PRINCIPLES OF VISION-ENABLED AUTONOMOUS

ISBN-13: 9781510646148 / Miękka / 2021

SANDERS-REED

Spis treści

• Preface
• Glossary
• 1. Introduction
• References
• 2. Autonomous Flight Tasks
• 2.1 VEAF Tasks
• 2.1.1 Taxi
• 2.1.2 Takeoff
• 2.1.3 En-route navigation
• 2.1.4 Obstacle avoidance
• 2.1.5 Landing
• 2.1.6 Formation flight and A3R
• 2.2 Required Vision System Capabilities
• 2.2.1 Surface evaluation
• 2.2.2 Pose relative to other vehicles and structures
• 2.2.3 Detect and track resolved objects on the ground
• 2.2.4 Detect and track unresolved moving objects
• 2.2.5 Geo-location without GPS
• 2.2.6 Measure distance traveled
• 2.2.7 Real-time 3D mapping
• 2.2.8 Terrain avoidance
• 2.2.9 Detect runways and taxiways
• 2.2.10 Detect and interpret colored lights
• 2.2.11 Detect and read standard airport signage
• 2.2.12 Other capabilities
• 2.3 Tasks and Capabilities Summary
• 2.4 Operating Environment and Common Dimensions
• References
• 3. Sensing Requirements
• 3.1 Taxi
• 3.2 Takeoff
• 3.3 En-Route Flight
• 3.4 Obstacle Avoidance
• 3.4.1 Airborne detect and avoid
• 3.4.2 Terrain and obstacle avoidance
• 3.5 Landing
• 3.6 Formation Flight
• 3.7 Sensor Requirements Summary
• References
• 4. Sensing Systems
• 4.1 Human Vision
• 4.2 Sensor Technologies
• 4.2.1 Wavebands and phenomenology
• 4.2.2 Sensors
• 4.2.3 Lidar
• 4.2.4 Radar
• 4.2.5 Other sensors
• 4.2.6 Sensor summary
• References
• 5. Processing and Architectures
• 5.1 Architecture
• 5.2 Data Volumes
• 5.3 Greyscale Management
• 5.4 Compression
• 5.5 Latency
• 5.6 Metadata
• 5.7 Sensor Formats
• 5.8 Range Estimation
• 5.9 Multisensor Systems
• 5.10 Multiuse Sensors
• 5.11 Detection and Tracking
• 5.12 Summary
• References
• 6. Algorithms
• 6.1 Terminology
• 6.2 Certification and Qualification
• 6.3 Stereo and Triangulation
• 6.4 Relative Pose
• 6.5 3D Mapping and Surface Evaluation
• 6.6 Airborne Detect and Avoid
• 6.7 Ground-Based Detection and Tracking
• 6.8 Terrain and Obstacle Avoidance
• 6.9 Detect Runways and Taxiways
• 6.10 Geo-Location/GPS-Denied Navigation
• 6.11 Docking
• 6.12 Landing Lights
• 6.13 Odds and Ends
• References
• 7. Relevant Historical Aviation Accidents
• 7.1 Midair Collision: Failure of DAA
• 7.2 Ground Ops Collision: DVE
• 7.3 CFIT: DVE (Night), (Human) Input Error
• 7.4 Obstacle Collision in Low-Level Flight: DVE
• 7.5 Landing Collision: DVE
• 7.6 Crash due to Debris: Vision System (Human) Resolution Too Low
• 7.7 Vision (and Human Experience) Recovers Mechanical Failure: Miracle on the Hudson
• 7.8 One More Note on Safety: Cross-Checks for Integrity
• References
• Appendix: Triangulation Theory and Coordinate Transformations
• A.1 Basic Triangulation Equations
• A.2 Triangulation Accuracy
• A.3 Maximum Triangulation Range
• A.4 Computing LOS to Target
• A.5 Valiation and Coordinate Systems
• A.6 Rotation Conventions and Matrices
• A.7 MBPE
• References 111
• Index