Design and Implementation of a Precision Three-Dimensional Binocular Image Tracker for Departing Aircraft

Abstract

Abstract This dissertation presents the result of the conceptualization, design and implementation of a new, novel and low cost Binocular Tracking System for departing Aircraft. This system is a unique design due to the commercial off-the-shelf (COTS) components used and the distinct modular algorithms developed for the implementation of tracking aircraft. Recent economic pressures and changing Federal Aviation Administration (FAA) regulations have raised serious concern that obstacle clearance requirements are not being met on commercial aircraft departure. Moreover, local airport procedures do not always align with the requirements for Terminal Instrument Procedures (TERPs) established by the FAA. The flight track data collected by this system is being used by the FAA to assess the magnitude of the problem and determine steps to align airport and TERPs procedures, while also mitigating obstacle clearance violations and thus the risk of departing aircraft encountering an obstacle. Each of the binocular tracking systems uses three cameras. One camera is directed towards the runway, initializes the tracking algorithms, and identifies the type of aircraft. The other two cameras form the binocular tracking system. These dual cameras are aligned in a vergent stereo configuration across the departure path to provide the maximum overlap in the field of view to produce a superior depth resolution. The modular tracking algorithms allow a large volume of tracking data to be accumulated that provides the FAA information on departing aircraft. This dissertation discusses the details of the binocular tracking system’s conceptualization, design, and implementation, including hardware and software development of the tracking system. This dissertation also includes system setup, data collection, processing and error analysis of the system’s performance in the field.