Obstacle avoidance system

• US 10,176,724 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:
  US15/979,244
• Publication Number:
  US 20180268725A1
• Time in Patent Office: 239 Days
• 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, and

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

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 an evasive maneuver path along which the aircraft may travel to avoid colliding with the obstacle and reduce a threat level presented to the aircraft by the obstacle,

determine an obstacle display including an ownship icon, an obstacle graphic indicative of the distance and the direction to the obstacle from the aircraft, and the determined evasive maneuver path, and

control the display to present the determined obstacle display.

2. The obstacle avoidance system of claim 1, wherein processor is further configured to determine an altitude of the aircraft, an altitude of the obstacle, and a clearance distance between the aircraft and the obstacle, and wherein the determined evasive maneuver path is a recommendation to change the aircraft altitude based on the determined clearance distance between the aircraft and the obstacle.

3. The obstacle avoidance system of claim 1, wherein processor is further configured to determine an attitude of the aircraft, and wherein the determined evasive maneuver path is a recommendation to change the aircraft attitude based on the determined aircraft attitude and the distance and the direction to the obstacle.

4. The obstacle avoidance system of claim 1, wherein processor is further configured to determine a heading of the aircraft, and wherein the determined evasive maneuver path is a recommendation to change the aircraft heading based on the determined aircraft heading and the distance and the direction to the obstacle.

5. The obstacle avoidance system of claim 1, wherein the processor is further operable to determine flight characteristics for the aircraft and a projected landing location based on the determined flight characteristics.

6. The obstacle avoidance system of claim 1, wherein the processor is further operable to determine a threat level posed by the obstacle to the aircraft, and wherein the determined evasive maneuver path reduces the determined threat level.

7. The obstacle avoidance system of claim 1, wherein the one or more proximity sensors are oriented laterally, and wherein the determined distance and direction to the obstacle from the aircraft is during low-altitude flight of the aircraft.

8. The obstacle avoidance system of claim 1, wherein the one or more proximity sensors are oriented downward, and wherein the determined distance and direction to the obstacle from the aircraft is during flight of the aircraft.

9. The obstacle avoidance system of claim 1, further comprising a user interface operable to receive selection of the obstacle graphic by a pilot, wherein the determine obstacle display includes a plurality of obstacle graphics, and wherein the determined evasive maneuver path avoids an obstacle associated with the selected obstacle graphic.

10. The obstacle avoidance system of claim 9, wherein the communication element is further operable to transmit signals to a servo causing operational changes to the servo and the flight of the aircraft, and wherein the processor is further configured to determine a flight control change corresponding to the determined evasive maneuver for the aircraft and cause the communication element to transmit a signal corresponding to the determined flight control change to the servo.

11. 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, and

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

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 evasive maneuver path along which the aircraft may travel to avoid the obstacle and reduce the determined threat level,

determine an obstacle display including an ownship icon, an obstacle graphic indicative of the distance and the direction to the obstacle from the aircraft, and the determined evasive maneuver path, and

control the display to present the determined obstacle display.

12. The obstacle avoidance system of claim 11, wherein processor is further configured to determine an altitude of the aircraft, an altitude of the obstacle, and a clearance distance between the aircraft and the obstacle, and wherein the determined evasive maneuver path is a recommendation to change the aircraft altitude based on the determined clearance distance between the aircraft and the obstacle.

13. The obstacle avoidance system of claim 11, wherein processor is further configured to determine an attitude and a heading of the aircraft, and wherein the determined evasive maneuver path is a recommendation to change the aircraft attitude or aircraft heading based on the distance and the direction to the obstacle.

14. The obstacle avoidance system of claim 11, wherein the processor is further operable to determine flight characteristics for the aircraft and a projected landing location based on the determined flight characteristics.

15. The obstacle avoidance system of claim 11, wherein the one or more proximity sensors are oriented laterally, and wherein the determined distance and direction to the obstacle from the aircraft is during low-altitude flight of the aircraft.

16. The obstacle avoidance system of claim 11, wherein the one or more proximity sensors are oriented downward, and wherein the determined distance and direction to the obstacle from the aircraft is during flight of the aircraft.

17. The obstacle avoidance system of claim 11, further comprising a user interface operable to receive selection of the obstacle graphic by a pilot, wherein the determine obstacle display includes a plurality of obstacle graphics, and wherein the determined evasive maneuver path avoids an obstacle associated with the selected obstacle graphic.

18. 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, and

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

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 an altitude of the aircraft,

determine an altitude of the obstacle,

determine a clearance distance between the aircraft and the obstacle,

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

determine an evasive maneuver path along which the aircraft may travel to avoid the obstacle and reduce the determined threat level,

determine an obstacle display including an ownship icon, an obstacle graphic indicative of the distance and the direction to the obstacle from the aircraft, and the determined evasive maneuver path, and

control the display to present the determined obstacle display;

wherein the determined evasive maneuver path is a recommendation to change the aircraft altitude based on the determined clearance distance between the aircraft and the obstacle.

19. The obstacle avoidance system of claim 18, wherein the processor is further operable to determine flight characteristics for the aircraft and a projected landing location based on the determined flight characteristics.

20. The obstacle avoidance system of claim 18, further comprising a user interface operable to receive selection of the obstacle graphic by a pilot, wherein the determine obstacle display includes a plurality of obstacle graphics, and wherein the determined evasive maneuver path avoids an obstacle associated with the selected obstacle graphic.