, when combined properly in software masking of the field of view and with the mechanical steering, provide nearly full coverage.
  • As shown in FIG. 5, the straight forward directed beams of the radar sensor installed in the wingtips of the aircraft are not able to detect these obstacles 200.
  • While the preferred embodiment of the invention has been illustrated and described, as noted above, many changes can be made without departing from the spirit and scope of the invention. Accordingly, the scope of the invention is not limited by the disclosure of the preferred embodiment. Instead, the invention should be determined entirely by reference to the claims that follow.

Claims (20)

The embodiments of the invention in which an exclusive property or privilege is claimed are defined as follows:
1. A device located on a vehicle, the device comprising:
at least one electrically or mechanically steerable sensor;
a processor in signal communication with the sensor, the processor configured to
receive information regarding at least one of a future position of the vehicle, an estimated trajectory of at least part of the vehicle or an estimate of location of a tracked target;
determine at least one area to sense based on the received information; and
generate at least one sensor steering signal based on the determined area,
wherein the at least one sensor is steered based on the generated at least one sensor steering signal.
2. The device of claim 1, wherein the vehicle is an aircraft located on the ground.
3. The device of claim 2, wherein the at least part of the aircraft comprises at least one wingtip or engine nacelle.
4. The device of claim 1, wherein the future position is based on taxi clearance information.
5. The device of claim 1, wherein the processor is further configured to estimate trajectory based on received position information.
6. The device of claim 1, wherein a target is tracked, based on information actively communicated from the target.
7. The device of claim 1, wherein the processor is further configured to estimate trajectory based on received navigation information.
8. The device of claim 1, wherein the processor is further configured to:
generate an image based on information generated by the at least one steerable sensor; and
generate an indication that at least one steerable sensor is being steered, further comprising:
a display device configured to
present the generated image and the generated indication.
9. A method performed by a device located on a vehicle, the method comprising:
at a processor in signal communication with a sensor,
receiving information regarding at least one of a future position of the vehicle, an estimated trajectory of at least part of the vehicle, or an estimate of location of a tracked target;
determining at least one area to sense, based on the received information;
generating at least one sensor steering signal based on the determined area,
at at least one steerable sensor and
steering the vehicle based on the generated at least one sensor steering signal.
10. The method of claim 9, wherein the vehicle is an aircraft located on the ground.
11. The method of claim 10, wherein the at least part of the aircraft comprises at least one wingtip or engine nacelle.
12. The method of claim 9, wherein the future position is based on taxi clearance information.
13. The method of claim 9, wherein estimating trajectory is based on received position information.
14. The method of claim 9, wherein a target is tracked, based on information actively communicated from the target.
15. The method of claim 9, wherein estimating trajectory is based on received navigation information.
16. The method of claim 9, further comprising, at the processor:
generating an image based on information generated by the at least one steerable sensor; and
generating an indication that at least one steerable sensor is being steered; and
at a display device
presenting the generated image and the generated indication.
17. A system located on a vehicle, the system comprising:
a means for receiving information regarding at least one of a future position of the vehicle, an estimated trajectory of at least part of the vehicle, or an estimate of location of a tracked target, determining at least one area to sense, based on the received information, and generating at least one sensor steering signal based on the determined area;
a means for steering the vehicle based on the generated at least one sensor steering signal.
18. The system of claim 17, wherein the vehicle is an aircraft located on the ground, wherein the at least part of the aircraft comprises at least one wingtip or engine nacelle.
19. The system of claim 17, wherein estimating trajectory is based on at least one of received position information, received navigation information, or taxi clearance information.
20. The system of claim 17, further comprising:
a means for generating an image based on information generated by the at least one steerable sensor;
a means for generating an indication that at least one steerable sensor is being steered; and
a means for presenting the generated image and the generated indication.
US13/889,537 2012-05-30 2013-05-08 Systems and methods for using radar-adaptive beam pattern for wingtip protection Abandoned US20140085124A1 (en)

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US201261653297P true 2012-05-30 2012-05-30
US201261706632P true 2012-09-27 2012-09-27
US13/889,537 US20140085124A1 (en) 2012-05-30 2013-05-08 Systems and methods for using radar-adaptive beam pattern for wingtip protection

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US13/889,537 US20140085124A1 (en) 2012-05-30 2013-05-08 Systems and methods for using radar-adaptive beam pattern for wingtip protection
EP13842287.8A EP2901178A4 (en) 2012-09-27 2013-09-16 Systems and methods for using radar-adaptive beam pattern for wingtip protection
PCT/US2013/059874 WO2014052060A1 (en) 2012-09-27 2013-09-16 Systems and methods for using radar-adaptive beam pattern for wingtip protection

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US13/872,889 Active 2034-01-22 US9223017B2 (en) 2012-05-30 2013-04-29 Systems and methods for enhanced awareness of obstacle proximity during taxi operations
US13/888,216 Active 2036-11-01 US10274595B2 (en) 2012-05-30 2013-05-06 Systems and methods for performing vehicle collision-avoidance warning via sensor pulse
US13/889,537 Abandoned US20140085124A1 (en) 2012-05-30 2013-05-08 Systems and methods for using radar-adaptive beam pattern for wingtip protection
US13/899,298 Active 2034-03-01 US9229101B2 (en) 2012-05-30 2013-05-21 Systems and methods for performing wingtip protection

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US13/888,216 Active 2036-11-01 US10274595B2 (en) 2012-05-30 2013-05-06 Systems and methods for performing vehicle collision-avoidance warning via sensor pulse

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EP (2) EP3832348A1 (en)
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