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US 4,646,244 AGranted
Terrain advisory system
AssigneeSundstrand Data Control, Inc.
InventorsCharles D. Bateman, Michael M. Grove
Life of this patent
Estimating the term…
Abstract
A terrain advisory system utilizes stored data representative of terrain and other obstacles in predetermined geographical areas of interest to provide advisory warnings of the proximity of terrain, obstacles and restricted areas as they are approached. When used in a vehicle such as an aircraft, the system monitors the position, altitude, ground speed, ground track and the vertical speed of the vehicle and provides advisory indications of the position and path of travel of the vehicle with respect to obstacles and terrain. Such advisory indications may take the form of voice warnings describing the nature and position of any obstacles, or a visual display showing the position of the obstacles and terrain with respect to the vehicle.
Claims77
A warning system for warning the operator of a vehicle of the location of obstacles in the path of travel, comprising:
- means for storing representations of the locations and physical characteristics of obstacles;
- means for determing the speed, position and direction of travel of said vehicle;
- means responsive to said storing means and to said determining means for defining safe approach boundaries between said vehicle and said obstacles as a function of the location and physical characteristics of said obstacles and for dynamically altering the sizes and shapes of said safe approach boundary as a function of the speed, position and direction of travel of the vehicle with respect to the obstacle;
- and
- means responsive to said determining means and to said defining means for generating a warning when the distance between the vehicle and the obstacle is less than the distance defined by the safe approach boundary.
2 more elements
A warning system for warning the operator of a vehicle of the location of obstacles in the path of travel, comprising:
- means for storing representations of the locations and physical characteristics of obstacles;
- means for determining the speed, position and direction of travel of said vehicle;
- means responsive to said storing means and said determining means for defining safe approach boundaries between said vehicle and said obstacles as a function of the location and physical characteristics of said obstacles and the speed, position and direction of travel of the vehicle;
- and
- means responsive to said determining means and to said defining means for generating a warning when the distance between the vehicle and the obstacle is less than the distance defined by the safe approach boundary;
- wherein said defining means includes means for defining safe approach boundaries around said obstacles and said obstacle is proximated by a cone and wherein said boundaries, f(.theta.), are defined by the equation:
- f(.theta.)=r.sub.o +VT[(90-.theta.)/90]
- wherein:
- r.sub.o =the radius of the cone at the altitude of the vehicle
- V=the velocity of the vehicle
- T=a function of the time to impact
- .theta.=the angle between the path of travel and a straight line segment connecting the coordinates of the vehicle and the center coordinates of the cone.
9 more elements
A warning system for warning the operator of a vehicle of the location of obstacles in the path of travel, comprising:
- means for storing representations of the locations and physical characteristics of obstacles;
- means for determining the speed, position and direction of travel of said vehicle;
- means responsive to said storing means and to said determining means for defining safe approach boundaries between said vehicle and said obstacles as a function of the location and physical characteristics of said obstacles and the speed, position and direction of travel of the vehicle;
- and
- means responsive to said determining means and to said defining means for generating a warning when the distance between the vehicle and the obstacle is less than the distance defined by the safe approach boundary;
- wherein said defining means includes means for defining safe approach boundaries around said obstacles and said obstacle is approximated by a cone and wherein said boundaries, f(.theta.), are defined by the equation:
- f(.theta.)=r.sub.o +VT[(90-.theta.)/90].sup.2
- wherein:
- r.sub.o =the radius of the cone at the altitude of the vehicle
- V=the velocity of the vehicle
- T=a function of the time to impact
- .theta.=the angle between the path of travel and a straight line segment connecting the coordinates of the vehicle and the center coordinates of the cone.
9 more elements
A warning system for warning the operator of a vehicle of the location of obstacles in the path of travel, comprising:
- means for storing representations of the locations and physical characteristics of obstacles;
- means for determining the speed, position and direction of travel of said vehicle;
- means responsive to said storing means and to said determining means for defining safe approach boundaries between said vehicle and said obstacles as a function of the location and physical characteristics of said obstacles and the speed, position and direction of travel of the vehicle;
- and
- means responsive to said determining means and to said defining means for generating a warning when the distance between the vehicle and obstacle is less than the distance defined by the safe approach boundary;
- wherein said defining means includes means for defining safe approach boundaries around said obstacles and said obstacle is approximated by a cone and wherein said boundaries, f(.theta.), are defined by the equation:
- f(.theta.)=r.sub.o +VT[90-.theta./90].sup.1/2
- wherein:
- r.sub.o =the radius of the cone at the altitude of vehicle
- V=the velocity of the vehicle
- T=a function of the time to impact
- .theta.=the angle between the path of travel and a straight line segment connecting the coordinates of the vehicle and the center coordinates of the cone.
9 more elements
A warning system for warning the operator of a vehicle of the location of obstacles in the path of travel, comprising:
- means for storing representations of the locations and physical characteristics of obstacles;
- means for determining the speed, position and direction of travel of said vehicle;
- means responsive to said storing means and to said determining means for defining safe approach boundaries between said vehicle and said obstacles as a function of the location and physical characteristics of said obstacles and the speed, position and direction of travel of the vehicle;
- and
- means responsive to said determining means and to said defining means for generating a warning when the distance between the vehicle and the obstacle is less than the distance defined by the safe approach boundary;
- wherein said defining means includes means for defining safe approach boundaries around said obstacles and said obstacle is approximated by a cone and wherein said boundaries, f(.theta.), are defined by the equation:
- f(.theta.)=r.sub.o +VT COS .theta.
- wherein:
- r.sub.o =the radius of the cone at the altitude of the vehicle
- V=the velocity of the vehicle
- T=a function of the time to impact
- .theta.=the angle between the path of travel and a straight line segment connecting the coordinates of the vehicle and the center coordinates of the cone.
9 more elements
A warning system for warning the operator of a vehicle of the location of obstacles near the path of travel, comprising:
- means for storing representations of the locations and physical characteristics of obstacles, said representations being stored as predetermined standard shapes and the locations and sizes thereof;
- means for determining the speed, position and direction of travel of the vehicle and altering the shapes and sizes of said predetermined standard shapes as a function of speed, position and direction of travel of the vehicle to generate altered shapes;
- and
- means for providing an indication when the vehicle enters one of said altered shapes.
1 more element
A warning system for warning the operator of a vehicle of the location of obstacles near the path of travel, comprising:
- means for storing representations of the locations and physical characteristics of obstacles, said representations being stored as predetermined standard shapes and the locations and sizes thereof;
- means for determining the speed, position and direction of travel of the vehicle and altering shapes and sizes of said predetermined standard shapes as a function of speed, position and direction of travel of the vehicle to generate altered shapes;
- and
- means for providing an indication when the vehicle enters one of said altered shapes;
- wherein the physical characteristics of an obstacle is approximated by a cone and wherein said boundaries, f(.theta.), are defined by the equation:
- f(.theta.)=r.sub.o +VT[(90-.theta.)/90]
- wherein:
- r.sub.o =the radius of the cone at the altitude of the vehicle
- V=the velocity of the vehicle
- T=a function of the time to impact
- .theta.=the angle between the path of travel and a straight line segment connecting the coordinates of the vehicle and the center coordinates of the cone.
8 more elements
A warning system for warning the operator of a vehicle of the location of obstacles near the path of travel, comprising:
- means for storing representations of the locations and physical characteristics of obstacles, said representations being stored as predetermined standard shapes and the locations and sizes thereof;
- means for determining the speed, position and direction of travel of the vehicle and altering the shapes and sizes of said predetermined standard shapes as a function of speed, position and direction of the travel of the vehicle to generate altered shapes;
- and
- means for providing an indication when the vehicle enters one of said altered shapes;
- wherein the physical characteristics of an obstacle are approximated by a cone and wherein said boundaries, f(.theta.), are defined by the equation:
- f(.theta.)=r.sub.o +VT[(90-.theta.)/90].sup.2
- wherein:
- r.sub.o =the radius of the cone at the altitude of the vehicle
- V=the velocity of the vehicle
- T=a function of the time to impact
- .theta.=the angle between the path of travel and a straight line segment connecting the coordinates of the vehicle and the center coordinates of the cone.
8 more elements
A warning system for warning the operator of a vehicle of the location of obstacles near the path of travel, comprising:
- means for storing representations of the locations and physical characteristics of obstacles, said representations being stored as predetermined standard shapes and the locations and sizes thereof;
- means for determining the speed, position and direction of travel of the vehicle and altering the shapes and sizes of said predetermined standard shapes as a function of speed, position and direction of travel of the vehicle to generate altered shapes;
- and
- means for providing an indication when the vehicle enters one of said altered shapes;
- wherein the physical characteristics of an obstacle is approximated by a cone and wherein said boundaries, f(.theta.), are defined by the equation:
- f(.theta.)=r.sub.o +VT[90-.theta./90].sup.1/2
- wherein:
- r.sub.o =the radius of the cone at the altitude of the vehicle
- V=the velocity of the vehicle
- T=a function of the time to impact
- .theta.=the angle between the path of travel and a straight line segment connecting the coordinates of the vehicle and the center coordinates of the cone.
8 more elements
A warning system for warning the operator of a vehicle of the location of obstacles near the path of travel, comprising:
- means for storing representations of the locations and physical characteristics of obstacles, said representations being stored as predetermined standard shapes and the locations and sizes thereof;
- means for determining the speed, position and direction of travel of the vehicle and altering the shapes and sizes of said predetermined standard shapes as a function of speed, position and direction of travel of the vehicle to generate altered shapes;
- and
- means for providing an indication when the vehicle enters one of said altered shapes;
- wherein the physical characteristics of an obstacle is approximated by a cone and wherein said boundaries, f(.theta.), are defined by the equation:
- f(.theta.)=r.sub.o +VT COS .theta.
- wherein:
- r.sub.o =the radius of the cone at the altitude of the vehicle
- V=the velocity of the vehicle
- T=a function of the time to impact
- .theta.=the angle between the path of travel and a straight line segment connecting the coordinates of the vehicle and the center coordinates of the cone.
8 more elements
A warning system for providing a warning to the operator of a vehicle a predetermined time prior to a projected impact with an obstacle, comprising:
- means for storing data representative of the location and boundaries of the obstacles;
- means for determining the velocity, direction of travel and position of the vehicle;
- means responsive to said data storing means and to said determining means for defining warning boundaries between the vehicle and said obstacles, said warning boundaries being a function of the location and boundaries of said obstacles and the velocity of said vehicle said boundary defining means including means for dynamically altering the shapes of said warning boundaries as a function of the direction of travel of the vehicle with respect to the obstacle;
- and
- means for generating a warning when one of said boundaries is penetrated.
2 more elements
A warning system for providing a warning to the operator of a vehicle a predetermined time prior to the projected impact with an obstacle, comprising:
- means for storing data representative of the location and boundaries of obstacles;
- means for determining the velocity and position of the vehicle;
- means responsive to said data storing means and said determining means for defining warning boundaries between the vehicle and said obstacles, said warning boundaries being a function of location and boundaries of said obstacles and the position and velocity of said vehicle;
- and
- means for generating a warning when one of said warning boundaries is penetrated;
- wherein said defining means includes means for defining safe approach boundaries around said obstacles and said obstacle is approximated by a cone and wherein said boundaries, f(.theta.), are defined by the equation:
- f(.theta.)=r.sub.o +VT[(90-.theta.)/90]
- wherein:
- r.sub.o =the radius of the cone at the altitude of the vehicle
- V=the velocity of the vehicle
- T=a function of the time to impact
- .theta.=the angle between the path of travel and a straight line segment connecting the coordinates of the vehicle and the center coordinates of the cone.
9 more elements
A warning system for providing a warning to the operator of a vehicle a predetermined time prior to a projected impact with an obstacle, comprising:
- means for storing data representative of the location and boundaries of obstacles;
- means for determining the velocity and position of the vehicle;
- means responsive to said data storing means and said determining means for defining warning boundaries between the vehicle and said obstacles, said warning boundaries being a function of location and boundaries of said obstacles and the position and the velocity of said vehicle;
- and
- means for generating a warning when one of said warning boundaries is penetrated;
- wherein said defining means includes means for defining safe approach boundaries around said obstacles and said obstacle is approximated by a cone and wherein said boundaries, f(.theta.), are defined by the equation:
- f(.theta.)=r.sub.o +VT[(90-.theta.)/90].sup.2
- wherein:
- r.sub.o =the radius of the cone at the altitude of the vehicle
- V=the velocity of the vehicle
- T=a function of the time to impact
- .theta.=the angle between the path of travel and a straight line segment connecting the coordinates of the vehicle and the center coordinates of the cone.
9 more elements
A warning system for providing a warning to the operator of a vehicle a predetermined time prior to the projected impact with an obstacle, comprising:
- means for storing data representative of the location and boundaries of obstacles;
- means for determining the velocity and position of the vehicle;
- means responsive to said data storing means and said determining means for defining warning boundaries between the vehicle and said obstacles, said warning boundaries being a function of the location and boundaries of said obstacles and the position and velocity of said vehicle;
- and
- means for generating a warning when one of said warning boundaries is penetrated;
- wherein said defining means includes means for defining safe approach boundaries around said obstacles and said obstacle is approximated by a cone and wherein said boundaries, f(.theta.), are defined by the equation:
- f(.theta.)=r.sub.o +VT[90-.theta./90].sup.1/2
- wherein:
- r.sub.o =the radius of the cone at the altitude of the vehicle
- V=the velocity of the vehicle
- T=a function of the time to impact
- .theta.=the angle between the path of travel and a straight line segment connecting the coordinates of the vehicle and the center coordinates of the cone.
9 more elements
A warning system for providing a warning to the operator of a vehicle a predetermined time prior to a projected impact with an obstacle, comprising:
- means for storing data representative of the location and boundaries of obstacles;
- means for determining the velocity and position of the vehicle;
- means responsive to said data storing means and said determining means for defining warning boundaries between the vehicle and said obstacles, said warning boundaries being a function of the location and boundaries of said obstacles and the position and velocity of said vehicle;
- and
- means for generating a warning when one of said warning boundaries is penetrated;
- wherein said defining means includes means for defining safe approach boundaries around said obstacles and said obstacle is approximated by a cone and wherein said boundaries, f(.theta.), are defined by the equation:
- f(.theta.)=r.sub.o +VT cos [ COS ].theta.
- wherein:
- r.sub.o =the radius of the cone at the altitude of the vehicle
- V=the velocity of the vehicle
- T=a function of the time to impact
- .theta.=the angle between the path of travel and a straight line segment connecting the coordinates of the vehicle and the center coordinates of the cone.
9 more elements
A warning system for warning the operator of a vehicle of the location of restricted areas in the path of travel, comprising:
- means for storing representations of the locations of restricted areas;
- means for determining the speed, position and direction of travel of said vehicle;
- means responsive to said storing means and to said determining means for defining dynamic safe approach boundaries between said vehicle and said restricted areas as a function of the location of said restricted areas and the speed and direction of travel of the vehicle and for altering said dynamic safe approach boundary as a function of the position and direction of travel of the vehicle with respect to the restricted area;
- and
- means responsive to said determining means and to said defining means for generating a warning when the distance between the vehicle and the restricted area is less than the distance defined by the safe approach boundary.
2 more elements
Dependencies are inferred from the claim text.