Method, apparatus and computer program products for alerting submersible vessels to hazardous conditions
AssigneeHoneywell International Inc.
InventorsDave Michaelson, Ratan Khatwa, Jeanne C. Suchodolski
Life of this patent
Estimating the term…
Abstract
A navigational system for submersible vessels that provides warning of impending grounding occurrences. A data base of bottom contours and submerged obstructions is compared to various indicators of the submersible vessel's position and motion to provide alerts and to display bottom hazards ahead of the vessel.
Claims133
An apparatus for alerting the crew of a submerged vessel of proximity to terrain, said apparatus comprising:
- an input for receiving signals representative of a position, speed, and a path angle of the vessel, and coupled to a data base of stored terrain information;
- an output;
- and
- an signal processing device coupled to said input and said output, for
- defining a look ahead distance as a function of the speed of the vessel;
- defining a first alert envelope indicative of a first level of terrain proximity alert, wherein boundaries of the first alert envelope are determined as a first function of the position path angle, and look ahead distance;
- defining a second alert envelope indicative of a second level of terrain proximity alert, wherein boundaries of the second alert envelope are determined as a second function of the position path angle, and look ahead distance;
- and
- outputting an alert signal when a subset of the stored terrain information is located within the boundaries of at least one of the first and second alert envelopes.
A method for alerting the crew of a submerged vessel of proximity to terrain comprising the steps of:
- accessing a database of terrain information;
- receiving signals representative of a position, speed, and a path angle of the vessel;
- defining a look ahead distance as a function of the speed of the vessel;
- defining a first alert envelope indicative of a first level of terrain proximity alert, wherein boundaries of the first alert envelope are determined as a first function of the position path angle, and look ahead distance;
- defining a second alert envelope indicative of a second level of terrain proximity alert, wherein boundaries of the second alert envelope are determined as a second function of the path angle, look ahead distance, and the terrain floor boundary;
- and
- outputting an alert signal when a subset of the stored terrain information is located within the boundaries of at least one of the first and second alert envelopes.
A computer program product for alerting the crew of a submerged vessel of proximity to terrain, wherein the computer program product comprises:
- a computer readable storage medium having computer readable program code means embodied in said medium, said computer-readable program code means comprising:
- first computer instruction means for accessing a database of terrain information;
- second computer instruction means for receiving signals representative of a position, speed, and a path angle of the vessel;
- third computer instruction means for defining a look ahead distance as a function of the speed of the vessel;
- fourth computer instruction means for defining a first alert envelope indicative of a first level of terrain proximity alert, wherein boundaries of the first alert envelope are determined as a first function of the position path angle, and look ahead distance;
- fifth computer instruction means for defining a second alert envelope indicative of a second level of terrain proximity alert, wherein boundaries of the second alert envelope are determined as a second function of the position path angle, and look ahead distance;
- and
- sixth computer instruction means for outputting an alert signal when a subset of the stored terrain information is located within the boundaries of at least one of the first and second alert envelopes.
An apparatus for generating terrain proximity alerts for use in a submerged vessel, said apparatus comprising an alert generator that generates an envelope with respect to the vessel and having a lower boundary based on a depth of said vessel and extending outwardly along a path vector of the vessel, wherein said alert generator compares the envelope to terrain proximate to the vessel and generates alerts if the proximate terrain penetrates the envelope.
A method for generating terrain proximity alerts for use in a submerged vessel, said method comprising the steps of:
- generating an envelope with respect to the vessel wherein said envelope has a volume and has a lower boundary based on a depth of said vessel and extends outwardly along a path vector of said vessel;
- comparing the envelope to terrain proximate to the vessel;
- and
- providing alerts if the proximate terrain penetrates the envelope.
A computer program product for generating terrain proximity alerts for use in a submerged vessel, wherein the computer program product comprises:
- a computer readable storage medium having computer readable program code means embodied in said medium, said computer-readable program code means comprising:
- first computer instruction means for generating an envelope with respect to the vessel having a lower boundary extending outwardly along a path vector of the vessel;
- second computer instruction means for comparing the envelope to terrain proximate to the vessel;
- and
- third computer instruction means for providing alerts if the proximate terrain penetrates the envelope.
An apparatus for alerting the crew of a submerged vessel of proximity to terrain comprising:
- an input adapted to receive signals indicative of a depth below keel;
- an output;
- and
- a signal processing device, coupled to said input and said output, for comparing a rate of change of said depth below keel with a predetermined rate and outputting an alert signal when said predetermined rate is exceeded.
A method for alerting the crew of a submerged vessel of proximity to terrain comprising the steps of:
- (a) sensing a depth below keel;
- (b) determining a rate of change of said depth below keel;
- and
- (c) asserting an alert when said rate of change of said depth below keel exceeds a predetermined value.
A computer program product for alerting the crew of a submerged vessel of proximity to terrain comprising:
- a computer readable storage medium having computer readable program code means embodied in said medium, said computer readable program code means having:
- a first computer instruction means for generating a signal indicative of a rate of change of a depth below keel of the vessel;
- a second computer instruction means for comparing said rate of change to a predetermined value;
- and
- a third computer instruction means for providing alerts if said rate of change exceeds said predetermined value.
A system for alerting the crew of a submersed vessel of a potentially hazardous condition comprising:
- a terrain database;
- a signal processing device coupled to said terrain data base and having;
- (a) an input adapted to receive signals indicative of a depth of said vessel and a position of said vessel;
- (b) an output;
- (c) wherein said signal processing device compares said depth of said vessel to terrain information stored in said terrain data base at least in a region proximate said vessel and according so a predetermined criterion, and outputs an alert when a potentially hazardous condition is detected;
- and
- (d) wherein said signal processing device outputs an alert when a rate of change of said depth exceeds a predetermined rate.
A method for alerting the crew of a submerged vessel to a potentially hazardous condition, the method comprising the steps of:
- (a) defining a protection envelope having a finite volume;
- (b) retrieving terrain data from a terrain data base;
- and
- (c) comparing said terrain data to said protection envelope and outputting an alert when said terrain data penetrates said protection envelope.
A method to verify points of intended movement of a submerged vessel are free of potential collision hazardous comprising the steps of:
- (a) identifying the points of intended movement;
- (b) comparing a depth of said vessel along said points of intended movement to terrain information stored in a terrain database at least in a region proximate said points of intended movement and according to a predefined criterion;
- (c) providing an alert signal when a collision hazard is identified according to said predefined criterion along said points of intended movement.
An apparatus for strategically identifying potential collision hazards along points of intended movement on a submerged vessel comprising:
- an input for receiving signals representative of said points of intended movement, and coupled to a data base of stored terrain information;
- an output;
- and
- a signal processing device coupled to said input and said output, for
- comparing a depth of said vessel along said points of intended movement to terrain information stored in said terrain database at least in a region proximate to said points of intended movement;
- determining, according to a predetermined criterion, whether a collision hazard exists along said points of intended movement;
- and
- asserting an alert signal when said collision hazard is determined to exist.
A computer program product for identifying potential collision hazards along points of intended movement of a submerged vessel comprising:
- a computer readable storage medium having computer readable program code means embodied in said medium, said computer-readable program code means comprising:
- first computer instruction means for receiving signals representative of points of intended movement of the vessel;
- second computer instruction means for accessing a database of terrain information;
- and
- third computer instruction means for determining, according to a predetermined criterion, whether a collision hazard exists along said points of intended movement and for asserting an alert signal when said collision hazard is determined to exist.
A method for assisting the crew of a submerged vessel in avoiding a grounding incident comprising the steps of:
- accessing a database of terrain information;
- receiving signals representative of a position, speed, and one of a projected track or path angle of the vessel;
- defining a protection envelope with respect to the vessel;
- comparing said protection envelope to terrain proximate said vessel;
- determining an avoidance maneuver when said terrain penetrates said protection envelope;
- and
- outputting an avoidance guidance signal based an said avoidance maneuver.
An apparatus for assisting the crew of a submerged vessel in avoiding a grounding incident comprising:
- an input for receiving signals representative of a speed and one of a projected track or path angle of the vessel, and coupled to a data base of stored terrain information;
- an output;
- and
- a signal processing device coupled to said input and said output, for
- defining a protection envelope with respect to the vessel;
- comparing said protection envelope to terrain proximate said vessel;
- determining an avoidance maneuver when said terrain penetrates said protection envelope;
- and
- outputting an avoidance guidance signal based on said avoidance maneuver.
A computer program product for assisting the crew of a submerged vessel to avoid a grounding incident comprising:
- a computer readable storage medium having computer readable program code means embodied in said medium, said computer-readable program code means comprising:
- first computer instruction means for accessing a database of terrain information;
- a second computer instruction means for defining a protection envelope with respect to the vessel;
- a third computer instruction means for comparing said protection envelope to terrain proximate said vessel;
- a fourth computer instruction means for determining an avoidance maneuver when said terrain penetrates said protection envelope, and
- a fifth computer instruction means for outputting an avoidance guidance signal based on said avoidance maneuver.
Dependencies are inferred from the claim text.