Grid terrain data collision detecting method for forward looking terrain avoidance

• US 20040148103A1
• Filed: 01/15/2003
• Published: 07/29/2004
• Est. Priority Date: 01/15/2003
• Status: Abandoned Application

• Current Assignee: Chung-Shan Institute of Science & Technology Armaments Bureau MND (Government of The Republic of China)
• Original Assignee: Chung-Shan Institute of Science & Technology Armaments Bureau MND (Government of The Republic of China)
• Inventors: Ho, Kuang-Peng, Chiuo, Day-Woei, Chen, Shin-Jen
• Application Number:
  US10/342,385
• Publication Number:
  US 20040148103A1
• Time in Patent Office: Days
• US Class Current: 701/301
• 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

A grid terrain data collision detecting method for forward looking terrain avoidance comprising the following steps: the use of kinematics equation to analytically find out sampling points positions; processing the sampling points in sequence with time increments; and using function minimum value theory to detect collision with results obtained from the sampling point process step.

Claims

1. A grid terrain data collision detecting method for forward looking terrain avoidance comprising the following steps:

using kinematics equation to analytically find out position sampling points;

processing the sampling points in sequence with increment of time; and

using function minimum value theory to detect collision with the result from the second step.

2. The grid terrain data collision detecting method as in claim 1, wherein, during the kinematics equation analytical step, when the directional angle is 0 or 180 degree use ty=(my×

Ry−

y₀)/V_0H con ψ

to find positions of sampling points; and

when the directional angle is 90 or 270 degree use t_X=(mx×

R_X−

X₀)/V_0H sin ψ

to find positions of sampling points.

3. The grid terrain data collision detecting method as in claim 1, wherein, during the sampling points processing step, results from the kinematics equation analytical step are arranged into two sets of sampling points based on time increment, with time incremental relationship as follows:

t₀<

t_y1<

t_x1<

t_x2<

t_y2<

t_x3<

t_x4<

t_y3<

t_x5<

t_f.

4. The grid terrain data collision detecting method as in claim 1, wherein the application of function minimum value theory is for differentiating

z=z₀+V_0zt+½

a_zt²

and setting the result equal to zero to yield the timing of the lowest point t_Z=−

(V_0Z/a_Z); and

said timing can be used as a checking point during implementation of the collision detection to compare each line section one by one.