Detection of Airport Runway Edges using Line Detection Techniques

Airport runway detection is a vital aspect for both military and commercial applications. An algorithm to extract runway edges based on edge detection and line detection techniques is discussed. The runway images are initially enhanced by dilation, thresholding and edge detection. Based on some unique characteristics like the runway being gray with two white lines indicating the runway boundaries, long and continuous edges of the runway are considered to be straight lines. The straight lines are detected using Convolution operators pertaining to vertical, 45° or -45° lines. Hough Transform is then applied to fit only the pair of lines corresponding to the runway boundaries in certain orientations. The test results prove that combination of Convolution and Hough transform is very competent in detecting runway edges accurately

Airport surface operations requirements analysis

This report documents the results of the Airport Surface Operations Requirements Analysis (ASORA) study. This study was conducted in response to task 24 of NASA Contract NAS1-18027. This study is part of NASA LaRC's Low Visibility Surface Operations program, which is designed to eliminate the constraints on all-weather arrival/departure operations due to the airport/aircraft ground system. The goal of this program is to provide the capability for safe and efficient aircraft operations on the airport surface during low visibility conditions down to zero. The ASORA study objectives were to (1) develop requirements for operation on the airport surface in visibilities down to zero; (2) survey and evaluate likely technologies; (3) develop candidate concepts to meet the requirements; and (4) select the most suitable concept based on cost/benefit factors

Aeronautical Engineering: A special bibliography with indexes, supplement 55

This bibliography lists 260 reports, articles, and other documents introduced into the NASA scientific and technical information system in February 1975

Aeronautical Engineering: A special bibliography with indexes, supplement 48

This special bibliography lists 291 reports, articles, and other documents introduced into the NASA scientific and technical information system in August 1974

Investigation of advanced navigation and guidance system concepts for all-weather rotorcraft operations

Results are presented of a survey conducted of active helicopter operators to determine the extent to which they wish to operate in IMC conditions, the visibility limits under which they would operate, the revenue benefits to be gained, and the percent of aircraft cost they would pay for such increased capability. Candidate systems were examined for capability to meet the requirements of a mission model constructed to represent the modes of flight normally encountered in low visibility conditions. Recommendations are made for development of high resolution radar, simulation of the control display system for steep approaches, and for development of an obstacle sensing system for detecting wires. A cost feasibility analysis is included

Detection of Obstacles in Monocular Image Sequences

The ability to detect and locate runways/taxiways and obstacles in images captured using on-board sensors is an essential first step in the automation of low-altitude flight, landing, takeoff, and taxiing phase of aircraft navigation. Automation of these functions under different weather and lighting situations, can be facilitated by using sensors of different modalities. An aircraft-based Synthetic Vision System (SVS), with sensors of different modalities mounted on-board, complements the current ground-based systems in functions such as detection and prevention of potential runway collisions, airport surface navigation, and landing and takeoff in all weather conditions. In this report, we address the problem of detection of objects in monocular image sequences obtained from two types of sensors, a Passive Millimeter Wave (PMMW) sensor and a video camera mounted on-board a landing aircraft. Since the sensors differ in their spatial resolution, and the quality of the images obtained using these sensors is not the same, different approaches are used for detecting obstacles depending on the sensor type. These approaches are described separately in two parts of this report. The goal of the first part of the report is to develop a method for detecting runways/taxiways and objects on the runway in a sequence of images obtained from a moving PMMW sensor. Since the sensor resolution is low and the image quality is very poor, we propose a model-based approach for detecting runways/taxiways. We use the approximate runway model and the position information of the camera provided by the Global Positioning System (GPS) to define regions of interest in the image plane to search for the image features corresponding to the runway markers. Once the runway region is identified, we use histogram-based thresholding to detect obstacles on the runway and regions outside the runway. This algorithm is tested using image sequences simulated from a single real PMMW image

Low-cost vision sensors and integrated systems for unmanned aerial vehicle navigation

A novel low cost navigation system based on Vision Based Navigation (VBN) and other avionics sensors is presented, which is designed for small size Unmanned Aerial Vehicle (UAV) applications. The main objective of our research is to design a compact, light and relatively inexpensive system capable of providing the required navigation performance in all phases of flight of a small UAV, with a special focus on precision approach and landing, where Vision Based Navigation (VBN) techniques can be fully exploited in a multisensory integrated architecture. Various existing techniques for VBN are compared and the Appearance-based Navigation (ABN) approach is selected for implementation. Feature extraction and optical flow techniques are employed to estimate flight parameters such as roll angle, pitch angle, deviation from the runway and body rates. Additionally, we address the possible synergies between VBN, Global Navigation Satellite System (GNSS) and MEMS-IMU (Micro-Electromechanical System Inertial Measurement Unit) sensors and also the use of Aircraft Dynamics Models (ADMs) to provide additional information suitable to compensate for the shortcomings of VBN and MEMS-IMU sensors in high-dynamics attitude determination tasks. An Extended Kalman Filter (EKF) is developed to fuse the information provided by the different sensors and to provide estimates of position, velocity and attitude of the UAV platform in real-time. Two different integrated navigation system architectures are implemented. The first uses VBN at 20 Hz and GPS at 1 Hz to augment the MEMS-IMU running at 100 Hz. The second mode also includes the ADM (computations performed at 100 Hz) to provide augmentation of the attitude channel. Simulation of these two modes is performed in a significant portion of the AEROSONDE UAV operational flight envelope and performing a variety of representative manoeuvres (i.e., straight climb, level turning, turning descent and climb, straight descent, etc.). Simulation of the first integrated navigation system architecture (VBN/IMU/GPS) shows that the integrated system can reach position, velocity and attitude accuracies compatible with CAT-II precision approach requirements. Simulation of the second system architecture (VBN/IMU/GPS/ADM) also shows promising results since the achieved attitude accuracy is higher using the ADM/VBS/IMU than using VBS/IMU only. However, due to rapid divergence of the ADM virtual sensor, there is a need for frequent re-initialisation of the ADM data module, which is strongly dependent on the UAV flight dynamics and the specific manoeuvring transitions performed

Low-cost navigation and guidance systems for unmanned aerial vehicles - part 1: Vision-based and integrated sensors

In this paper we present a new low-cost navigation system designed for small size Unmanned Aerial Vehicles (UAVs) based on Vision-Based Navigation (VBN) and other avionics sensors. The main objective of our research was to design a compact, light and relatively inexpensive system capable of providing the Required Navigation Performance (RNP) in all phases of flight of a small UAV, with a special focus on precision approach and landing, where Vision Based Navigation (VBN) techniques can be fully exploited in a multisensor integrated architecture. Various existing techniques for VBN were compared and the Appearance-Based Approach (ABA) was selected for implementation. Feature extraction and optical flow techniques were employed to estimate flight parameters such as roll angle, pitch angle, deviation from the runway and body rates. Additionally, we addressed the possible synergies between VBN, Global Navigation Satellite System (GNSS) and MEMS-IMU (Micro-Electromechanical System Inertial Measurement Unit) sensors, as well as the aiding from Aircraft Dynamics Models (ADMs)

Assessing the Axis 221 Camera Onboard the UTSI Piper Navajo to Capture Manatee Images

Researchers in Florida are attempting to improve the methods of collecting data for manatee population surveys. Standard line-transect survey methods are not appropriate for the narrow warm-water aggregations sites where these surveys are to take place. Researchers hope to obtain population estimates at three warm-water manatee refuge sites: TECO (Tampa Electric Company), FPL (Florida Power Plant, Cape Canaveral), and the Three Sisters Sanctuary (Crystal River) The purpose of this study was to determine whether or not the Axis 221 Camera onboard the UTSI Piper Navajo is adequate for obtaining suitable images for use in population estimates. In order for the system to be determined useful, the flight tests must show that the following criteria is met. First, the video system must be capable of capturing images with sufficient quality to distinguish and count manatees while flying within the given parameters. Second, the flight team and equipment must be capable of flying the necessary flight paths while capturing the required area. Third, the aircraft and team must be capable of flying the desired flight paths in a timely manner, to accommodate for manatee behavior and time at surface. And finally, the system must be capable of capturing surface temperature. The last two criteria (timeliness and surface temperature) are necessary information for researchers to determine a detection probability. The data collected during two local flight tests was analyzed to assess the video system and flight team. Flight test one collected video of a parking lot and runway using objects of known size to estimate video quality. Surface temperature was also collected. Flight test two collected video over a waterway to assess the cameras field of view and the timeliness of the mission. Results indicated the flight team and video system will be sufficient for a future Florida mission at an altitude of 300 meters (about 1,000 ft)

Aeronautical Engineering: A special bibliography with indexes, Supplement 35, September 1973

This special bibliography lists 614 reports, articles, and other documents introduced into the NASA scientific and technical information system in August 1973