Navigation system and method of operation

Abstract

The name of the invention is Navigation system and method of operation. A navigation system for an aerial vehicle includes a light source, a light sensor, one or more processors, and a computer-readable medium storing instructions that, when executed by the one or more processors, cause the navigation system to perform functions. The functions include illuminating a surface using the light source to cause light to reflect from the surface and detecting the light using the light sensor and generating data representing the light. The data maps intensities of the light to respective locations on the surface. The functions further include identifying, within the data, a subset of the data corresponding to a boundary and causing navigation of the aerial vehicle based on locations of the boundary indicated by the subset of the data.

Description

Technical Field

[0001] This disclosure generally relates to navigation systems and methods for operating them, and more specifically to navigation systems and methods for operating aircraft. Background Technology

[0002] Autonomous aircraft typically include some form of autonomous navigation system to maneuver in the air or on the ground (e.g., during taxiing). Some conventional autonomous navigation techniques involve using visible light cameras to capture continuous images of the runway or another surface over which the aircraft is taxiing, and analyzing each pixel of these images to identify the runway or taxiway within them. This can be very time-consuming and computationally demanding. Furthermore, such techniques can be unreliable in adverse weather conditions such as rain or snow, or in low light conditions. Therefore, there is a need for more efficient and environmentally resistant systems and methods for autonomous navigation of aircraft on the ground. Summary of the Invention

[0003] One aspect of this disclosure is a navigation system for an aircraft, comprising: a light source; a light sensor; one or more processors; and a computer-readable medium storing instructions that, when executed by the one or more processors, cause the navigation system to perform the following functions: illuminating a surface with the light source to cause light to reflect from the surface; detecting the light with the light sensor and generating data representing the light, wherein the data maps the intensity of the light to various locations on the surface; identifying a subset of the data corresponding to a boundary within the data; and inducing navigation of the aircraft based on the location of the boundary indicated by the subset of data.

[0004] Another aspect of this disclosure is a non-transitory computer-readable medium storing instructions that, when executed by the navigation system of an aircraft, cause the navigation system to perform the following functions: illuminating a surface to reflect light from the surface; detecting the light and generating data representing the light, wherein the data maps the intensity of the light to various locations on the surface; identifying a subset of data corresponding to a boundary within the data; and inducing navigation of the aircraft based on the location of the boundary indicated by the subset of data.

[0005] Another aspect of this disclosure is a method for operating a navigation system of an aircraft, the method comprising: illuminating a surface to cause light to reflect from the surface; detecting the light and generating data representing the light, wherein the data maps the intensity of the light to various locations on the surface; identifying a subset of the data corresponding to a boundary within the data; and inducing navigation of the aircraft based on the location of the boundary indicated by the subset of data.

[0006] The term “about” or “substantially” is used with reference to the quantity or measurement described herein, which means that the stated characteristic, parameter or value does not need to be precisely achieved, but deviations or variations, including, for example, tolerances, measurement errors, measurement accuracy limitations and other factors known to those skilled in the art, may occur in a quantity that does not impede the effect of the features intended to be provided.

[0007] The features, functions, and advantages already discussed can be implemented independently in different instances, or can be combined in other instances, further details of which can be seen in the following description and figures. Attached Figure Description

[0008] The appended claims set forth novel features that are considered illustrative examples. However, the illustrative examples, preferred modes of use, further purposes, and descriptions will be best understood by referring to the following detailed description of illustrative examples of this disclosure when read in conjunction with the accompanying drawings.

[0009] Figure 1 This is a schematic diagram of an aircraft based on an example.

[0010] Figure 2 It is a schematic block diagram of an aircraft based on an example.

[0011] Figure 3 It is a schematic block diagram of a computational system based on an example.

[0012] Figure 4 This is a schematic diagram of an aircraft located on a surface, based on an example.

[0013] Figure 5A It is a schematic diagram based on the data corresponding to the surface of the instance.

[0014] Figure 5B It is a schematic diagram based on the data corresponding to the surface of the instance.

[0015] Figure 6 It is a schematic diagram based on the data corresponding to the surface of the instance.

[0016] Figure 7A It is a schematic diagram based on the data corresponding to the surface of the instance.

[0017] Figure 7B It is a schematic diagram based on the data corresponding to the surface of the instance.

[0018] Figure 8 It is a flowchart based on the method of the instance.

[0019] Figure 9 It is a flowchart based on the method of the instance.

[0020] Figure 10It is a flowchart based on the method of the instance.

[0021] Figure 11 It is a flowchart based on the method of the instance.

[0022] Figure 12 It is a flowchart based on the method of the instance.

[0023] Figure 13 It is a flowchart based on the method of the instance. Detailed Implementation

[0024] As described above, there is a need for more efficient and environmentally resilient systems and methods for autonomous navigation of aircraft on surfaces (e.g., the ground). In an example, a navigation system for an aircraft includes: a light source, a light sensor, one or more processors, and a computer-readable medium storing instructions that, when executed by the one or more processors, cause the navigation system to perform functions. These functions include illuminating the surface with the light source to cause light to reflect off the surface, and detecting the light using the light sensor and generating data representing the light. The data maps the intensity of the light to various locations on the surface. The functions further include identifying a subset of the data (corresponding to a boundary between roads and non-roads, such as a runway boundary), and inducing navigation of the aircraft based on the location of the boundary indicated by the subset of data.

[0025] Compared to traditional navigation systems, the navigation system described above, as explained in more detail below, offers better response times and more efficient use of computing resources. Furthermore, the disclosed navigation system can help improve performance in low-light conditions and in adverse weather.

[0026] The disclosed examples will now be described in more detail below with reference to the accompanying drawings, some of which, but not all, of the disclosed examples are shown. In fact, several different examples may be described and should not be construed as limited to the examples set forth herein. Rather, these examples are described so that this disclosure will be thorough and complete, and will fully convey the scope of this disclosure to those skilled in the art.

[0027] Figure 1-7B It is a schematic diagram of the navigation system and related functions.

[0028] Figure 1 This is an example schematic diagram of an aircraft 10 based on an example. Aircraft 10 can be or includes fixed-wing aircraft, helicopters, rotorcraft, unmanned aerial vehicles (e.g., drones or satellites), spacecraft, etc. Aircraft 10 includes a navigation system 100, which further includes a computing system 150, which will be described in more detail below.

[0029] Figure 2This is a schematic block diagram of aircraft 10. Navigation system 100 includes a light source 102 (e.g., one or more lasers) and a light sensor 104 (e.g., one or more photodetectors or photosensors). The light source 102 and light sensor 104 are operatively in communication with other components of navigation system 100 and are typically part of a light detection and ranging system (e.g., LIDAR). The light source 102 and / or light sensor 104 may be facing forward or backward relative to aircraft 10, but other examples are possible.

[0030] The navigation system 100 also includes control surfaces 182 and landing gear 184. Control surfaces 182 may include, for example, flaps, rudders, and ailerons. Landing gear 184 includes one or more wheels that can propel the aircraft 10 when it is motorized and traveling on the ground (e.g., taxiing).

[0031] The navigation system 100 also includes an inertial navigation system 190 capable of generating data 192. The inertial navigation system 190 may include one or more accelerometers and / or gyroscopes.

[0032] Figure 3 This is a schematic block diagram of computing system 150.

[0033] The computing system 150 includes one or more processors 152, a non-transitory computer-readable medium 154, a communication interface 156, a display 158, and a user interface 160. Figure 3 The components of the computing system 150 shown are connected together via a system bus, network, or other connection mechanism 162.

[0034] One or more processors 152 may be any type of processor or processor coupled to non-transitory computer-readable medium 154, such as microprocessors, digital signal processors, multi-core processors, etc.

[0035] The non-transitory computer-readable medium 154 can be any type of memory, such as volatile memory like random access memory (RAM), dynamic random access memory (DRAM), static random access memory (SRAM), or non-volatile memory like read-only memory (ROM), flash memory, magnetic disk or optical disk or optical disk read-only memory (CD-ROM), and other devices for temporary or permanent storage of data or programs.

[0036] Additionally, the non-transitory computer-readable medium 154 may be configured to store instructions 157. Instructions 157 may be executed by one or more processors 152 to cause the computing system 150 to perform any of the functions or methods described herein.

[0037] The non-transitory computer-readable medium 154 also stores data 206. Data 206 includes subsets 210, 216 and 222 of data 206, as described in more detail below.

[0038] Communication interface 156 may include hardware to enable communication within computing system 150 and / or between computing system 150 and one or more other devices. For example, the hardware may include a transmitter, a receiver, and an antenna. Communication interface 156 may be configured to facilitate communication with one or more other devices according to one or more wired or wireless communication protocols. For example, communication interface 156 may be configured to facilitate wireless data communication of computing system 150 according to one or more wireless communication standards, such as one or more of the Institute of Electrical and Electronics Engineers (IEEE) 801.11 standard, the ZigBee standard, and the Bluetooth standard. As another example, communication interface 156 may be configured to facilitate wired data communication with one or more other devices.

[0039] Display 158 can be any type of display component configured to display data. As an example, display 158 may include a touchscreen display. As another example, display 158 may include a flat panel display, such as a liquid crystal display (LCD) or a light-emitting diode (LED) display.

[0040] User interface 160 may include one or more hardware components for providing data and control signals to computing system 150. For example, user interface 160 may include a mouse or pointing device, a keyboard or keypad, a microphone, a touchpad or touchscreen, and other possible types of user input devices. Typically, user interface 160 enables an operator to interact with a graphical user interface (GUI) provided by computing system 150 (e.g., displayed on display 158).

[0041] Figure 4 This is a schematic diagram of the aircraft 10 located on surface 202. Horizon 213 is depicted for clarity. Surface 202 may include a combination of many different types of surfaces, such as runways, taxiways, or unpaved ground, such as dirt or grass. Unpaved ground can help define the boundaries of a runway or taxiway because unpaved ground is not considered part of a generally paved runway or taxiway.

[0042] The light source 102 of the aircraft 10 is used to illuminate the surface 202 with light 203 (e.g., a laser) so that light 204 is reflected from the surface 202. A light sensor 104 detects the light 204 reflected from the surface 202. Generally, paved surfaces, such as runways or taxiways, reflect light 204 with a greater intensity than unpaved surfaces, such as grass or dirt. Additionally, paved surfaces, such as runways or taxiways, generally have a unique three-dimensional shape compared to other surfaces.

[0043] It should be noted that the terms runway and taxiway are used somewhat interchangeably in this document. However, the term runway generally refers to a long, straight section of surface (e.g., paved) used for takeoff and / or landing. The term taxiway generally refers to a paved surface used by aircraft to taxi from a hangar to a runway, or vice versa.

[0044] The light sensor 104 generates data 206 representing light 204. The data 206 maps the intensity of light 204 to various locations on the surface 202. For example, the data 206 includes sets mapping the intensity values ​​of light 204 to three-dimensional Cartesian or spherical coordinates.

[0045] Figure 5A This is a schematic diagram of data 206 corresponding to surface 202. The navigation system 100 identifies a subset 210 of data 206 corresponding to boundary 212 within data 206. Boundary 212 generally separates a second region 260 of the paved surface on a first side of boundary 212 from a first region 262 of the unpaved surface on the second side of boundary 212. Figure 5A In this context, boundary 212 is a line, but a boundary can be a curved boundary corresponding to a bend in an intersection or a runway or taxiway. Boundary 212 can take any shape and is generally any boundary that separates a runway or taxiway from an unpaved surface. A subset 210 of data 206 can be identified using statistical techniques described below.

[0046] In other instances, the runway surface may be dirt or gravel, while the non-runway surface may be grass. In other instances, the runway surface may be distinguished from the non-runway surface by its different (e.g., painted) color and the resulting intensity of light 204 returned. In even further instances, the non-runway surface may also be paved. Generally, the runway surface can be distinguished from the non-runway surface because the intensity of light 204 returned from the runway surface differs from that returned from the non-runway surface.

[0047] Navigation system 100 (e.g., randomly) selects arbitrary data points 244 and 246 of data 206 and determines the parameters of a curve 248 (e.g., a line) that includes the arbitrary data points 244 and 246. For example, the parameters can take the form of a, b, and c in the equation z = ax + by + c. In other instances, curve 248 can be a circular arc, an elliptical arc, a parabola, a hyperbola, etc. Next, navigation system 100 determines that data points of data 206 less than a threshold amount conform to curve 248 within the error range. For example, navigation system 100 can determine that fewer than ten data points of data 206 conform to curve 248 because fewer than ten residuals of data 206 are less than a threshold amount relative to curve 248. The process of searching for a curve that fits most of the data 206 can be repeated until navigation system 100 has indeed found a curve that fits at least a threshold amount of data points of data 206.

[0048] For example, navigation system 100 (e.g., randomly) selects arbitrary data points 236 and 238 of data 206 and determines the parameters of a curve (e.g., boundary 212) that includes arbitrary data points 236 and 238. Next, navigation system 100 determines that each data point of a subset 210 of data 206 conforms to the curve (e.g., boundary 212) within an error range and that subset 210 of data 206 includes at least a threshold amount of data points. That is, for example, navigation system 100 may determine that subset 210 includes at least ten data points of data 206.

[0049] To further confirm a good fit to the curve, navigation system 100 may determine that a subset 210 of data 206 includes at least a threshold amount of data points per unit distance along the curve (e.g., boundary 212). For example, the threshold amount of data points in this context could be ten data points per meter along boundary 212.

[0050] To increase the confidence level of boundary 212 as a boundary, navigation system 100 can determine that a subset 210 of data 206 has an average intensity of light 204 that is greater than the threshold intensity generally corresponding to the paved surface.

[0051] In some instances, navigation system 100 determines parameters of the line corresponding to boundary 212 and determines that region 262 of surface 202 on one side of the line has an average intensity less than a first threshold intensity. Additionally, navigation system 100 determines that region 260 of surface 202 on the other side of the line has an average intensity greater than a second threshold intensity. In this way, navigation system 100 can confirm that boundary 212 actually separates paved areas from unpaved areas, or more generally, separates runway areas from non-runway areas.

[0052] In some instances, the navigation system 100 also identifies a subset 278 of data 206 that does not correspond to the boundary and removes, filters, or ignores the subset 278 of data 206 so that it is not processed further.

[0053] Additionally, navigation system 100 dictates the navigation of aircraft 10 based on the position of boundary 212 indicated by a subset 210 of data 206 (e.g., during taxiing). For example, navigation system 100 adjusts control surfaces 182 and / or landing gear 184 based on the position of boundary 212 indicated by the subset 210 of data 206. In one instance, aircraft 10 is controlled to maintain a minimum distance from boundary 212. Data 192 collected by inertial navigation system 190 of aircraft 10 can also aid navigation.

[0054] The navigation system 100 can also identify a subset 216 of data 206 corresponding to boundary 218. In such an instance, the navigation system 100 can additionally steer the aircraft 10 based on the position of boundary 218 indicated by the subset 216 of data 206. For example, the aircraft 10 can be controlled to remain substantially centered between boundary 212 and boundary 218. Figure 5A As shown, boundary 218 is substantially parallel to boundary 212. Additionally, boundary 212 may be located on a first side of the aircraft 10 and boundary 218 may be located on a second side of the aircraft 10 opposite to the first side.

[0055] Figure 5B This is a schematic diagram of a portion of data 206 corresponding to surface 202, having a larger... Figure 5A A more forward-looking perspective. For clarity, Figure 5B It also includes a graphical representation of the instance runway.

[0056] Figure 6 This is a schematic diagram corresponding to data 206 shown on surface 202. In this example, boundary 224 intersects with both boundaries 212 and 218 to form a dead end. Thus, navigation system 100 identifies a subset 222 of data 206 corresponding to boundary 224, which intersects with boundaries 212 and 218. In this case, navigation system 100 further navigates the aircraft 10 based on the position of boundary 224 of boundary 224 indicated by the subset 222 of data 206. For example, upon encountering a dead end, the aircraft 10 is controlled to turn around or stop.

[0057] Figure 7A This is a schematic diagram illustrating data 206 mapped onto surface 202. In this example, boundary 212 intersects boundary 218 to form a 90-degree angle at the intersection. Other examples include boundary 212 forming a rounded corner with boundary 218.

[0058] Thus, navigation system 100 determines the angle 230 and its position at the intersection of boundary 212 and boundary 218. In this case, navigation system 100 can further dictate the navigation of aircraft 10 based on the angle (e.g., the value of the angle) and its position. That is, aircraft 10 can make a 90-degree right turn after passing boundary 218. In another example, angle 230 can be 45 degrees and aircraft 10 can make a 45-degree right turn at angle 230.

[0059] Figure 7B This is a schematic diagram of data 206 in an example where a four-way intersection is formed on the runway surface. The navigation system 100 further determines that subset 210B of data 206 represents boundary 212B, subset 216B of data 206 represents boundary 218B, and determines the angle 230B and its position at the intersection of boundary 212B and boundary 218B. The navigation system 100 further determines that subset 210C of data 206 represents boundary 212C, subset 216C of data 206 represents boundary 218C, and determines the angle 230C and its position at the intersection of boundary 212C and boundary 218C. The navigation system 100 further determines that a subset 210D of data 206 represents boundary 212D, a subset 216D of data 206 represents boundary 218D, and determines the angle 230D and the position of the angle 230D at the intersection of boundary 212D and boundary 218D.

[0060] In this scenario, navigation system 100 can additionally dictate the navigation of aircraft 10 based on angles 230, 230B, 230C, and / or 230D (e.g., the angle values) and the positions of angles 230, 230B, 230C, and / or 230D. That is, aircraft 10 can make a 90-degree right turn after passing boundary 218 and recognizing a four-way intersection.

[0061] In some instances, navigation system 100 can locate intersections of a specific shape before making a turn. For example, in response to recognizing a 90-degree intersection at boundary 212 and boundary 218, aircraft 10 can be instructed to ignore the initial 45-degree turn and then make a 90-degree right turn at angle 230.

[0062] Figure 8-13 These are block diagrams of methods 300, 310, 314, 318, 322, and 326 for operating a navigation system for an aircraft. Methods 300, 310, 314, 318, 322, and 326 present methods that can be used with, for example... Figure 1 -7 shows an example of a method used with the navigation system 100. For example... Figure 8-13As shown, methods 300, 310, 314, 318, 322, and 326 include one or more operations, functions, or actions, as illustrated in boxes 302, 304, 306, 308, 312, 316, 320, 324, 328, and 330. Although these boxes are shown sequentially, they can also be executed in parallel and / or in a different order than that described herein. Furthermore, multiple boxes can be combined into fewer boxes, split into additional boxes, and / or removed based on desired implementation.

[0063] Figure 8 This is a flowchart of method 300.

[0064] At frame 302, method 300 includes illuminating surface 202 to cause light 204 to be reflected from surface 202. For example, light source 102 is used to illuminate surface 202 with light 203 (e.g., a laser) to cause light 204 to be reflected from surface 202. Refer to above. Figure 4 This functionality is described in more detail.

[0065] At box 304, method 300 includes detecting light 204 and generating data 206 representing light 204. Data 206 maps the intensity of light 204 to various locations 208 on surface 202. For example, light sensor 104 detects light 204 reflected from surface 202 and generates data 206 representing light 204. Data 206 maps the intensity of light 204 to various locations on surface 202. For example, data 206 includes a table mapping the intensity values ​​of light 204 to various sets of three-dimensional Cartesian or spherical coordinates. Refer to above. Figure 4 , Figure 5A and Figure 5B This functionality is described in more detail.

[0066] At box 306, method 300 includes identifying a subset 210 of data 206 corresponding to boundary 212 within data 206. For example, navigation system 100 identifies a subset 210 of data 206 within data 206. Refer to above. Figure 5A and Figure 5B This functionality is described in more detail.

[0067] At box 308, method 300 includes inducing navigation of the aircraft 10 based on the position of boundary 212 indicated by a subset 210 of data 206. For example, navigation system 100 induces navigation of the aircraft 10 based on the position of boundary 212. This functionality is described in more detail with reference to Figures 5-7 above.

[0068] Figure 9 This is a flowchart of method 310.

[0069] At box 312, method 310 includes identifying a second subset 216 of data 206 corresponding to the second boundary 218. For example, navigation system 100 identifies the second subset 216. Refer to above. Figure 5A and Figure 5B Describe the feature in more detail.

[0070] Figure 10 This is a flowchart of method 314.

[0071] At box 316, method 314 includes identifying a third subset 222 of data 206 corresponding to a third boundary 224 intersecting with the first boundary 212 and the second boundary 218. For example, navigation system 100 identifies the third subset 222. (Refer to above) Figure 6 This functionality is described in more detail.

[0072] Figure 11 This is the flowchart for method 318.

[0073] At box 320, method 318 includes determining angle 230 and the position of angle 230 at the intersection of the first boundary 212 and the second boundary 218. For example, navigation system 100 determines angle 230 and the position of angle 230. Refer to the above. Figure 7A and Figure 7B This functionality is described in more detail.

[0074] Figure 12 This is the flowchart for method 322.

[0075] At box 324, method 322 includes determining that the first boundary 212 and the second boundary 218 form a specific shape. For example, navigation system 100 determines that boundary 212 and the second runway boundary 218 form a specific shape. Refer to the above. Figure 7A and Figure 7B This functionality is described in more detail.

[0076] Figure 13 This is a flowchart of method 326.

[0077] At box 328, method 326 includes identifying a subset 278 of data 206 that does not correspond to the boundary. For example, navigation system 100 identifies subset 278. Refer to above. Figure 5A and Figure 5B This functionality is described in more detail.

[0078] At box 330, method 326 includes deleting a subset 278 of data 206. For example, navigation system 100 deletes subset 278. (Refer to above.) Figure 5A and Figure 5B This functionality is described in more detail.

[0079] Examples of this disclosure may therefore relate to one of the enumerated provisions (EC) listed below. While the scope of protection is defined by the appended claims, this disclosure can be implemented in various ways, including, but not limited to, those pursuant to the enumerated provisions below:

[0080] EC1 is a navigation system for an aircraft, comprising: a light source; a light sensor; one or more processors; and a computer-readable medium storing instructions that, when executed by the one or more processors, cause the navigation system to perform the following functions: illuminating a surface with the light source to cause light to reflect off the surface; detecting the light with the light sensor and generating data representing the light, wherein the data maps the intensity of the light to various locations on the surface; identifying a subset of the data corresponding to a boundary; and inducing navigation of the aircraft based on the location of the boundary indicated by the subset of data.

[0081] EC2 is a navigation system of EC1, wherein the boundary is a first boundary, and the function further includes: identifying a second subset of data corresponding to a second boundary, wherein the navigation of the aircraft is caused by additionally inducing the navigation of the aircraft based on a second position of the second boundary indicated by the second subset of data.

[0082] EC3 is the navigation system of EC2, in which the second boundary is basically parallel to the first boundary.

[0083] EC4 is a navigation system of EC2 or EC3, and the function further includes: identifying a third subset of data corresponding to a third boundary intersecting with the first and second boundaries, wherein the navigation of the aircraft is caused by additionally based on a third position of the third boundary indicated by the third subset of data.

[0084] EC5 is a navigation system of any one of EC2-4, wherein the first boundary is on the first side of the aircraft and the second boundary is on the second side of the aircraft opposite to the first side.

[0085] EC6 is a navigation system of any one of EC2-5, where the first boundary intersects with the second boundary.

[0086] EC7 is the navigation system of EC6, and its functions further include: determining the angle and position of the intersection of the first boundary and the second boundary, wherein the navigation of the aircraft includes additional navigation of the aircraft based on the position and angle.

[0087] EC8 is a navigation system of any one of EC2-7, and its functions further include: determining a specific shape formed by a first boundary and a second boundary, wherein the navigation of the aircraft includes additionally induced by determining the specific shape formed by the first boundary and the second boundary.

[0088] EC9 is a navigation system of any one of EC1-8, wherein the navigation of an aircraft includes navigation of an aircraft on a surface.

[0089] EC10 is a navigation system of any one of EC1-9, wherein identifying a subset of data includes: selecting two arbitrary data points of the data; determining shape parameters including the two arbitrary data points; and determining that each data point of the subset of data conforms to the shape within an error range and that the subset of data includes data points of at least a threshold amount.

[0090] EC11 is the navigation system of EC10, wherein identifying a subset of data further includes: selecting a second set of two arbitrary data points; determining the parameters of a second curve including the second set of two arbitrary data points; and determining that data points of the data less than a threshold amount conform to the second curve within the error range.

[0091] EC12 is a navigation system of any one of EC10-11, wherein identifying a subset of data further includes determining that the subset of data comprises data points of at least a second threshold amount per unit distance.

[0092] EC13 is a navigation system of any one of EC10-12, wherein identifying a subset of the data further includes determining that the subset of the data has an average strength greater than a threshold strength.

[0093] EC14 is a navigation system of any one of EC1-13, wherein the navigation of the aircraft is caused by additional data collected by the aircraft's inertial navigation system.

[0094] EC15 is a navigation system of any one of EC1-14, wherein the subset of the identification data includes: determining parameters of a line corresponding to a boundary; determining that a first region of a surface on a first side of the line has a first average intensity less than a first threshold intensity; and determining that a second region of a surface on a second side of the line has a second average intensity greater than a second threshold intensity.

[0095] EC16 is a navigation system of any one of EC1-15, wherein the navigation of an aircraft involves adjusting the aircraft's control surfaces or landing gear based on the position of boundaries indicated by a subset of data.

[0096] EC17 is a navigation system of any one of EC1-16, wherein the subset is a first subset, and the functionality further includes: identifying a second subset of data that does not correspond to the boundary; and deleting the second subset of data.

[0097] EC18 is a non-transitory computer-readable medium storing instructions that, when executed by the aircraft's navigation system, cause the navigation system to perform the following functions: illuminating a surface to cause light to be reflected from the surface; detecting the light and generating data representing the light, wherein the data maps the intensity of the light to various locations on the surface; identifying subsets of the data corresponding to boundaries; and inducing navigation of the aircraft based on the locations of the boundaries indicated by the subsets of data.

[0098] EC19 is a method for operating a navigation system for an aircraft, the method comprising: illuminating a surface to cause light to reflect from the surface; detecting the light and generating data representing the light, wherein the data maps the intensity of the light to various locations on the surface; identifying a subset of the data corresponding to a boundary; and inducing navigation of the aircraft based on the location of the boundary indicated by the subset of data.

[0099] EC20 is a method of EC19, wherein identifying a subset of data includes: selecting two arbitrary data points; determining the parameters of a curve comprising the two arbitrary data points; and determining that each data point in the subset of data conforms to the curve within an error range and that the subset of data comprises at least a threshold amount of data points.

[0100] Various advantageous arrangements have been described for illustrative and descriptive purposes, and are not intended to be exhaustive or limiting of examples of the disclosed forms. Many modifications and variations will be apparent to those skilled in the art. Furthermore, different advantageous examples may describe different advantages compared to other advantageous examples. The selection and description of one or more examples are intended to explain the principles and practical applications of the examples, and to enable those skilled in the art to understand the disclosure of various examples with multiple modifications to suit the intended specific use.

Claims

1. A navigation system (100) for an aircraft (10), the navigation system comprising: Light source (102); Optical sensor (104); One or more processors (152); and A computer-readable medium (154) storing instructions (157), which, when executed by the one or more processors, cause the navigation system to perform the following functions: The light source is used to illuminate the surface (202) so that light (204) is reflected from the surface; The light is detected using the light sensor and data representing the light is generated (206), wherein the data maps the intensity of the light to various locations on the surface (208); Identifying a subset (210) of the data corresponding to the boundary (212) in the data, wherein identifying the subset of the data includes: Select two arbitrary data points (236, 238) from the data; Determine the parameters of the curve that includes the two arbitrary data points; Determining that each data point in the subset of said data conforms to the curve within the error range, and that the subset of said data includes data points of at least a threshold amount; and The subset of the data is determined to include data points at least a second threshold amount per unit distance along the curve; and The aircraft's navigation is based on the location of the boundary indicated by the subset of the data.

2. The navigation system according to claim 1, wherein the boundary is a first boundary, and the function further includes: (312) Identify a second subset (216) of the data corresponding to the second boundary (218), The navigation of the aircraft is further influenced by a second position of the second boundary indicated by a second subset of the data.

3. The navigation system of claim 2, wherein the second boundary is substantially parallel to the first boundary.

4. The navigation system according to claim 2 or 3, wherein the function further includes: (316) Identify a third subset (222) of the data corresponding to the third boundary (224) that intersects with the first boundary and the second boundary. The navigation of the aircraft is further influenced by a third position of the third boundary indicated by the third subset of the data.

5. The navigation system according to claim 2 or 3, wherein the first boundary is on a first side of the aircraft and the second boundary is on a second side of the aircraft opposite to the first side.

6. The navigation system according to claim 2, wherein the first boundary intersects with the second boundary.

7. The navigation system according to claim 6, wherein the function further includes: (320) Determine the angle (230) at the intersection of the first boundary and the second boundary and the position of the angle. The navigation of the aircraft includes additional navigation based on the position and the angle.

8. The navigation system according to claim 2 or 3, wherein the function further includes: (324) Determine the specific shape formed by the first boundary and the second boundary. The navigation of the aircraft includes additional navigation based on determining the specific shape formed by the first boundary and the second boundary.

9. The navigation system according to claim 1 or 2, wherein inducing navigation of the aircraft includes inducing navigation of the aircraft on the surface.

10. The navigation system of claim 1 or 2, wherein identifying the subset of the data comprises: Determine the parameters of the line corresponding to the boundary; A first region (262) of the surface on the first side of the line is determined to have a first average intensity less than a first threshold intensity; and A second region (260) of the surface on the second side of the line is determined to have a second average intensity greater than a second threshold intensity.

11. The navigation system of claim 1 or 2, wherein inducing navigation of the aircraft includes adjusting the control surfaces (182) or landing gear (184) of the aircraft based on the position of the boundary indicated by the subset of the data.

12. The navigation system according to claim 1 or 2, wherein the subset is a first subset, and the functionality further includes: (328) Identify a second subset of the data that does not correspond to the boundary (278); and (330) Delete the second subset of the data.

13. A method (300) for operating a navigation system (100) of an aircraft (10), the method comprising: (302) Irradiate the surface (202) so that light (204) is reflected from the surface; (304) Detect the light and generate data representing the light (206), wherein the data maps the intensity of the light to various locations on the surface (208); (306) Identify a subset (210) of the data corresponding to the boundary (212) in the data, wherein identifying the subset of the data includes: Select two arbitrary data points (236, 238) from the data; Determine the parameters of the curve that includes the two arbitrary data points; Determining that each data point in the subset of said data conforms to the curve within the error range, and that the subset of said data includes data points of at least a threshold amount; and The subset of the data is determined to include data points at least a second threshold amount per unit distance along the curve; and (308) The navigation of the aircraft is caused based on the location of the boundary indicated by the subset of the data.

Images