WO1999014723A1 - Method for position exact parking of aircraft - Google Patents

Method for position exact parking of aircraft Download PDF

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Publication number
WO1999014723A1
WO1999014723A1 PCT/EP1998/005970 EP9805970W WO9914723A1 WO 1999014723 A1 WO1999014723 A1 WO 1999014723A1 EP 9805970 W EP9805970 W EP 9805970W WO 9914723 A1 WO9914723 A1 WO 9914723A1
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WO
WIPO (PCT)
Prior art keywords
aircraft
video camera
apron
computer
stored
Prior art date
Application number
PCT/EP1998/005970
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German (de)
French (fr)
Inventor
Volker Gengenbach
Reinhold Mohrdieck
Rolf Zimmermann
Original Assignee
Honeywell Ag
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Honeywell Ag filed Critical Honeywell Ag
Priority to AU10240/99A priority Critical patent/AU1024099A/en
Publication of WO1999014723A1 publication Critical patent/WO1999014723A1/en

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/06—Traffic control systems for aircraft, e.g. air-traffic control [ATC] for control when on the ground
    • G08G5/065—Navigation or guidance aids, e.g. for taxiing or rolling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/002—Taxiing aids

Definitions

  • the invention relates to a method for the precise positioning of aircraft, in particular for docking an aircraft on a passenger bridge of an airport using an optical sensor system installed on the apron of the airport for detecting the current position of the aircraft on the apron, means for storing predefinable reference values Means for comparing the ascertained actual values with stored reference values and evaluation means, preferably a display device for making the current distance from the aircraft to the stopping position visible.
  • Such a method and an apparatus for performing this method is described in DE 40 09 668 AI.
  • a detector for Detecting a signal field a plurality of detector elements, which can be arranged linearly or mat ⁇ xiform, or a video camera can be used. It is also possible to use a second video camera when rolling
  • O ⁇ of the aircraft to the target position detects the tail of the aircraft in order to also feed the video signal thus obtained to an evaluation device. This makes it possible to determine the airline in a second processing unit and this information together with the address
  • the object of the invention is to create a method of the type mentioned at the outset for realizing an automatic gray value image-based docking or routing process l ⁇ for taxiing aircraft.
  • the task is solved according to the invention in that a single video camera is used as a passive area sensor, that the video camera is calibrated in such a way that the position and orientation of the video camera is relative to a defined coordinate system of the apron and to indicate aircraft positions in aosolute preliminary coordinates
  • Internal parameters of the camera optics are calculated and stored in digital form in a computer, so that the current images recorded by the video camera of an aircraft to be guided or docked are digitized and fed to the computer, and that the current digitized image data are included in the computer stored digitized data of a three - dimensional model of the to be led or.
  • the task of sensor calibration is, advantageously after the camera has been installed in a fixed position, its position and orientation relative to a fixed apron coordinate system and at the same time to be specified or set
  • a further development of the method according to the invention can be seen in the fact that a highly dynamic video camera is used to cover large contrast areas without numerous diaphragm adjustments.
  • a further embodiment of the invention is characterized by the use of the method 5 for taxiing aircraft on the apron.
  • the task of object tracking is to continue estimating the position and orientation of the aircraft in space for a given image sequence and a specific aircraft model. At the beginning an initialization has to be carried out before the detection of the one coming into the field of view of the camera
  • Aircraft serves. It provides a rough position estimate and starts the tracking process. In the course of the tracking, starting from the position already determined in the previous image, an expected position in the current image is predicted by evaluating an equation of motion. The prediction serves as a starting point for the search for an optimal position, taking into account the adaptation of the model projection in the image plane to the image currently being taken. 0
  • the video camera provided according to the invention offers the advantage of capturing the space at the same time with a relatively high resolution and large detection range. rich and high temporal frequency.
  • the high detection range allows the entire aircraft to be imaged, including the fuselage, wing, tail unit, engine and landing gear. Taking all of these features into account in tracking allows 05 higher accuracy than a few individual measurements and increased robustness against incorrect detection by means of image-based verification.
  • Model-based object tracking requires three-dimensional models of the aircraft, although it is not absolutely necessary to take all the details of an aircraft into account in one model. If metric three-dimensional models of the depicted objects are available, the task is to estimate their position and orientation in space l ⁇ such that the associated model projection in the image plane is brought into line with the camera image. In addition, the temporal trajectory can also be estimated according to a given physical movement model. The depth information obtained directly from distance measurement is initially lost when projecting into the image plane and can be model-based, i.e. with the knowledge of the true dimensions of the depicted objects.
  • the passenger boarding bridge is automatically brought up to the exit of an aircraft that has reached its parking position using the video camera in order to be able to provide evidence of an accident that may occur on the apron, according to the invention that the digital image sequences generated by the video camera are stored in an archive memory. It is also provided that the tail unit of an aircraft is detected by the video camera in order to determine the associated airline

Abstract

The invention relates to position exact parking of aircraft especially for docking an aircraft at an airport passenger bridge utilizing an optical sensor system installed on the airport tarmac for determining the actual position of the aircraft, means for storing predetermined reference values, means for comparing determined actual values with said reference values, and means for evaluating. In order to carry out an automatic docking or guiding of taxiing aircraft based on a half-tone picture, a single video camera is used as a passive surface sensor. The video camera is calibrated in such a way that the position and orientation of the video camera relative to a designated coordinate system of the tarmac in addition to internal parameters of the camera optics are calculated and stored in digital form in a computer in order to provide the positions of aircraft in absolute coordinates of the tarmac. The actual images of an aircraft prerecorded by the video camera are digitized and fed to the computer. The computer compares the actual image data with stored digitized data of a three dimensional model of a taxiing or docking aircraft-type for determining the actual position of the aircraft on the tarmac or the distance of the aircraft from its stopping position.

Description

Daimler-Benz Aerospace AG Daimler-Benz Aerospace AG
"Verfahren zum positionsgenauen Abstellen von Flugzeugen""Procedure for the precise positioning of aircraft"
Die Erfindung betrifft ein Verfahren zum positionsgenauen Abstellen von Flugzeugen, insbesondere zum Andocken eines Flugzeuges an einer Fahrgastbrucke eines Flughafens unter Verwendung eines auf dem Vorfeld des Flughafens mstaliier- ten optischen Sensorsystems zur Erfassung der aktuellen Position des Flugzeuges auf dem Vorfeld, Mitteln zum Speichern vorgebbarer Referenzwerte, Mitteln zum Vergleich der ermittelten Istwerte mit gespeicherten Referenzwerten und Auswertemitteln, vorzugsweise einer Anzeigeeinrichtung zur Sicht- barmachung des aktuellen Abstandes vom Flugzeug zur Halte- position .The invention relates to a method for the precise positioning of aircraft, in particular for docking an aircraft on a passenger bridge of an airport using an optical sensor system installed on the apron of the airport for detecting the current position of the aircraft on the apron, means for storing predefinable reference values Means for comparing the ascertained actual values with stored reference values and evaluation means, preferably a display device for making the current distance from the aircraft to the stopping position visible.
Ein derartiges Verfahren und eine Vorrichtung zur Durchführung dieses Verfahrens ist m der DE 40 09 668 AI beschrieben. Bei der vorbekannten Vorrichtung kann als Detektor zum Erfassen eines Signalfeldes eine Vielzahl von Detektorelementen, die linear oder matπxförmig angeordnet sein können, oder eine Videokamera verwendet werden. Auch ist die Verwendung einer zweiten Videokamera möglich, die beim ZurollenSuch a method and an apparatus for performing this method is described in DE 40 09 668 AI. In the known device can be used as a detector for Detecting a signal field, a plurality of detector elements, which can be arranged linearly or matπxiform, or a video camera can be used. It is also possible to use a second video camera when rolling
Oδ des Flugzeuges auf die Soll-Position das Leitwerk des Flugzeuges erfaßt, um das so erhaltene Videosignal ebenfalls einer Auswerteeinrichtung zuzuleiten. Dadurch ist es möglich in einer zweiten Verarbeitungseinheit die Fluggesellscnaft zu ermitteln und diese Information zusammen mit der Anαock-O δ of the aircraft to the target position detects the tail of the aircraft in order to also feed the video signal thus obtained to an evaluation device. This makes it possible to determine the airline in a second processing unit and this information together with the address
10 zeit z. B. zur Berechnung von Standgebuhren zu nutzen.10 time B. to use for the calculation of standing fees.
Der Erfindung liegt die Aufgabe zugrunde, ein Verfahren der eingangs genannten Art zur Realisierung eines automatischen grauwertbildbasierten Andock- bzw. RoUfuhrungsvorganges lδ für rollende Flugzeuge zu schaffen.The object of the invention is to create a method of the type mentioned at the outset for realizing an automatic gray value image-based docking or routing process lδ for taxiing aircraft.
Die Aufgabe wird er findungsgemkß dadurch gelost, daß als passiver Flächensensor eine einzige Vιdeoκamera verwendet wird, daß zur Angabe von Flugzeugpositionen in aosoluten Vorfelα- 0 koordinaten die Videokamera derart kalibriert wird, daß die Lage und Orientierung der Videokamera relatiλ zu einem festgelegten Koordinatensystem des Vorfeldes sowie interne Parameter der Kameraoptik berechnet und in einem Rechner in digitaler Form gespeichert werden, daß die von der Videoka- 5 mera aufgezeichneten aktuellen Bilder eines zu führenden bzw. anzudockenden Flugzeuges digitalisiert und dem Rechner zugeführt werden, und daß in dem Rechner die aktuellen digitalisierten Bilddaten mit abgespeicherten digitalisierten Daten eines dreidimensionalen Modells des zu führenden bzw . anzu- 0 dockenden Flugzeugtyps zur Ermittlung der aktuellen Lage des Flugzeuges auf dem Vorfeld bz . des Abstandes des Flugzeuges von seiner Halteposition verglichen werden. Die Aufgabe der Sensorkalibrierung ist es, vorteilhafterweise nach erfolgter ortsfester Montage der Kamera deren Lage und Orientierung relativ zu einem festgelegten Vorfeldkoordinatensystem und zugleich vorzugebende oder eingestellteThe task is solved according to the invention in that a single video camera is used as a passive area sensor, that the video camera is calibrated in such a way that the position and orientation of the video camera is relative to a defined coordinate system of the apron and to indicate aircraft positions in aosolute preliminary coordinates Internal parameters of the camera optics are calculated and stored in digital form in a computer, so that the current images recorded by the video camera of an aircraft to be guided or docked are digitized and fed to the computer, and that the current digitized image data are included in the computer stored digitized data of a three - dimensional model of the to be led or. Type of aircraft to be docked to determine the current position of the aircraft on the apron or. the distance of the aircraft from its stopping position. The task of sensor calibration is, advantageously after the camera has been installed in a fixed position, its position and orientation relative to a fixed apron coordinate system and at the same time to be specified or set
Oδ Parameter der Kameraoptik exakt zu ermitteln. Dies ist eine Voraussetzung, um aus den Abbildern von Flugzeugen auf deren Lage und Orientierung in dreidimensionalen Vorfeldkoordinaten schließen zu können.To exactly determine Oδ parameters of the camera optics. This is a prerequisite for being able to draw conclusions from the images of aircraft on their position and orientation in three-dimensional apron coordinates.
10 Eine Weiterbildung des erfindungsgemäßen Verfahrens ist darin zu sehen, daß eine hochdynamische Videokamera zur Abdek- kung großer Kontrastbereiche ohne zahlreiche Blendenverstellungen verwendet wird. Eine weitere Ausgestaltung der Erfindung ist gekennzeichnet durch die Verwendung des Verfahrens 5 zur Rollführung von Flugzeugen auf dem Vorfeld. Hierbei ist die Aufgabe der Objektverfolgung die zeitlich fortgesetzte Schätzung der Lage und Orientierung des Flugzeuges im Raum für eine gegebene Bildfolge und ein bestimmtes Flugzeugmodell. Zu Beginn ist eine Initialisierung durchzuführen, wel- 0 ehe der Erkennung des ins Sichtfeld der Kamera tretendenA further development of the method according to the invention can be seen in the fact that a highly dynamic video camera is used to cover large contrast areas without numerous diaphragm adjustments. A further embodiment of the invention is characterized by the use of the method 5 for taxiing aircraft on the apron. The task of object tracking is to continue estimating the position and orientation of the aircraft in space for a given image sequence and a specific aircraft model. At the beginning an initialization has to be carried out before the detection of the one coming into the field of view of the camera
Flugzeuges dient. Sie liefert eine grobe Positionsschätzung und startet den Verfolgungsvorgang. Im Verlauf der Verfolgung wird, ausgehend von der bereits ermittelten Position im vorangehenden Bild, eine erwartungsgemäße Position im aktu- δ eilen Bild mittels Auswertung einer Bewegungsgleichung prä- diziert. Die Prädiktion dient als Ausgangspunkt für die Suche nach einer optimalen Position unter Berücksichti ung der Anpassung der Modellprojektion in die Bildebene an das aktuell aufgenommene Bild. 0Aircraft serves. It provides a rough position estimate and starts the tracking process. In the course of the tracking, starting from the position already determined in the previous image, an expected position in the current image is predicted by evaluating an equation of motion. The prediction serves as a starting point for the search for an optimal position, taking into account the adaptation of the model projection in the image plane to the image currently being taken. 0
Die erfindungsgemäß vorgesehene Videokamera bietet als passiver Flächensensor den Vorteil der zeitgleichen Erfassung des Raumes mit relativ hoher Auflösung, großem Erfassungsbe- reich und hoher zeitlicher Frequenz. Der hohe Erfassungsbereich erlaubt die Abbildung des gesamten Flugzeuges, einschließlich Rumpf, Flügel, Leitwerk, Triebwerk und Fahrwerk. Die Berücksichtigung all dieser Merkmale bei einer Verfol- 05 gung gestattet eine höhere Genauigkeit als wenige Einzelmessungen und eine erhöhte Robustheit gegenüber fehlerhafter Detektion mittels bildbasierter Verifikation.The video camera provided according to the invention, as a passive area sensor, offers the advantage of capturing the space at the same time with a relatively high resolution and large detection range. rich and high temporal frequency. The high detection range allows the entire aircraft to be imaged, including the fuselage, wing, tail unit, engine and landing gear. Taking all of these features into account in tracking allows 05 higher accuracy than a few individual measurements and increased robustness against incorrect detection by means of image-based verification.
Die modellgestützte Objektverfolgung benötigt dreidimensio- 10 nale Modelle der Flugzeuge, wobei es nicht unbedingt notwendig ist, alle Details eines Flugzeuges in einem Modell zu berücksichtigen. Hat man metrische dreidimensionale Modelle der abgebildeten Objekte zur Verfügung, so besteht die Aufgabe in der Schätzung ihrer Lage und Orientierung im Raum lδ derart, daß die zugehörige Modellprojektion in die Bildebene mit dem Kamerabild in Übereinstimmung gebracht wird. Darüber hinaus kann zugleich die zeitliche Trajektorie einem gegebenen physikalischen Bewegungsmodell entsprechend geschätzt werden. Die Tiefeninformation, die durch Abstandsmessung un- 0 mittelbar gewonnen wird, geht bei der Projektion in die Bildebene zunächst verloren und kann modellgestützt, d.h. unter Kenntnis der wahren Abmessungen dargestellter Objekte, rekonstruiert werden.Model-based object tracking requires three-dimensional models of the aircraft, although it is not absolutely necessary to take all the details of an aircraft into account in one model. If metric three-dimensional models of the depicted objects are available, the task is to estimate their position and orientation in space lδ such that the associated model projection in the image plane is brought into line with the camera image. In addition, the temporal trajectory can also be estimated according to a given physical movement model. The depth information obtained directly from distance measurement is initially lost when projecting into the image plane and can be model-based, i.e. with the knowledge of the true dimensions of the depicted objects.
δ Eine weitere Ausgestaltung der Erfindung geht dahin, daß die Fluggastbrücke unter Verwendung der Videokamera an einen Ausgang eines seine Parkposition erreichten Flugzeuges automatisch herangeführt wird, um eine Beweisführung eines eventuell auf dem Vorfeld erfolgenden Unfalles durchführen zu kön- 0 nen , ist εrfindungsgemäß vorgesehen, daß die von der Videokamera erzeugten digitalen Bildfolgen in einem Archivspeicher gespeichert werden. Auch ist vorgesehen, daß durch die Videokamera das Leitwerk eines Flugzeuges zur Ermittlung der zugehörigen Fluggesellschaft erfaßt wird Another embodiment of the invention is that the passenger boarding bridge is automatically brought up to the exit of an aircraft that has reached its parking position using the video camera in order to be able to provide evidence of an accident that may occur on the apron, according to the invention that the digital image sequences generated by the video camera are stored in an archive memory. It is also provided that the tail unit of an aircraft is detected by the video camera in order to determine the associated airline

Claims

P a t e n t a n s p r ü c h e Patent claims
1. Verfahren zum positionsgenauen Abstellen von Flugzeugen, insbesondere zum Andocken eines Flugzeuges an einer Fahrgastbrücke eines Flughafens unter Verwendung eines auf dem Vorfeld des Flughafens installierten optischen Sen- Oδ sorsystems zur Erfassung der aktuellen Position des Flugzeuges auf dem Vorfeld, Mitteln zum Speichern vorgebbarer Referenzwerte, Mitteln zum Vergleich der ermittelten Istwerte mit gespeicherten Referenzwerten und Auswertemitteln, vorzugsweise einer Anzeigeeinrichtung zur Sichtbar- 10 machung des aktuellen Abstandes vom Flugzeug zur Halteposition, dadurch gekennzeichnet, daß als passiver Fläh- hensensor eine einzige Videokamera verwendet wird, daß zur Angabe von Flugzeugpositionen in absoluten Vorfeldkoordinaten die Videokamera derart kalibriert wird, daß 15 die Lage und Orientierung der Videokamera relativ zu einem festgelegten Koordinatensystem des Vorfeldes sowie interne Parameter der Kameraoptik berechnet und in einem Rechner in digitaler Form gespeichert werden, daß die von der Videokamera auf ezeichneten aktuellen Bilder eines zu 0 führenden bzw. anzudockenden Flugzeuges digitalisiert und dem Rechner zugeführt werden, und daß in dem Rechner die aktuellen digitalisierten Bilddaten mit abgespeicherten digitalisierten Daten eines dreidimensionalen Modells des zu führenden bzw. anzudockenden Flugzeugtyps zur Ermitt- 5 lung der aktuellen Lage des Flugzeuges auf dem Vorfeld bzw. des Abstandes des Flugzeuges von seiner Halteposition verglichen werden. Verfahren nach Anspruch 1, dadurch gekennzeichnet, daß eine hochdynamische Videokamera zur Abdeckung großer Kontrastbereiche ohne zahlreiche Blendenverstellungen verwendet wird.1. Method for parking aircraft in a precise position, in particular for docking an aircraft on a passenger bridge of an airport, using an optical sensor system installed on the apron of the airport for detecting the current position of the aircraft on the apron, means for storing predefinable reference values, Means for comparing the ascertained actual values with stored reference values and evaluation means, preferably a display device for making the current distance from the aircraft to the stopping position visible, characterized in that a single video camera is used as the passive surface sensor that indicates aircraft positions in absolute terms Apron coordinates the video camera is calibrated in such a way that the position and orientation of the video camera relative to a defined coordinate system of the apron as well as internal parameters of the camera optics are calculated and stored in a computer in digital form be made sure that the current images recorded by the video camera of an aircraft leading or docking to 0 are digitized and fed to the computer, and that in the computer the current digitized image data with stored digitized data of a three-dimensional model of the aircraft type to be guided or docked to determine the current position of the aircraft on the apron or the distance of the aircraft from its stopping position. Method according to claim 1, characterized in that a highly dynamic video camera is used to cover large contrast areas without numerous diaphragm adjustments.
OδOδ
Verfahren nach Anspruch 1 oder 2, gekennzeichnet durch die Verwendung zur Rollführung von Flugzeugen auf dem Vorfeld .A method according to claim 1 or 2, characterized by the use for taxiing aircraft on the apron.
10 4. Verfahren nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß die Fluggastbrücke unter Verwendung der Videokamera an einen Ausgang eines seine Parkposition erreichten Flugzeuges automatisch herangeführt wird.10 4. The method according to claim 1 or 2, characterized in that the passenger boarding bridge is automatically brought up using the video camera to an output of an aircraft reached its parking position.
lδ δ. Verfahren nach Anspruch 1, 2, 3 oder 4, dadurch gekennzeichnet, daß die von der Videokamera erzeugten digitalen Bildfolgen in einem Archivspeicher gespeichert werden.lδ δ. Method according to Claim 1, 2, 3 or 4, characterized in that the digital image sequences generated by the video camera are stored in an archive memory.
6. Verfahren nach einem der Ansprüche 1 bis 5, dadurch ge- 0 kennzeichnet, daß durch die Videokamera das Leitwerk eines Flugzeuges zur Ermittlung der zugehörigen Fluggesellschaft erfaßt wird. 6. The method according to any one of claims 1 to 5, characterized 0 indicates that the tail of an aircraft is detected by the video camera to determine the associated airline.
PCT/EP1998/005970 1997-09-18 1998-09-18 Method for position exact parking of aircraft WO1999014723A1 (en)

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AU10240/99A AU1024099A (en) 1997-09-18 1998-09-18 Method for position exact parking of aircraft

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE1997141082 DE19741082A1 (en) 1997-09-18 1997-09-18 Accurate aircraft docking method
DE19741082.0 1997-09-18

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DE19960873C2 (en) * 1999-12-17 2002-06-20 Hema Elektronik Fertigungs Und Process for the geometric self-calibration of an image processing system

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WO1996009207A1 (en) * 1994-09-19 1996-03-28 Siemens Corporate Research, Inc. Autonomous video-based aircraft docking system, apparatus, and method
WO1997014114A1 (en) * 1995-10-12 1997-04-17 Northrop Grumman Corporation Aircraft docking system
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US4989084A (en) * 1989-11-24 1991-01-29 Wetzel Donald C Airport runway monitoring system
EP0445334A1 (en) * 1990-03-08 1991-09-11 Siemens Aktiengesellschaft Method of intruder detection
DE4009668A1 (en) 1990-03-26 1991-10-02 Siemens Ag Location of taxiing aircraft in accurate positions - using comparison of signal field, e.g. optical image with reference image to determine actual position
WO1996009207A1 (en) * 1994-09-19 1996-03-28 Siemens Corporate Research, Inc. Autonomous video-based aircraft docking system, apparatus, and method
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