# US 2019/0170871 A1 · Airborne Wind Profiling Portable Radar System and Method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0170871 A1 - Document ID: US20190170871A1 - Status: Published application - Kind: A1 - Application number: 16/197,873 - Filed: 2018-11-21 - Published: 2019-06-06 - Earliest claimed: 2017-11-22 - Assignees: Foster-Miller, Inc. - Applicants: Foster-Miller, Inc. - Inventors: Mark Henderson; Marshall Bradley - Web page: https://patentgrep.com/patent/US20190170871A1 ## CPC - G01S 13/953: {mounted on aircraft} - G01C 21/1652: {with ranging devices, e.g. LIDAR or RADAR} - G01S 7/40: Means for monitoring or calibrating - G01S 13/584: {adapted for simultaneous range and velocity measurements} - G01S 13/589: {measuring the velocity vector} - G01S 13/86: Combinations of radar systems with non-radar systems, e.g. sonar, direction finder - G01W 1/02: Instruments for indicating weather conditions by measuring two or more variables, e.g. humidity, pressure, temperature, cloud cover or wind speed (G01W1/10 takes precedence) - Y02A 90/10: Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - G01W: METEOROLOGY (radar, sonar, lidar or analogous systems, designed for meteorological use G01S13/95, G01S15/88, G01S17/95) - Y02A: TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE ## Abstract An airborne wind profiling portable radar (AWiPPR) system comprising a mobile airborne platform including one or more navigation units configured to produce navigation data including at least the position and orientation of the mobile airborne platform. A radar unit is mounted and positioned to the mobile airborne platform, the radar unit is configured to transmit a wide-band frequency modulated continuous wave radar signal in a downward direction from the mobile airborne platform towards the ground and configured to continuously receive a reflected signal from a plurality of clear air scatters (CAS) targets or volumetric targets and output radar data. An inertial measurement unit (IMU) in communication with the one or more navigation units and the radar unit is configured to receive the navigation data and determine the position and orientation of the radar at a specific point in time and output IMU data. A data acquisition unit in communication with the radar unit and the is configured to receive and time align radar data and the IMU data for each reflected signal from each of the plurality of CAS targets or volumetric targets to provide an antenna pointing direction for each received reflected signal. The data acquisition unit is configured to process the time aligned radar data and IMU data to determine a distance and a Doppler velocity of each of the plurality of CAS targets or volumetric targets, provide a range, a velocity, and an antenna pointing direction for each of the plurality of CAS targets or volumetric targets, and calculate a vector wind velocity using the range, the velocity, and the antenna pointing direction for each of the plurality of CAS targets or volumetric scatters targets, The data acquisition unit may be configured to further correct the range, the velocity, and/or the antenna pointing direction of each of the plurality of CAS targets or volumetric targets to accommodate for a motion shift in data produced by one or more on a relative motion and orientation of the mobile airborne platform, a Doppler spread in the range, the velocity and/or the antenna pointing direction, and a ground echo. ## Claims ### Claim 1 An airborne wind profiling portable radar (A WiPPR) system comprising: a mobile airborne platform including one or more navigation units configured to produce navigation data including at least the position and orientation of the mobile airborne platform; a radar unit mounted and positioned to the mobile airborne platform, the radar unit configured to transmit a wide-band frequency modulated continuous wave radar signal in a downward direction from the mobile airborne platform towards the ground and configured to continuously receive a reflected signal from each of a plurality of clear air scatters (CAS) targets or volumetric targets and output radar data; an inertial measurement unit (IMU) in communication with the one or more navigation units and the radar unit configured to receive the navigation data and determine the position and orientation of the radar at a specific point in time and output IMU data; a data acquisition unit in communication with the radar unit and the configured to receive and time align radar data and the IMU data for each reflected signal from each of the plurality of CAS targets or volumetric targets to provide an antenna pointing direction for each received reflected signal; wherein the data acquisition unit is configured to process the time aligned radar data and IMU data to determine a distance and a Doppler velocity of each of the plurality of CAS targets or volumetric targets, provide a range, a velocity, and an antenna pointing direction for each of the plurality of CAS targets or volumetric targets, and calculate a vector wind velocity using the range, the velocity, and the antenna pointing direction for each of the plurality of CAS targets or volumetric scatters targets; and wherein the data acquisition unit is configured to further correct the range, the velocity, and/or the antenna pointing direction of each of the plurality of CAS targets or volumetric targets to accommodate for a motion shift in data produced by one or more of: a relative motion and orientation of the mobile airborne platform, a Doppler spread in the range, the velocity and/or the antenna pointing direction, and a ground echo. ### Claim 2 (depends on 1) The system of claim 1 in which a motion shift in the range, the velocity, and the antenna pointing direction does not include a Doppler wrap and wherein the navigation unit is configured to generate a navigation correction for each reflected signal by adding a speed of the mobile airborne platform provided by the one or more navigation units to the determined Doppler velocity for each of the plurality of CAS targets or volumetric targets and rotating the range, the velocity, and the antenna pointing direction into a coordinate system centered beneath the mobile airborne platform. ### Claim 3 (depends on 1) The system of claim 1 wherein the data acquisition unit is responsive to sparseness of the plurality of CAS targets, shifts in the position of the mobile airborne platform over a predetermined measurement window, and navigation correction applied to a set of reflected signals from the plurality of CAS targets or volumetric targets and the data acquisition unit is configured to infer a Doppler field vector for each of the plurality of CAS targets or volumetric targets as a set of three coupled cubic splines derived from the measured Doppler velocity data for the plurality of CAS targets or volumetric using a non-parametric function estimation. ### Claim 4 (depends on 3) The system of claim 3 wherein the data acquisition unit is configured to generate a vector wind field from the set of three coupled cubic splines by: representing the second derivative of the cubic splines as a piecewise continuous linear function (f(z)); integrating the function twice to yield a cubic polynomial producing a plurality of pivot points of the cubic splines, wherein the function (f(z)) must pass through the pivot points and be zero at the first and last pivot points such that the cubic splines are natural splines; determining a plurality of unknown spline ordinate points from the altitude and velocity data obtained by the data acquisition unit, wherein a minimum spline abscissa value is equal to the minimum altitude and velocity data values, and wherein a maximum spline abscissa value is equal to the maximum altitude and velocity data values, wherein the abscissa of the altitude and velocity data lies in an abscissa interval of the cubic splines, and wherein the ordinate points represent the velocity of the unknown wind field; wherein such the abscissa intervals are determined by ensuring that all abscissa intervals contain equal amounts of information; and wherein such that the relationship between the observed velocity data and the cubic splines is given by: VNdxi=ANd×3Nf3N where V is the vector of the obtained velocity data, N is the number of data points, f is the vector of a set of cubic spline coefficients, A is an information matrix, and Af is a cubic spline model. ### Claim 5 (depends on 4) The wind-profiling radar system of claim 4 wherein the data acquisition unit further fits the cubic spline model Af to the obtained velocity data V using a least-squares technique. ### Claim 6 (depends on 4) The wind-profiling radar system of claim 4 wherein the data acquisition unit further minimizes a difference between the obtained velocity data V and the cubic spline model Af by obtaining a maximum likelihood estimate of f. ### Claim 7 (depends on 1) The wind-profiling radar system of claim 1 wherein the data acquisition unit determines a required minimum slant distance of the radar unit relative to the ground from the reflected signal that yields a maximum allowable return signal into the radar unit before the performance of the radar unit is reduced to saturation or compression. ### Claim 8 (depends on 7) The wind-profiling radar system of claim 7 wherein the data acquisition unit is configured to determine the required incidence angle using a Beckman and Spizzichino model. ### Claim 9 (depends on 7) The wind-profiling radar system of claim 7 wherein a pointing angle of the radar unit relative to the mobile airborne platform is adjustable and wherein the radar unit adjusts the pointing angle of the radar unit based on the determined required incidence angle. ### Claim 10 (depends on 9) The wind-profiling radar system of claim 9 wherein the pointing angle of the radar unit is pointed at an angle relative to a normal to the ground of greater than about 0° and less than about 90°. ### Claim 11 (depends on 1) The wind-profiling radar system of claim 1 wherein the data acquisition unit is further configured to estimate the wind vector velocity by: selecting a plurality of measurements containing a CAS target or volumetric target and determining a slant distance and Doppler velocity of a ground echo from each; performing the required coordinate transformations such that the distance and Doppler velocity of the ground echo are at zero distance and velocity; and extracting a slant distance and Doppler vector wind velocity for each of the CAS targets or volumetric targets in the plurality of measurements above a fixed signal-to-noise threshold; and converting the slant distance to an altitude above ground level using the navigation data from the one or more navigation units. ### Claim 12 (depends on 11) The wind-profiling radar system of claim 11 wherein the data acquisition unit is further configured to minimize the chi-square sum between the measured wind vector velocities and the estimated wind vector velocities by a gradient search technique. ### Claim 13 (depends on 1) The wind-profiling radar system of claim 1 wherein the radar unit transmits with a sweep width configured to match the back-scattering characteristics of the plurality of CAS targets or volumetric targets. ### Claim 14 (depends on 13) The wind-profiling radar system of claim 13 wherein the sweep widths range from about 6 MHz to about 200 MHz. ### Claim 15 (depends on 1) The wind-profiling radar system of claim 1 wherein the radar unit transmits in a waveform selected from one or more of: linear frequency modulated (FM) waveform, a phase coded waveform, or non-linear FM waveform. ### Claim 16 (depends on 1) The wind-profiling radar system of claim 1 wherein the radar unit is configured to transmit at a carrier frequency in the Ka band. ### Claim 17 (depends on 1) The wind-profiling radar system of claim 1 wherein the radar unit is configured to convert the wide-band frequency modulated continuous wave radar signal to a Ka band and filter and amplify the Ka band signal prior to transmission thereof. ### Claim 18 (depends on 1) The wind-profiling radar system of claim 1 wherein the radar unit is configured to receive the reflected signal from each of the plurality of CAS targets or volumetric targets, amplify the received signal, down-convert the received signal to a baseband received signal, and filter and amplify the received signal. ### Claim 19 (depends on 18) The wind-profiling radar system of claim 18 wherein the down-conversion is homodyne single side band. ### Claim 20 (depends on 18) The wind-profiling radar system of claim 18 wherein the down-conversion is homodyne and is dual side band. ### Claim 21 (depends on 1) The wind-profiling radar system of claim 1 wherein the radar unit includes one or more antennas. ### Claim 22 A method of determining a vector wind velocity as a function of altitude above the ground on a mobile airborne platform, the method comprising: providing navigation data including at least positioning and orientation of the mobile airborne platform; transmitting a wide band frequency modulated continuous wave radar signal in a downward direction from the mobile airborne platform towards the ground; continuously receiving a reflected signal from each of a plurality of clean air scatter (CAS) targets or volumetric targets and outputting radar data; determining the position and orientation of a radar unit mounted and positioned on the mobile airborne platform at a specific point in time and outputting position and orientation data; time aligning the radar data with the position and orientation data for each reflected signal from each of the plurality of CAS targets or volumetric targets to provide an antenna pointing direction for each of the plurality of CAS targets or volumetric scatters targets; processing the timed aligned radar data and position and orientation data to determine a distance and Doppler velocity for each of the plurality of CAS targets or volumetric targets and provide a range, a velocity, and an antenna pointing direction for each of the plurality of CAS targets or volumetric targets and calculating a vector wind velocity using the range, the velocity, and the antenna pointing direction for each of the plurality of CAS targets or volumetric targets; and further correcting the range, the velocity, and/or the antenna pointing direction of each of the plurality of CAS targets or volumetric targets to accommodate for a motion shift in the data produced by one or more of: a relative motion in orientation of the mobile airborne platform, a Doppler spread in the range, the velocity, and/or the antenna pointing direction and a ground echo. ### Claim 23 (depends on 22) The method of claim 22 in which a shift in the range, the velocity, and the antenna pointing direction does not include a Doppler wrap and further including generating a navigation correction for each reflected signal by adding a speed of the mobile airborne platform to the determined Doppler velocity for each of the plurality of CAS targets or volumetric targets and rotating the range, the velocity, and the antenna pointing direction into a coordinate system centered beneath the airborne platform. ### Claim 24 (depends on 22) The method of claim 22 further including detecting sparseness of the plurality of CAS targets, shifts in position of the mobile airborne platform over a predetermined measurement window and navigation correction applied to a set of reflected signals from the plurality of CAS targets and inferring a Doppler field vector for each of the plurality of CAS targets or volumetric targets as a set of three cubic splines derived from the measured Doppler velocity data for the plurality of CAS targets or volumetric scatters targets using a non-parametric function estimation. ### Claim 25 (depends on 24) The method of claim 24 further including generating a vector field from each of a set of cubic splines by: representing the second derivative of the cubic splines as a piecewise continuous linear function (f(z)); integrating the function twice to yield a cubic polynomial producing a plurality of pivot points of the cubic splines, wherein the function (f(z)) must pass through the pivot points and be zero at the first and last pivot points such that the cubic splines are natural splines; determining a plurality of unknown spline ordinate points from the altitude and velocity data obtained by the data acquisition unit, wherein a minimum spline abscissa value is equal to the minimum altitude and velocity data values, and wherein a maximum spline abscissa value is equal to the maximum altitude and velocity data values, wherein the abscissa of the altitude and velocity data lies in an abscissa interval of the cubic splines, and wherein the ordinate points represent the velocity of the unknown wind field; wherein such that the abscissa intervals are determined by ensuring that all abscissa intervals contain equal amounts of information; wherein such that the relationship between the observed velocity data and the cubic splines is given by: VNd×i=ANd×3Nf3N where V is the vector of the obtained velocity data, N is the number of data points, f is the vector of a set of cubic spline coefficients, A is an information matrix, and Af is a cubic spline model. ### Claim 26 (depends on 25) The method of claim 25 further including fitting the cubic spline model of Af to obtain the velocity data using a least squares technique. ### Claim 27 (depends on 24) The method of claim 24 further including minimizing the difference between the obtained velocity data V and the cubic spline model Af by obtaining a maximum likelihood estimate of f. ### Claim 28 (depends on 22) The method of claim 22 further including determining a required minimum slant distance of a radar unit disposed on the mobile airborne unit relative to the ground from the reflected signal that yields a maximum allowable signal return before a performance of the radar unit is reduced to saturation or compression. ### Claim 29 (depends on 28) The method of claim 28 further including determining the required incidence angle using a Beckman and Spizzichino model. ### Claim 30 (depends on 27) The method of claim 27 further including providing a pointing angle of the radar unit relative to the mobile airborne platform that is adjustable and the radar unit adjusts a pointing angle of the radar unit based on the determined required incidence angle. ### Claim 31 (depends on 30) The method of claim 30 wherein the pointing angle of the radar unit is pointed at an angle relative to a normal to the ground of greater than about 0° and less than about 90°. ### Claim 32 (depends on 22) The method of claim 22 further including estimating the vector wind velocity by: selecting a plurality of measurements containing a CAS target or volumetric scatter target and determining a slant distance and Doppler velocity of a ground echo from each; performing the required coordinate transformations such that the distance and Doppler velocity of the ground echo are at zero distance and velocity; extracting a slant distance and Doppler vector wind velocity for each of the CAS targets in the plurality of measurements above a fixed signal-to-noise threshold; and converting the slant distance to an altitude above ground level using the navigation data from the one or more navigation units. ### Claim 33 (depends on 32) The method of claim 32 further including minimizing the Chi-square sum between the measured wind vector velocity and the estimated wind vector velocity by a gradient search technique. ### Claim 34 (depends on 22) The method of claim 22 in which the wide-band frequency modulated continuous wave radar signal transmits with a sweep width configured to match the back-scattering characteristics of the CAS targets or volumetric targets. ### Claim 35 (depends on 34) The method of claim 34 in which the sweep widths are in the range of about 6 MHz to about 200 MHz. ### Claim 36 (depends on 22) The method of claim 22 in which the wide-band frequency modulated continuous wave radar signal includes one or more of linear frequency modulated (FM) waveform, a phase coded waveform, or non-linear (FM) waveform. ### Claim 37 (depends on 22) The method of claim 22 in which the wide-band frequency modulated continuous wave radar signal transmits a carrier frequency in the Ka band. ### Claim 38 (depends on 22) The method of claim 22 further including converting the wide-band frequency modulator continuous wave radar signal to a Ka band, filtering and amplifying the Ka band prior to transmission thereof. ### Claim 39 (depends on 22) The method of claim 22 further including receiving the reflected signal from each of the plurality of CAS targets or volumetric scatters targets, amplifying the received signal, down converting the received signal to a base band received signal and filtering and amplifying the received signal. ### Claim 40 (depends on 39) The method of claim 39 wherein the down conversion is a homodyne single side band. ### Claim 41 (depends on 38) The method of claim 38 wherein the down conversion is a homodyne and is a dual side hand.