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A coordinate transformation algorithm for FOD detection system of airport runway

The necessity of coordinate transformation between radar and optical camera is analyzed for the automatic foreign object debris detection system of runway with hybrid detection mode of millimeter wave radars and optical cameras. In order to maximize the use of the existing airport data and simplify the subsequent calibration process, a rectangular coordinate system is established with the center of the runway’s central circle as the origin. Then, based on the self-built rectangular coordinate system, the realization process of the coordinate transformation algorithm for foreign objects target and the operation method in the process of engineering implementation are introduced. An actual engineering test was carried out in an airport. Finally, the conversion accuracy was analyzed. The test results verified the validity and accuracy of the coordinate transformation algorithm, and the transformation results can also be used as navigation data for cleanup works of foreign object debris.