公开(公告)号：US20070210953A1

公开(公告)日：2007-09-13

申请号：US11374807

申请日：2006-03-13

申请人： Michael Abraham ,  Christian Witt ,  Dennis Yelton ,  John Sanders-Reed ,  Christopher Musial

发明人： Michael Abraham ,  Christian Witt ,  Dennis Yelton ,  John Sanders-Reed ,  Christopher Musial

IPC分类号： G01S13/93

CPC分类号： G08G5/0069 ,  G08G5/045

摘要： A collision sense and avoidance system and method and an aircraft, such as an Unmanned Air Vehicle (UAV) and/or Remotely Piloted Vehicle (RPV), including the collision sense and avoidance system. The collision sense and avoidance system includes an image interrogator identifies potential collision threats to the aircraft and provides maneuvers to avoid any identified threat. Motion sensors (e.g., imaging and/or infrared sensors) provide image frames of the surroundings to a clutter suppression and target detection unit that detects local targets moving in the frames. A Line Of Sight (LOS), multi-target tracking unit, tracks detected local targets and maintains a track history in LOS coordinates for each detected local target. A threat assessment unit determines whether any tracked local target poses a collision threat. An avoidance maneuver unit provides flight control and guidance with a maneuver to avoid any identified said collision threat.

摘要翻译： 碰撞感和回避系统和方法以及诸如无人机（UAV）和/或遥控车辆（RPV）的飞机，包括碰撞感和回避系统。 碰撞感和回避系统包括图像询问器识别对飞机的潜在的碰撞威胁，并提供操纵以避免任何已知的威胁。 运动传感器（例如，成像和/或红外传感器）将周围的图像帧提供给杂波抑制和目标检测单元，其检测在帧中移动的局部目标。 视线（LOS），多目标跟踪单元，跟踪检测到的本地目标，并为每个检测到的本地目标在LOS坐标中维护轨迹历史记录。 威胁评估单元确定是否有跟踪的本地目标造成冲突威胁。 回避机动单元提供飞行控制和指导，进行机动，以避免任何确定的所述碰撞威胁。