# US 12,111,160 B2 · Method and apparatus for navigation planning > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,111,160 B2 - Document ID: US12111160B2 - Status: Granted - Kind: B2 - Application number: 17/485,513 - Filed: 2021-09-27 - Published: 2022-12-15 - Granted: 2024-10-08 - Earliest claimed: 2021-06-15 - Assignees: Furuno Electric Co., Ltd. - Applicants: Furuno Electric Co., Ltd. - Inventors: Masato Okuda; Shinji Ishihara - Web page: https://patentgrep.com/patent/US12111160B2 ## CPC - G01C 21/203: {specially adapted for water-borne vessels} - B63B 49/00: Arrangements of nautical instruments or navigational aids (nautical measuring instruments G01C; radio navigation, analogous arrangements using other waves G01S) - G01C 21/04: by terrestrial means (G01C21/24, G01C21/26 take precedence) - 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) - B63B: SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING (arrangements of vessel ventilation, heating, cooling, or air-conditioning B63J2/00; floating substructures as supports of dredgers or soil-shifting machines E02F9/06) ## Abstract A navigation planning method and apparatus comprising a chart data receiving terminal configured to receive a chart data including position information of one or a plurality of targets; a waypoint receiving terminal configured to receive a plurality of waypoints including a latest waypoint for a navigation route of a movable body; a potential waypoint receiving terminal configured to receive a potential waypoint being movable on the chart; and processing circuitry configured to: determine a position of the potential waypoint as a next waypoint following the latest waypoint, the potential waypoint being movable, wherein the potential waypoint is determined by: receive a current position data of the potential waypoint; receive position information of the plurality of targets located within a predetermined distance from the current position of the potential waypoint; calculate an angle between a first bar and a second bar on the chart, wherein the first bar is to connect the latest waypoint with the potential waypoint and the second bar is to connect the potential waypoint with the plurality of targets; and output an activating signal when the calculated angle is equal to a predetermined value. ## Claims ### Claim 1 A navigation planning apparatus comprising: a display; and processing circuitry configured to: display a chart on the display; receive chart data, the chart data including position information of a target; display the target on the chart based on the position information of the target; receive a plurality of waypoints, including a latest waypoint, of a navigation route of a movable body that has the navigation planning apparatus installed therein; display the plurality of waypoints of the navigation route on the chart; receive and display a potential waypoint as a next waypoint that potentially follows the latest waypoint in the navigation route, the displayed potential waypoint being movable by a user on the chart; determine and display a position of the potential waypoint while moving the potential waypoint on the chart; while the user is moving the potential waypoint on the chart, calculate an angle between a first bar and a second bar that are displayed on the chart, wherein the first bar connects the latest waypoint with the potential waypoint that is being moved on the chart, and the second bar connects the potential waypoint that is being moved on the chart with the target; when the calculated angle is equal to a predetermined value, output an activating signal; and change the display of the first and second bars based on the activating signal. ### Claim 2 (depends on 1) The navigation planning apparatus of claim 1, wherein the predetermined value is equal to 90 degrees. ### Claim 3 (depends on 1) The navigation planning apparatus of claim 1, wherein the processing circuitry is further configured to: generate a waypoint fix signal upon receiving the activating signal; and based on the waypoint fix signal, add the potential waypoint to the navigation route that is displayed on the chart. ### Claim 4 (depends on 1) The navigation planning apparatus of claim 1, wherein the movable body is a water vessel or an aircraft, the navigation route is a corresponding water or air navigation route, and the target comprises a stationery object on land. ### Claim 5 (depends on 4) The navigation planning apparatus of claim 4, wherein the display of the target comprises a plurality of concentric half circles arranged around the target to indicate a corresponding plurality of distances from the target. ### Claim 6 (depends on 1) The navigation planning apparatus of claim 1, wherein the display of the potential waypoint comprises a plurality of concentric circles arranged around the potential waypoint to indicate a corresponding plurality of distances from the potential waypoint. ### Claim 7 (depends on 1) The navigation planning apparatus of claim 1, wherein, the processing circuitry is further configured to display, on the chart, first and second circles along with an intersection point of the first and second circles, wherein the first circle is a circle having a diameter of a line connecting the target and the latest waypoint, and the second circle is a circle having a radius of a given distance around the target. ### Claim 8 (depends on 1) The navigation planning apparatus of claim 1, wherein the target is displayed on the chart when the position information of the target indicates that the target is located within a predetermined distance from the current position of the potential waypoint. ### Claim 9 (depends on 8) The navigation planning apparatus of claim 8, wherein the processing circuitry is further configured to calculate and display a distance between the target and the potential waypoint when the calculated angle is equal to 90 degrees. ### Claim 10 (depends on 8) The navigation planning apparatus of claim 8, wherein the processing circuitry is further configured to change one or more of color, contrast, thickness or aspect of the first bar or the second bar based on the activation signal. ### Claim 11 (depends on 8) The navigation planning apparatus of claim 8, wherein the display of the position of the potential waypoint includes a display of a circle, and wherein a circumference of the circle connects the potential waypoint with the target. ### Claim 12 (depends on 8) The navigation planning apparatus of claim 8, wherein the display is configured to display a plurality of concentric half circles around the target. ### Claim 13 (depends on 8) The navigation planning apparatus of claim 8, wherein, the processing circuitry is further configured to display first and second circles, part or all of each, wherein the first circle is a circle having a diameter of a line connecting the target and the latest waypoint, and the second circle is a circle having a radius of a given distance around the target, and the processing circuitry further configured to output an intersection position of the first and second circles. ### Claim 14 (depends on 8) The navigation planning apparatus of claim 8, wherein the display is one or more of a touch screen display or an Electronic Chart Display Information System (ECDIS) configured to receive at least one of a touch based input or a mouse based input. ### Claim 15 A navigation planning method performed by a navigation planning apparatus having a display, the navigation planning method comprising displaying a chart on the display; receiving chart data, wherein the chart data includes position information of a target; displaying the target on the chart based on the position information of the target; receiving a plurality of waypoints including a latest waypoint for a navigation route of a movable body that has the navigation planning apparatus installed therein; displaying the plurality of waypoints of the navigation route on the chart; receiving and displaying a potential waypoint as a next waypoint that potentially follows the latest waypoint in the navigation route, the displayed potential waypoint being movable by a user on the chart; and determining and displaying a position of the potential waypoint while moving the potential waypoint on the chart; while the user is moving the potential waypoint on the chart, calculating an angle between a first bar and a second bar that are displayed on the chart, wherein the first bar connects the latest waypoint with the potential waypoint that is being moved on the chart, and the second bar connects the potential waypoint that is being moved on the chart with the target; when the calculated angle is equal to 90 degrees, outputting an activating signal; and changing the display of the first and second bars based on the activating signal. ### Claim 16 (depends on 15) The navigation planning method of claim 15, further comprising: generating, a waypoint fix signal upon receiving the activating signal; and based on the waypoint fix signal, adding the potential waypoint to the navigation route. ### Claim 17 (depends on 15) The navigation planning method of claim 15, wherein the movable body is a water vessel or an aircraft, the navigation route is a corresponding water or air navigation route, and the target comprises a stationery object on land. ### Claim 18 (depends on 15) The navigation planning method of claim 15, further comprising: displaying, on the chart, first and second circles along with an intersection point of the first and second circles; and wherein first circle is a circle having a diameter of a line connecting the target and the latest waypoint, and the second circle is a circle having a radius of a given distance around the target. ### Claim 19 A non-transitory computer readable medium storing instructions that, when executed by one or more processors, cause a computing apparatus to operate as a navigation planning apparatus and to perform a method that comprises: displaying a chart on a display; receiving chart data, wherein the chart data includes position information of a target; displaying the target on the chart based on the position information of the target; receiving a plurality of waypoints including a latest waypoint for a navigation route of a movable body that has the navigation planning apparatus installed therein; displaying the plurality of waypoints of the navigation route on the chart; receiving and displaying a potential waypoint as a next waypoint that potentially follows the latest waypoint in the navigation route, the displayed potential waypoint being movable by a user on the chart; and determining and displaying a position of the potential waypoint while moving the potential waypoint on the chart; while the user is moving the potential waypoint on the chart, calculating an angle between a first bar and a second bar that are displayed on the chart, wherein the first bar connects the latest waypoint with the potential waypoint that is being moved on the chart, and the second bar connects the potential waypoint that is being moved on the chart with the target; when the calculated angle is equal to 90 degrees, outputting an activating signal; and changing the display of the first and second bars based on the activating signal.