• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The aim of the invention is to provide a high spatial resolution laser imager architecture compatible with an application on board a vehicle, in particular on board an aircraft. For this purpose, the invention proposes to develop a wide field laser telemetry information by a suitable remote optical combination. An example of equipment (1) according to the invention embedded in an aircraft moving in an environment likely to contain obstacles (4), in particular a ground plane, comprises a laser rangefinder (11) coupled to a fiber optical (F1) laser pulse emission (I), itself coupled to an optical system interface with the environment (12) via an optical splitter (13) coupled to a fiber optic bundle covered in form of laser illuminations (Fi). An echo detector (14) of the laser pulses reflected by an obstacle (4) of the environment is connected to an echo processing unit (15) (Er), itself connected to a data center (16). ) relating to the conditions of movement of the airplane and to a display system (17) of the obstacle location data (4).
    公开号:FR3041938A1
    申请号:FR1559411
    申请日:2015-10-02
    公开日:2017-04-07
    发明作者:Gerard Boucourt；Nicolas Riviere
    申请人:Office National dEtudes et de Recherches Aerospatiales ONERA；Latecoere SA；
    IPC主号:
    专利说明:

    METHOD AND ON-ROAD EQUIPMENT FOR ASSISTING THE RUNNING AND ANTICOLLIZING OF A VEHICLE, IN PARTICULAR AN AIRCRAFT
    DESCRIPTION
    TECHNICAL AREA
    The invention relates to a method of assisting the rolling and anti-collision for the movement of a vehicle, in particular of a plane traveling on the ground (taxi phase still called "taxing") or other types of vehicle (car on the road, ship at sea or railroad). The invention also relates to an on-board rolling and anti-collision aid equipment capable of implementing this method, as well as an aircraft comprising such on-board equipment.
    [0002] Conventionally, the navigation on the ground (or on the water) depends on the ability to precisely locate the position of the obstacles in the vehicle environment. In particular, in the case of aircraft taxing operations at an airport - which is the main but non-exclusive application of the present invention - there are: unpredictable unexpected obstacles (fixed or mobile) and the identification objects ( markings, signs, buildings, tracks, motor vehicles, other aircraft, personal, etc.).
    In this field, the pilots of the plane in the taxi phase receive a taxi aid from information on the identification of unexpected obstacles or signs, as well as on the estimation of the distances between the aircraft. and these obstacles / objects. This information, provided by the analysis of data provided by onboard optoelectronic systems, is particularly useful in degraded weather conditions (rain, fog, night, ...).
    [0004] In general, passive-type systems comprising camera cameras (so-called visible cameras whose sensor is sensitive in the visible and near-infrared band, or thermal cameras whose sensor is sensitive in a remote infrared band) are differentiated in general. visible), and active-type systems using a source of electromagnetic radiation in the range of radio waves (radars) or pulsed laser radiation (lidars). The active systems make it possible to deduce the distance of the obstacles / objects surrounding the aircraft by measuring the duration of emission / reception of a pulse (telemetry).
    An aid to taxiing and anti-collision can then be generated by a digital processing unit which delivers information of distance and position of the obstacles / objects surrounding the aircraft, from data from the optoelectronic system and the integration of various parameters: relative speeds, safety distances, projected trajectories, etc.
    STATE OF THE ART
    Between the optronic systems, it is necessary to distinguish those with a large field of view, such as cameras and radars, and reduced field of view - even unidirectional - but at high spatial resolution, such as lidars telemetry (pulsed, modulated, ...).
    Cameras and radars, arranged in a fixed position, generally equip airports to provide an overall view of the area controllers on the ground. Pilots do not have direct access to this information. When the cameras are loaded onto planes, their field of view remains limited to about 100 ° in order to maintain a correct resolution. These systems do not make it possible to locate obstacles / objects with sufficient precision by their positions and their distances, nor to determine their relative speeds.
    Among the systems with high spatial resolution, it is known for example from patent documents WO 2012/038662 or FR 2 948 463, telemetric lidars for recovering the entirety of the return signal. By a suitable treatment of this signal, it is then extracted a relevant location and distance information, cleaned from clutter caused by atmospheric particles (dust, sand, rain, fog, snowflakes, etc.).
    In addition to telemetry lidars, there are laser imagers called "ladars". Patent documents FR 2 948 463 or EP 2 386 872 disclose such ladars.
    These imagers consist of a laser emission source combined with a mono-sensor ensuring the detection of return echoes, and for different directions of illumination / observation. The 3D reconstruction of a scene is obtained by scanning the emitted laser beam (the ladars are also called "laser scanners") with for example the use of an electro-optical shutter.
    A ladar can also be constituted by a diverging laser source and a 3D focal plane (fully synchronized pixel array or pixel by pixel with the pulse source). Each pixel then gives a distance information.
    These systems with high spatial resolution and short / medium / long range are limited in view field width (about 30 °). When scanner lasers offer mileage ranges, the spatial resolution is reduced to a few points per square meter. In addition, these systems are difficult to embed because of a lack of compactness, their mass, a lack of eye safety or robustness.
    STATEMENT OF THE INVENTION
    The invention aims to provide a high spatial resolution laser imager architecture, having a robustness and compactness compatible with an embedded application on board a vehicle, especially on board an aircraft. For this purpose, the invention proposes to develop a wide field laser telemetry information by a combination of remote transmission and optical distribution adapted.
    More specifically, the subject of the present invention is a method of assisting the rolling and anti-collision of a moving vehicle, in particular of a plane on the ground, in which position and distance information is provided. Obstacles in a vehicle environment are obtained, according to a laser pulse emission step, by distributed laser telemetry coupled to fiber optic illumination by laser pulse transmission, pulse distribution and orientation in multiple directions of these pulses defining an illumination field aperture of the environment via an optical interface, then a step of receiving back the laser pulses emitted by detecting echoes reflected by the obstacles, and a step of processing the echoes received by linking with vehicle movement information transmitted by a data center to display data information obstacle location.
    The method of the invention can operate day and night, at any time and remains eye safe.
    According to preferred embodiments: during the reception step, the echo detection is performed near the optical interface; during the reception step, the detection of the reflected echoes is carried out after transmission by a receiving fiber optic of the received echoes, this receiving fiber optic being coupled to the optical interface in a manner similar to the fiber optic of illumination; the transmission between the reception of the echoes and the place of their processing is ensured at least partially by conversion of the received echoes into radiofrequency signals and then by conversion into electrical signals; the illumination of the laser telemetry field of view is correlated with a visualization of the field of view carried out by sensitive imaging in the range of visible radiation, near infrared and far infrared for day and night vision.
    The invention also relates to an on-board equipment for assisting the rolling and anti-collision of a vehicle traveling in an environment likely to contain obstacles, particularly a ground plane, and capable of implement the above process.
    Such equipment comprises a laser rangefinder coupled to at least one laser pulse emission optical fiber, itself coupled to an optical system for multiple orientation of the laser pulses via a coupled emission optical distributor, output, to a beam of spatially distributed illumination optical fibers so as to cover, by the optical system, an illumination field of a few degrees up to 360 ° in the form of laser illuminations, and an echo detector of laser pulses emitted then reflected by the obstacles of the environment. This detector is connected to a processing unit of said echoes, itself connected to a data center relating to the conditions of movement of the vehicle in said environment and to an obstacle location data display system.
    According to a particular embodiment, the echo detector is arranged near the optical system.
    According to another particular embodiment, the reception of the echoes is performed by a beam of reception optical fibers, spatially distributed on the optical system in a manner similar to the illumination optical fiber beam. This receiving optical fiber bundle is optically coupled to a reception optical splitter, acting as an echo concentrator, itself coupled to an echo detection box via a receiving optical fiber.
    Advantageously, in the case where the vehicle is an aircraft comprising in particular a fuselage and wings, the optical transmission splitter and, where appropriate, the optical distribution splitter are integrated either in the fuselage, in particular in an avionics bay, the illumination and reception optical fiber bundles then being arranged between the wing and the fuselage in a protective zone, in each wing of the aircraft so that the optical part of the equipment is in the wing and its signal processing part in the fuselage of the aircraft.
    Preferably, the optical system consists of lenses or groups of lenses having a converging outer surface, each lens or group of lenses being coupled to an optical fiber for illumination and, where appropriate, to an optical fiber of reception. In the case where the vehicle is an airplane, this optical system can be arranged at the ends of the wings of the aircraft.
    Advantageously, when the optical system is arranged at the end of the wing, a complementary telemeter is also preferably provided at the wing tip to measure the wing / ground distance in real time to correct the wing fluctuation.
    Moreover, the transmission of echoes to the processing unit is performed either by wired connection or by conversion into radiofrequency signals.
    Preferably, the laser rangefinder is combined with an environmental viewing camera, equipped with sensitive sensors in ranges of visible radiation / near infrared and far infrared for day and night vision, by means of superposition of telemetry and image information.
    PRESENTATION OF FIGURES
    Other data, characteristics and advantages of the present invention will appear on reading the following nonlimited description, with reference to the appended figures which represent, respectively: FIG. 1, a schematic side view of an example of rolling and anti-collision aid equipment according to the invention embedded in a wing and the fuselage of an airplane, the detection of echoes being carried out at the end of the wing; FIGS. 2a and 2b, a schematic side view of another example of rolling and anti-collision aid equipment according to the invention embedded in a wing and the fuselage of an airplane, with an echo detection performed in the fuselage and a distribution / concentration of the transmissions of pulses / echoes performed either in the wing and the fuselage of the aircraft (Figure 2a) or only in the wing (Figure 2b), and - FIG. 3 is a diagrammatic overall view of a ground taxiing aircraft equipped at the ends of its wings with equipment according to the invention.
    DETAILED DESCRIPTION
    In the figures, two identical or quasi-identical elements, for example the lenses illustrated in Figures 1, 2a and 2b, are designated by the same reference sign, the description of this element being returned to the passage that deals with .
    Referring to the schematic side view of Figure 1, a first example of rolling and anti-collision aid 1 according to the invention is illustrated. This equipment 1 is embedded in a wing 2 for the optical part, and inside an aircraft fuselage 3, preferably in the avionics bay, for the signal processing part. The wing 2 and the fuselage 3 are symbolically separated by the line D1. In the present case, the airplane is taxiing on the ground at a distance close to an unexpected obstacle, a transport carriage 4.
    The equipment 1 comprises a laser rangefinder 11 disposed in the avionics bay 3. This rangefinder 11 is coupled to an optical fiber called F1 transmission, for the transmission of laser pulses "I" issued by the laser rangefinder 11 to wing 2 of the plane. This optical transmission fiber F1 is optically coupled to an optical illumination system 12 disposed at the end of the wing 20. This optical system 12 carries out a multiple orientation of the laser pulses "I" via an optical splitter 12. emission 13 arranged in the wing 2.
    At the output of the optical splitter 13, a beam of illumination optical fibers Fe transmits in parallel the pulses "I" which will then be emitted by the optical system 12. To do this, each optical fiber illumination Fe is coupled to a convergent lens L1 of the optical system 12. This optical system 12 then spatially distributes these pulses "I" in the form of laser illuminations Fi out of the aircraft. The lenses L1 have a converging outer face, are distributed at the end of the wing 20 and are oriented so that the set of lenses L1 can cover a wide field of illumination Ci. Thus, the illumination field Ci can cover a field of a few degrees up to 360 ° in its highest dimension.
    An echo detector 14 is arranged at the end of the wing 20 near the optical system 12, juxtaposed with this optical system 12 in the example shown. This detector 14 receives echoes Er from the reflection of the laser illuminations Fi on the obstacles of the environment of the aircraft, the transport carriage 4 in the example. The echo detector 14 has a field of view C1 which encompasses the illumination field Ci of the optical system 12.
    A digital echo processing unit 15, arranged in the avionics bay 3, receives the echo receiving signals from the detector 14 by a wired link and converts them into digital data. Alternatively, the transmission is performed by a suitable radio frequency link. In this case, the echo detector converts the received echo signals into radio frequency signals. A radiofrequency transmission / reception antenna system between the detector 14 and the processing unit 15 transmits the radio frequency signals. The processing unit then converts the received radio frequency signals into digital data.
    An analysis of these digital data can provide location data of the transporter carriage 4, in position and distance from the aircraft. Advantageously, this data analysis also comprises a vertical rangefinder pointing towards the ground, or any equivalent device, which corrects the real-time position of the wing with respect to the reference plane (the ground in the example embodiment ).
    This processing unit 15 is also connected to an avionics data center 16 which provides the parameters of movement of the aircraft in its environment. The processing unit 15 then transmits information signals to a display system 17 arranged in the cockpit and intended to display the location data - position and distance - of the obstacles detected, the transporter carriage 4 in the example. Advantageously, these information signals provide predictive security data combining in software processing the aircraft displacement data from the avionics unit 16 and the obstacle location data from the echo detector 14.
    In order to optimize the location of the obstacles, the digital processing unit 15 also transmits control signals to the laser rangefinder 11 and to the optical distributor 13 as a function of the echoes received by the detector 14, in particular by an adapted scanning. of the optical splitter 13.
    Advantageously, the laser rangefinder 11 is combined with a viewing camera 18. This camera 18, also controlled by the processing unit 15, comprises a sensitive sensor in the ranges of visible / near infrared and far infrared radiation for a day and night vision. Means for superimposing the images visualized by the camera 18 and the 3D information (resulting from the laser illuminations F1) makes it possible to provide realistic imagery integrating the notion of telemetry of obstacles in the scene.
    Another embodiment of rolling and anti-collision aid equipment is illustrated by the schematic top view of FIG. 2a. In this equipment 1 ', also embedded in the wing 2 and avionics fuselage bay 3, the echo detection process is no longer performed at the end of wing 20 in the detector 14, as in the previous example , but in an echo detection box 14 'inserted in the avionics bay 3.
    In this example, the optical transmission splitter 13 is deported in the avionics bay 3 and the beam of optical fiber illumination Fe is concentrated in a spindle 19 to transmit the pulses to the wing 2. A near the wing tip 20, the optical illumination fibers are distributed so that each of these Fe fibers is coupled to a lens L1 of the optical system 12 to emit a laser illumination Fi in a given direction.
    After reflection of the laser illuminations Fi on an obstacle, such as the transport carriage 4 (FIG. 1), the echoes Er are transmitted to a beam of reception optical fibers Fr, each of these fibers Fr being also coupled to a lens L1. The reception fibers Fr are thus spatially distributed on the optical system 12 in a manner similar to the illumination optical fiber beam Fe.
    The reception fiber bundle Fr is grouped to be routed, via the protection zone 19, to the avionics bay 3. In a manner similar to the emission, but inversely according to the principle of the return of light, the reception fibers Fr are exploded out of the spindle 19 to be optically coupled to a reception optical splitter 13 'used as reception optical concentrator. This optical reception splitter 13 'is coupled to the echo detection unit 14' via a transmission optical fiber F2.
    In this example, the digital processing unit 15 receives obstacle location signals from the detection unit 14 'and the aircraft displacement data transmitted by the avionics unit 16, and then transmits information from cross-security to the display system 17, as in the previous example. In addition, the processing unit 15 controls the optical splitters 13 and 13 'via a controller 30, in order to synchronize the start and acquisition phases of the obstacle location information as a function of the data received.
    According to a variant of rolling and anti-collision assistance equipment illustrated in FIG. 2b under the reference numeral 1 ", the optical transmission 13 and reception 13 'distribution units as well as the controller 30 are integrated in FIG. In these conditions, the wing 2 houses the optical part of the equipment 1 "and the avionic bay 3 the signal processing part of this equipment 1". This architecture no longer uses the spindle 19 of the example of FIG. 2a because the splitters 13 and 13 'are then sufficiently close to the optical system 12. A spatial distribution pole 31 of the optical fibers of illumination Fe and of reception Fr is provided instead of the spindle 19.
    With reference to the perspective view of FIG. 3, the taxiing airplane 10 is equipped, at the end of the wings 20, with on-board equipment for taxi assistance and anticollision 1, Y or 1 "according to one of the preceding examples. The airplane 10 traveling on the ground 40 then locates in its environment and thanks to these equipment 1, 1 'or 1 ", a transporter carriage 4 as an unexpected obstacle, then provides information to the pilots to correct its path for avoid the obstacle 4.
    The invention is not limited to the examples described and shown. For example, the equipment 1, 1 'or 1 "can also be implanted on the nose (radome) 101 and on the tail fin 102 of the aircraft 10 (see FIG.
    权利要求:
    Claims (13)
    [1" id="c-fr-0001]
    A method of assisting the rolling and anti-collision of a moving vehicle, in particular of an airplane (10) on the ground (40), in which an information of position and distance of obstacles (4) in a vehicle environment is obtained, according to a laser pulse emission step (I), by a distributed laser telemetry (11) coupled to a fiber optic illumination (Fe) by laser pulse transmission (I) , pulse distribution (13) and orientation in multiple directions of these pulses (I) defining an illumination field aperture (Ci) of the environment via an optical interface (12), then a step of receiving feedback from emitted laser pulses (I) in the form of echoes (Er) reflected by the obstacles (4), and a step of processing the received echoes (14; 14 ') in connection with vehicle movement information transmitted by a central unit of data (16) in order to display (17) information Obstacle location data mations.
    [2" id="c-fr-0002]
    2. A method of assisting the rolling and anti-collision according to claim 1, wherein during the receiving step, the detection of echoes is performed near the optical interface (12).
    [3" id="c-fr-0003]
    3. A method of assisting the rolling and anti-collision according to claim 1, wherein, in the receiving step, the detection of the reflected echoes is performed after transmission by a fiber optic reception (Fr) echoes received , this receiving fiber optic (Fr) being coupled to the optical interface (12) in a manner similar to the fiber optic illumination (Fe).
    [4" id="c-fr-0004]
    A method of assisting taxiing and collision avoidance according to any one of the preceding claims, wherein the transmission between the reception of the echoes (14) and the place of their processing (15) is ensured at least partially by conversion. echoes received in radiofrequency signals then by reconversion into electrical signals.
    [5" id="c-fr-0005]
    5. A method of assisting the rolling and anti-collision according to any one of the preceding claims, wherein the illumination of the field (Ci) carried out by laser telemetry is correlated with a visualization of the field of view carried out by an imaging ( 18) sensitive in the ranges of visible / near infrared and far infrared radiation for day and night vision.
    [6" id="c-fr-0006]
    6. On-board rolling and anti-collision assistance equipment (1, 1 ', 1 ") of a vehicle traveling in an environment likely to contain obstacles (4), in particular an aircraft (10) on the ground (40), and adapted to implement the method according to any one of the preceding claims, characterized in that it comprises a laser rangefinder (11) coupled to at least one optical fiber (F1) for transmitting laser pulse (I), itself coupled to an optical system for interfacing with the environment (12) via an optical transmission splitter (13) coupled, at the output, to an illumination optical fiber beam ( Fe) distributed spatially on the optical system (12) so as to cover an illumination field (Ci) ranging from a few degrees to 360 ° in the form of laser illuminations (Fi), and an echo detector (14). 14 ') laser pulses emitted and reflected by the obstacles (4) of the environment ent, this detector being in connection with a processing unit (15) of said echoes (Er), itself connected to a data center (16) relating to the conditions of movement of the vehicle in said environment and to a display system (17) obstacle location data (4).
    [7" id="c-fr-0007]
    7. On-board rolling and anti-collision aid equipment according to the preceding claim, wherein the echo detector (14) is arranged near the optical system (12).
    [8" id="c-fr-0008]
    8. On-board rolling and anti-collision aid equipment according to claim 6, in which the reception of the echoes (Er) is effected by a beam of reception optical fibers (Fr), spatially distributed on the optical system (12). ) in a manner similar to the illumination optical fiber (Fe) beam, said receiving optical fiber bundle (Fr) being optically coupled to a reception optical splitter (13 ') acting as an echo concentrator itself coupled to an echo detection unit (14 ') via an optical transmission fiber (F2).
    [9" id="c-fr-0009]
    9. On-board rolling and anti-collision aid equipment according to claims 7 and 8, in which, in the case where the vehicle is an aircraft (10) including in particular a fuselage (3) and wings (2), the optical transmission splitter (13) and, where appropriate, the optical reception splitter (13 ') are integrated either in the fuselage (3), in particular in an avionics bay, the fiber optic illumination beams ( Fe) and receiving (Fr) are then arranged between the wing (2) and the fuselage (3) in a protective zone (19), or in each wing (2) of the aircraft (10) so that the optical part of the equipment is in the wing (2) and its signal processing part in the fuselage (3) of the aircraft (10).
    [10" id="c-fr-0010]
    10. On-board rolling and anti-collision aid equipment according to the preceding claim, in which, the optical system (12) being installed at the end of the wing (20), a complementary rangefinder for measuring the wing / ground distance in real time is also provided at the end of the wing (20) to correct the fluctuation of wing.
    [11" id="c-fr-0011]
    11. On-board rolling and anti-collision aid equipment according to any one of claims 6 to 10, in which the optical system (12) consists of lenses or groups of lenses (L1) having a converging outer surface. each lens or group of lenses (L1) being coupled to an optical illumination fiber (Fe) and, if appropriate, to a receiving optical fiber (Fr).
    [12" id="c-fr-0012]
    In-vehicle rolling and anti-collision aid equipment according to one of claims 6 to 11, in which the transmission of the echoes (Er) to the processing unit (15) is carried out either by wire connection or by by conversion into radiofrequency signals.
    [13" id="c-fr-0013]
    On-board rolling and anti-collision aid equipment according to one of claims 6 to 12, in which the laser range finder (11) is combined with a visualization camera (18) of equivalent illumination field. of the environment (Ci) and of sensitive sensors in the visible and near-infrared range for day vision and / or in the far-infrared range for night vision by means of field superimposition.
    类似技术:
    公开号 | 公开日 | 专利标题
    WO2017055549A1|2017-04-06|Method and on-board equipment for assisting taxiing and collision avoidance for a vehicle, in particular an aircraft
    US20210080575A1|2021-03-18|Apparatus for acquiring 3-dimensional maps of a scene
    Bijelic et al.2018|A benchmark for lidar sensors in fog: Is detection breaking down?
    CN105393083B|2018-07-13|Ambient enviroment sensing system
    US9234964B2|2016-01-12|Laser radar system and method for acquiring 3-D image of target
    CN111344647A|2020-06-26|Intelligent laser radar system with low-latency motion planning update
    US8494760B2|2013-07-23|Airborne widefield airspace imaging and monitoring
    US10605899B2|2020-03-31|Distributed vehicle LiDAR system
    FR2638544A1|1990-05-04|SYSTEM FOR DETERMINING THE SPATIAL POSITION OF A MOVING OBJECT, PARTICULARLY APPLYING TO THE LANDING OF AIRCRAFT
    US10109074B2|2018-10-23|Method and system for inertial measurement having image processing unit for determining at least one parameter associated with at least one feature in consecutive images
    CN103477278A|2013-12-25|Camera system and method for observing objects at great distances, in particular for monitoring target objects at night, in mist, dust or rain
    CN102621102A|2012-08-01|Method for measuring horizontal visibility based on CCD | laser radar
    US20180081063A1|2018-03-22|Agile Navigation and Guidance Enabled by LIDAR |
    WO2014025428A2|2014-02-13|Light ranging with moving sensor array
    Itzler et al.2017|Geiger-Mode LiDAR: from airborne platforms to driverless cars
    US20180172833A1|2018-06-21|Laser repeater
    WO2019012086A1|2019-01-17|A vision system and method for a vehicle
    Juberts et al.2004|Status report on next-generation LADAR for driving unmanned ground vehicles
    US8050568B2|2011-11-01|Free-space sensor network
    US20150330774A1|2015-11-19|Object detection by whirling system
    US20200150238A1|2020-05-14|Non-interfering long- and short-range lidar systems
    FR2870355A1|2005-11-18|Motor vehicle driving assisting device, has transmitter device with light sources forming geometric pattern and situated on target to be detected, and receiver device with video camera associated to image processing unit
    Gong et al.2016|Research on multi-point monitoring anti-collision system for vehicle auxiliary driving
    US20190257928A1|2019-08-22|Time-Resolved Contrast Imaging for LIDAR
    EP3677928A1|2020-07-08|Electronic device and method for monitoring of a scene around a motor vehicle, associated motor vehicle, transport system and computer program
    同族专利:
    公开号 | 公开日
    US10969492B2|2021-04-06|
    US20180284283A1|2018-10-04|
    FR3041938B1|2018-08-17|
    WO2017055549A1|2017-04-06|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    EP0566027A1|1992-04-14|1993-10-20|CARELLO S.p.A.|A system for monitoring the zone around a vehicle|
    US20030043058A1|2001-09-04|2003-03-06|Jamieson James R.|Distributed laser obstacle awareness system|
    US20140160460A1|2010-11-01|2014-06-12|Advanced Scientific Concepts, Inc.|Flash ladar collision avoidance system|
    US20150269847A1|2011-10-27|2015-09-24|Gulfstream Aerospace Corporation|Systems for avoiding a collision between an aircraft on a ground surface and an obstacle|
    US6163372A|1999-02-09|2000-12-19|Marconi Aerospace Defense Systems Inc.|Fiber optic laser detection and ranging system|
    US20050007257A1|2000-05-11|2005-01-13|Rast Rodger H.|System and method of preventing aircraft wingtip ground incursion|
    US7697125B2|2007-05-11|2010-04-13|Rosemount Aerospace Inc.|Scanning ladar with adjustable operational parameters|
    FR2948463B1|2009-07-22|2011-10-07|Airbus Operations Sas|LIDAR BOOTS BI-MODE|
    US8866322B2|2009-07-29|2014-10-21|Michigan Aerospace Corporation|Atmospheric measurement system|
    FR2965064B1|2010-09-22|2012-10-05|Onera |TELEMETRIC MEASUREMENT USING A HETERODYNE DETECTION LIDAR TYPE DEVICE|
    GB201205563D0|2012-03-29|2012-05-09|Sec Dep For Business Innovation & Skills The|Coordinate measurement system and method|
    US9108739B2|2013-05-03|2015-08-18|The Boeing Company|Taxiing aircraft vicinity visualization system and method|
    US20150206439A1|2014-01-20|2015-07-23|Gulfstream Aerospace Corporation|Ground vehicle warning to indicate presence of an obstacle near an aircraft|
    US9047771B1|2014-03-07|2015-06-02|The Boeing Company|Systems and methods for ground collision avoidance|
    DE112015002088T5|2014-05-02|2017-02-23|Fujifilm Corporation|Distance measuring device, distance measuring method and distance measuring program|
    WO2016030926A1|2014-08-27|2016-03-03|株式会社ニコンビジョン|Shaking correction device and rangefinder|
    US9701424B2|2015-03-31|2017-07-11|Gulfstream Aerospace Corporation|Detachable detection and warning system for an aircraft|US10598789B2|2016-09-29|2020-03-24|Honeywell International Inc.|Mounting a laser transceiver to an aircraft|
    US10453351B2|2017-07-17|2019-10-22|Aurora Flight Sciences Corporation|System and method for detecting obstacles in aerial systems|
    US10217371B1|2017-08-22|2019-02-26|Rosemount Aerospace Inc.|Method and system for aircraft taxi strike alerting using adaptive field of view|
    US10838068B2|2017-11-07|2020-11-17|Textron Innovations, Inc.|Obstacle avoidance system for aircraft|
    法律状态:
    2016-10-13| PLFP| Fee payment|Year of fee payment: 2 |
    2017-04-07| PLSC| Publication of the preliminary search report|Effective date: 20170407 |
    2017-10-26| PLFP| Fee payment|Year of fee payment: 3 |
    2018-10-22| PLFP| Fee payment|Year of fee payment: 4 |
    2019-10-25| PLFP| Fee payment|Year of fee payment: 5 |
    2020-10-23| PLFP| Fee payment|Year of fee payment: 6 |
    2021-09-23| PLFP| Fee payment|Year of fee payment: 7 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1559411A|FR3041938B1|2015-10-02|2015-10-02|METHOD AND ON-ROAD EQUIPMENT FOR AIDING THE ROLLING AND ANTICOLLIZING OF A VEHICLE, IN PARTICULAR AN AIRCRAFT|
    FR1559411|2015-10-02|FR1559411A| FR3041938B1|2015-10-02|2015-10-02|METHOD AND ON-ROAD EQUIPMENT FOR AIDING THE ROLLING AND ANTICOLLIZING OF A VEHICLE, IN PARTICULAR AN AIRCRAFT|
    US15/764,095| US10969492B2|2015-10-02|2016-09-30|Method and on-board equipment for assisting taxiing and collision avoidance for a vehicle, in particular an aircraft|
    PCT/EP2016/073423| WO2017055549A1|2015-10-02|2016-09-30|Method and on-board equipment for assisting taxiing and collision avoidance for a vehicle, in particular an aircraft|
    [返回顶部]