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    A range estimation device
    2.
    发明公开
    A range estimation device 有权
    Entfernungsschätzungsvorrichtung

    公开(公告)号：EP2187233A1

    公开(公告)日：2010-05-19

    申请号：EP08168902.8

    申请日：2008-11-12

    申请人： SAAB AB

    发明人： Molander, Sören ,  Petrini, Erik ,  Sundqvist, Bengt-Göran

    IPC分类号： G01S11/12 ,  G05D1/10 ,  G08G5/04

    CPC分类号： G08G5/0078 ,  G01S11/12 ,  G08G5/0069 ,  G08G5/045

    摘要： The invention relates to a range estimation device for use in an aerial platform comprising at least one passive sensor, a trajectory determination unit and a control system. The range estimation device comprises a control unit arranged to indicate to the control system to perform own-ship manoeuvring of said aerial platform such that the characteristics of passive sensor measurements from said at least one passive sensor enable a range estimation to a target to be determined. The range estimation device is characterized by the control unit being arranged to determine the characteristics of the own-ship manoeuvring based on the range uncertainty estimations to the target. The invention also relates to a method and a computer program product for use in range estimation device.

    摘要翻译： 本发明涉及一种在包括至少一个无源传感器，轨迹确定单元和控制系统的空中平台中使用的距离估计装置。 距离估计装置包括控制单元，其被布置成向控制系统指示执行所述空中平台的自身操纵，使得来自所述至少一个无源传感器的无源传感器测量的特性能够对待确定的目标进行范围估计 。 范围估计装置的特征在于，控制单元被布置成基于对目标的范围不确定性估计来确定自身操纵的特性。 本发明还涉及一种在距离估计装置中使用的方法和计算机程序产品。

    Using image sensor and tracking filter time-to-go to avoid mid-air collisions
    4.
    发明公开
    Using image sensor and tracking filter time-to-go to avoid mid-air collisions 有权
    使用图像传感器和跟踪滤波器的剩余时间，以避免在空气中碰撞

    公开(公告)号：EP2159779A1

    公开(公告)日：2010-03-03

    申请号：EP08163084.0

    申请日：2008-08-27

    申请人： SAAB AB

    发明人： Molander, Sören ,  Jonsson, Jimmy

    IPC分类号： G08G5/04

    CPC分类号： G01S11/12 ,  G01S3/7864 ,  G01S5/16 ,  G08G5/045

    摘要： The present invention provides a collision avoidance system (5) for deciding whether an autonomous avoidance manoeuvre should be performed in order to avoid a mid-air collision between a host aerial vehicle (1) equipped with the system (5) and an intruding aerial vehicle.
    The system comprises at least one electro-optical sensor (3) for capturing consecutive images of an intruding vehicle such that the vehicle manifests itself as a target point in said images. It also comprises image processing means (7) for estimating the azimuth angle, elevation angle and a first time-to-collision estimate of the time to collision between the host vehicle and the intruding vehicle. The first time-to-collision estimate is estimated based on scale change in the target point between at least two of said consecutive images. The system (5) further comprises a tracking filter (12) which is arranged to estimate a second time-to-collision estimate using the azimuth angle, the elevation angle and the first time-to-collision estimate estimated by the image processing means (7) as input parameters. Furthermore, the system (5) comprises collision avoidance means (15) arranged to decide whether or not an avoidance manoeuvre should be performed based on any of at least one parameter, of which at least one is indicative of said second time-to-collision estimate.
    By using the first time-to-collision estimates from the image processing means (7) as input parameters to the tracking filter (12), the uncertainty in the second time-to-collision estimates outputted by the filter is reduced. By allowing the decision as to whether or not an avoidance manoeuvre should be performed to be based on said second time-to-collision estimates, a safe and robust collision avoidance system (5) is provided.

    摘要翻译： 本发明提供了一种防撞系统（5），用于决定是否自主回避操作应以避免宿主飞行器之间的空中碰撞来执行的（1）配备有系统（5），并在侵入飞行器 ， 该系统包括用于捕获检查的侵入车辆的连续图像所做的车辆本身表现为在所述图像中的目标点的至少一个光电传感器（3）。 因此，它包括图像处理装置（7），用于估计方位角，仰角和第一时间 - 碰撞估计的时间到主车辆与车辆侵入之间的碰撞。 在第一时间 - 碰撞估计是基于在至少两个所述连续图像之间的目标点尺度变化估计。 该系统（5）还包括被布置成使用方位角，仰角和所述第一时间 - 碰撞估计由图像处理装置估计来估计第二时间 - 碰撞估计跟踪滤波器（12）的所有（ 7）作为输入参数。 进一步，该系统（5）包括被布置来决定是否要回避操作防撞装置（15）应基于任何的至少一个参数来进行，其中至少一个指示所述第二时间 - 碰撞的 估计。 通过使用所述第一时间 - 碰撞估计从图像处理装置（7）作为输入参数提供给跟踪滤波器（12）的结果，在第二时间 - 碰撞的不确定性估计由滤波器输出的降低。 通过允许决定是否或不避让动作应进行基于上述第二时间会发生碰撞的估计，提供了一种安全可靠的防撞系统（5）。