Obstacle avoidance system

• US 10,176,723 B2
• Filed: 05/14/2018
• Issued: 01/08/2019
• Est. Priority Date: 09/09/2016
• Status: Active Grant

• Current Assignee: Garmin International, Inc. (Garmin Limited)
• Original Assignee: Garmin International, Inc. (Garmin Limited)
• Inventors: Gadgil, Anup A., Komer, Joseph L.
• Primary Examiner(s): Goldman, Richard A
• Application Number:
  US15/979,172
• Publication Number:
  US 20180293903A1
• Time in Patent Office: 239 Days
• Field of Search: 701 3, 701300, 701120, 701 23, 701 7, 701 17, 701 24, 701121, 701301, 342 29, 342 30, 342 5, 340945, 340931
• CPC Class Codes: B64D 43/00 Arrangements or adaptations of instruments arrangements of cameras B64D47/08; aeronautical measuring instruments per se G01C
• CPC Class Codes: B64D 43/02 for indicating aircraft speed or stalling conditions
• CPC Class Codes: B64D 45/00 Aircraft indicators or protectors not otherwise provided for camouflage F41H3/00
• CPC Class Codes: B64D 45/08 optical
• CPC Class Codes: B64D 47/08 Arrangements of cameras
• CPC Class Codes: G01C 23/00 Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
• CPC Class Codes: G06F 3/00 Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
• CPC Class Codes: G08G 5/0021 located in the aircraft
• CPC Class Codes: G08G 5/0052 for cruising combined instruments indicating more than one navigational value G01C23/00
• CPC Class Codes: G08G 5/0078 for monitoring traffic from the aircraft radar or analogous systems specially adapted for traffic control G01S13/91
• CPC Class Codes: G08G 5/04 Anti-collision systems
• CPC Class Codes: G08G 5/045 Navigation or guidance aids, e.g. determination of anti-collision manoeuvers radar or analogous systems specially adapted for anti-collision between aircraft G01S13/933

Abstract

An obstacle avoidance system is provided to assist a pilot in avoiding obstacles. The obstacle avoidance system includes a set of proximity sensors and a pilot interface device. The set of proximity sensors detects nearby obstacles by emitting a signal and receiving a reflected signal from an obstacle. A processor receives an obstacle indication from the set of proximity sensors and detects the obstacle that is in proximity to the aircraft based at least in part on the reflected signal. The processor acquires a distance and a direction to the obstacle and calculates a threat level posed by the obstacle. The pilot interface device is operable to display the following: an ownship icon indicative of the aircraft, a velocity vector icon indicative of a velocity vector of the aircraft, and an obstacle graphic indicative of the distance, direction, and threat level of the obstacle.

Claims

1. An obstacle avoidance system operable to detect and display obstacles in proximity to an aircraft, the obstacle avoidance system comprising:

a display;

a communications element operable to receive an obstacle indication from one or more proximity sensors associated with the aircraft during flight of the aircraft, the aircraft having one or more rotor blades generating lift to hover and move the aircraft through the air in any direction,

wherein the obstacle indication is associated with a signal reflected from an obstacle;

a processor coupled with the display and the communications element, the processor operable to;

acquire a distance and a direction to the obstacle from the aircraft based upon the obstacle indication,

determine a threat level posed by the obstacle to the aircraft,

determine an obstacle display including an ownship icon and an obstacle graphic indicative of the distance and the direction to the obstacle from the aircraft and a breadth of the obstacle, the obstacle graphic including a threat indication based upon the determined threat level posed to the aircraft by the obstacle, and

control the display to present the determined obstacle display;

wherein breadth of the obstacle indicated by annular arc-width associated with the breadth of the obstacle.

2. The obstacle avoidance system of claim 1, wherein the processor is further operable to:

determine a velocity vector icon indicative of movement of the aircraft in a direction,

determine a projected-position indication that is indicative of a projected location of the aircraft after a time lapse, and

control the display to present the velocity vector icon and the projected-position indication.

3. The obstacle avoidance system of claim 1, wherein the processor is further operable to determine a front side of the obstacle based on the obstacle indication received from the one or more proximity sensors.

4. The obstacle avoidance system of claim 1, wherein the processor is further operable to determine endpoints of the obstacle and determine the breadth of the obstacle based on the endpoints.

5. The obstacle avoidance system of claim 4, wherein the endpoints of the obstacle are determined based upon the obstacle indication received from the one or more proximity sensors.

6. The obstacle avoidance system of claim 4, wherein the processor is further operable to identify multiple sides of the obstacle based on the obstacle indication received from the one or more proximity sensors.

7. The obstacle avoidance system of claim 1, wherein the obstacle graphic has a location and width corresponding to the location of the obstacle relative to the aircraft, and wherein the processor is further operable to scale the location and width of the obstacle graphic based on the determined distance and direction to the obstacle from the aircraft.

8. An obstacle avoidance system operable to detect and display obstacles in proximity to an aircraft, the obstacle avoidance system comprising:

a display;

a communications element operable to receive an obstacle indication from one or more proximity sensors associated with the aircraft during flight of the aircraft, the aircraft having one or more rotor blades generating lift to hover and move the aircraft through the air in any direction,

wherein the obstacle indication is associated with a signal reflected from an obstacle;

a processor coupled with the display and the communications element, the processor operable to;

acquire an altitude of the obstacle and a distance and a direction to the obstacle from the aircraft based upon the obstacle indication,

determine an altitude of the aircraft,

determine an obstacle display including an ownship icon and an obstacle graphic indicative of the distance and the direction to the obstacle from the aircraft and a breadth of the obstacle, the obstacle graphic including a relative altitude indication configured to indicate whether the obstacle is above or below the aircraft, and

control the display to present the determined obstacle display;

wherein breadth of the obstacle indicated by annular arc-width associated with the breadth of the obstacle.

9. The obstacle avoidance system of claim 8, wherein the processor is further operable to:

determine a velocity vector icon indicative of movement of the aircraft in a direction,

determine a projected-position indication that is indicative of a projected location of the aircraft after a time lapse, and

control the display to present the velocity vector icon and the projected-position indication.

10. The obstacle avoidance system of claim 8, wherein the processor is further operable to determine a front side of the obstacle based on the obstacle indication received from the one or more proximity sensors.

11. The obstacle avoidance system of claim 8, wherein the processor is further operable to determine endpoints of the obstacle and determine the breadth of the obstacle based on the endpoints.

12. The obstacle avoidance system of claim 11, wherein the endpoints of the obstacle are determined based upon the obstacle indication received from the one or more proximity sensors.

13. The obstacle avoidance system of claim 11, wherein the processor is further operable to identify multiple sides of the obstacle based on the obstacle indication received from the one or more proximity sensors.

14. The obstacle avoidance system of claim 8, wherein the obstacle graphic has a location and width corresponding to the location of the obstacle relative to the aircraft, and wherein the processor is further operable to scale the location and width of the obstacle graphic based on the determined distance and direction to the obstacle from the aircraft.