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Pseudo-range estimation from a passive sensor

A passive sensor, sensor technology, applied in the field of transportation, can solve the problem of distance delay and so on

Pending Publication Date: 2020-04-03
THE BOEING CO
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Each of these approaches has been shown to be deficient in their utility for DAA in autonomous vehicles, especially light aircraft
Furthermore, these methods can produce distance estimates too late to be used in DAA

Method used

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  • Pseudo-range estimation from a passive sensor
  • Pseudo-range estimation from a passive sensor
  • Pseudo-range estimation from a passive sensor

Examples

Experimental program
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Embodiment approach

[0064] Item 1. A method of estimating a pseudorange from a vehicle having a passive sensor to a detected unknown object comprising the steps of:

[0065] receiving data representative of the detection of the object from the passive sensor;

[0066] establishing one or more probability distributions for pseudorange estimates by combining sensor detection data with a priori detection likelihood and a priori performance models of the passive sensor;

[0067] deriving from one or more probability distributions of pseudorange estimates an estimate of the pseudorange of the detected unknown object; and

[0068] Output estimated pseudoranges to detected unknown objects.

[0069] Item 2. The method of item 1, wherein deriving an estimate of the pseudorange to the detected unknown object from one or more probability distributions of pseudorange estimates comprises selecting a pseudorange estimate with a high probability of being correct.

[0070] Item 3. The method of item 1 or 2, wh...

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Abstract

The invention relates to pseudo-range estimation from a passive sensor. A rough initial estimate of Line of Sight range (pseudo-range) is generated essentially immediately following the detection of an object by a passive sensor (14) on a vehicle. The data are combined with prior detection likelihood and prior performance models for the sensor (14). These comparisons generate a posterior probability distribution of pseudo-range estimates. A pseudo-range estimate is derived from the probability distribution and output for use in detect and avoid decision-making and action planning. The pseudo-range estimate can be updated to improve its accuracy, such as by using a recursive filter (e.g., a Kalman filter). Other information, such as current atmospheric data, or known (or likely) vehicular activity in the region and at the current time, can be used in addition to the vehicle's spatial and temporal location, to improve accuracy.

Description

technical field [0001] The present disclosure relates generally to vehicles, and in particular, to a system and method of estimating pseudoranges from passive sensors to detected unknown objects. Background technique [0002] Advances in real-time software, sensor technology, sensor fusion, and more have not only made autonomous traffic operations a reality, but are actually (on average) better than human operators. Research and development is ongoing to enable autonomous operation of a wide variety of vehicles, including ground vehicles, aircraft, trains, ships, submarines, spacecraft, and the like. [0003] The ability to detect (and in many cases avoid) vehicles or other objects in the environment is a common requirement for automating the operation of many types of vehicles. This detect and avoid (DAA) capability is especially imperative for autonomous aerial vehicles (commonly referred to as "drones"), which must be able to detect and avoid other aerial vehicles and po...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/18G06V10/70G06V20/13G06V20/17
CPCG06F17/18G01S3/783G06V20/13G06V20/58G06V20/17G06V10/82G06V10/70G01C3/08
Inventor 里斯·亚历山大·克洛西尔布伦丹·帕特里克·威廉姆斯索莱纳·加布丽埃勒·多琳·赫加蒂-克雷默
Owner THE BOEING CO