Route-planning interactive navigation system and method

• US 20080133131A1
• Filed: 11/30/2006
• Published: 06/05/2008
• Est. Priority Date: 11/30/2006
• Status: Active Grant

• Current Assignee: Raytheon Company (Rtx Corporation)
• Original Assignee: Raytheon Company (Rtx Corporation)
• Inventors: Tinker, Peter Allmond, Poreda, Stanley J.
• Granted Patent: US 7,818,120 B2
• Time in Patent Office: Days
• US Class Current: 701/210
• CPC Class Codes: G01C 21/203 Specially adapted for sailing ships
• CPC Class Codes: G08G 3/02 Anti-collision systems

Abstract

Provided is a system and method for route planning and evaluation. The system includes a host object location device operable to provide the location of a host object over the passage of time. A sensor is also provided, operable to sense objects and data from an environment proximate to the host object. A computer is operatively coupled to the location device, the sensor device, a chart library and a display. The computer includes a route generator operable to generate a predicted route of at least one sensed object. The route generator is also operable to generate a planned route of the host object. The planned and predicted routes are displayed to an operator upon the display. In response to a predicted proximate convergence of the host object and at least one sensed object, the convergence signaled to the operator. The planned position of the host object and the predicted position of each sensed object are displayed as an animation to evaluate the planned route, for any time following the present time, the operator permitted to stop the animation and scroll the animation forward and backwards.

Claims

1. A route planning and evaluation system, comprising:

at least one host object location device operable to provide the location of a host object over the passage of time;

at least one sensor operable to sense objects and data from an environment proximate to the host object over the passage of time;

an electronic chart library;

a display;

a computer operatively coupled to the location device, sensor device, chart library and display;

the computer including a route generator operable to generate a predicted route of at least one sensed object, the route generator further operable to generate a planned route of the host object, the routes displayed to an operator upon the display, in response to a predicted proximate convergence of the host object and at least one sensed object, the convergence signaled to the operator;

wherein the routes are displayed upon the display, the planned position of the host object and the predicted position of each sensed object displayed as an animation and for any time following the present time, the operator permitted to stop the animation and scroll the animation forward and backwards.

2. The route planning and evaluation system of claim 1, wherein the route generator is further operable to receive an operator specified planning horizon, the time interval from the time of receipt to the planning horizon defining a planning interval, each predicted route and each planned route generated for the planning interval and subsequent planning intervals.

3. The route planning and evaluation system of claim 1, wherein the sensor further includes a receiver operable to receive navigation data from at least one sensed object, the route generator further operable to utilize the navigation data in predicting the route of the sensed object.

4. The route planning and evaluation system of claim 1, wherein the route generator is operable to generate at least one planned route incorporating at least one navigation constraint.

5. The route planning and evaluation system of claim 4, wherein the navigation constraint is selected from the group of:

a navigation rule, a waypoint, a keep out area, a minimum distance perimeter about known objects, a destination, and combinations thereof.

6. The route planning and evaluation system of claim 1, wherein at least one sensor is a radar.

7. The route planning and evaluation system of claim 1, wherein the route planning and evaluation system is a maritime route planning and evaluation system.

8. A maritime route planning and evaluation system, comprising:

a location device operable to provide a location and a velocity of a host ship;

a sensor operable to sense objects and data from an environment proximate to the ship;

an electronic maritime chart library;

an operator data entry device;

a display device;

a computer coupled to the location device, environment sensor, chart library, data entry device and display device, the computer operable to receive the location from the location device, select a chart containing the location from the chart library, estimate the velocity of sensed objects, and direct the display to visually depict the chart, host ship location and the location and estimated velocity of sensed objects;

a route generator interfaced with the computer to receive the location and velocity of the host ship, data from the environment and operator input as collective route elements, the route generator operable to generate at least one planned route for the host ship based on the collective route elements, the route generator further operable to generate a predicted route for each sensed moving object, the generated and predicted routes presented upon the display, the planned position of the host ship and the predicted position of each sensed object displayed as an animation;

a collision warning generator operable to generate an updated predicted route for each sensed object, the collision warning generator further operable to generate indications of predicted proximate convergence between the host ship and at least one sensed object;

wherein to evaluate the planned route, an operator is permitted to adjust the animation and modify one or more of the collective route elements, the planned route adopted by the system as the current route upon operator approval.

9. The maritime route planning and evaluation system of claim 8, wherein a sensed object is at least one ship proximate to the host ship.

10. The maritime route planning and evaluation system of claim 8, wherein the route generator is further operable to receive an operator specified planning interval, each predicted route generated for the planning interval and subsequent planning intervals.

11. The maritime route planning and evaluation system of claim 8, wherein the route generator is operable to generate at least one planned route for the host ship incorporating at least one navigation constraint.

12. The maritime route planning and evaluation system of claim 11, wherein the navigation constraint is selected from the group of:

a navigation rule, a waypoint, a keep out area, a minimum distance perimeter about an object, a destination, and combinations thereof.

13. The maritime route planning and evaluation system of claim 8, wherein the environmental data includes data selected from the group consisting essentially of, the speed and direction of at least one ocean current, and the speed and heading of at least one sensed object, navigation data transmitted by nearby ship objects, and combinations thereof.

14. The maritime route planning and evaluation system of claim 8, wherein adjusting the animation includes stopping the animation and adjustably scrolling the animation forward or backwards.

15. The maritime route planning and evaluation system of claim 8, wherein the route generator generates a manual planned route for the host ship based on operator provided waypoints, each consecutive set of waypoints defining a leg of the route.

16. The maritime route planning and evaluation system of claim 8, wherein the route generator is operable to continuously revise the planned route and one or more predicted routes.

17. The maritime route planning and evaluation system of claim 16, wherein the system provides a signal to the operator that an improved planned route has been determined.

18. A route planning and evaluation method, comprising:

receiving from a location device, a location and velocity for a host vessel;

sensing data for at least one object in an environment proximate to the host vessel;

receiving from an electronic chart library a chart containing the location of the host vessel;

displaying to an operator, the chart and a representation of the host vessel at current location and a representation of any sensed objects proximate to the host vessel;

receiving from the operator and/or the retrieved chart, information including at least one navigation constraint and potential host vessel and object speed, the information combined with the environmental data, location and velocity as collective route elements;

generating a planned route for the host vessel and a predicted route for each sensed object, the routes based upon the collective route elements, the routes displayed to the operator, the planned position of the host vessel and the predicted location for each sensed object displayed as an animation;

evaluating the host vessel planned route by adjusting the animation, and in response to a predicted proximate convergence of the host vessel and sensed object, the convergence signaled to the operator;

modifying the host vessel planned route in response to the operator modifying one or more of the collective route elements; and

adopting the host vessel planned route as the current route in response to operator approval.

19. The route planning and evaluation method of claim 18, further including an adjustable planning interval, the planned route for the host vessel and the predicted route of each sensed object generated for the planning interval and subsequent planning intervals.

20. The route planning and evaluation method of claim 18, wherein the environmental data is received by at least one sensor upon the host vessel.

21. The route planning and evaluation method of claim 18, wherein the navigation constraint is selected from the group of:

a navigation rule, a waypoint, a keep out area, a minimum distance perimeter about an object, a destination, and combinations thereof.

22. The route planning and evaluation method of claim 18, wherein the environmental data includes data selected from the group consisting essentially of, the speed and direction of one or more ocean currents, the speed and heading of one or more detected objects, navigation data transmitted by nearby objects, and combinations thereof.

23. The route planning and evaluation method of claim 18, wherein a candidate planned route for the host vessel and the predicted route for each sensed object are continuously revised.

24. The route planning and evaluation method of claim 23, wherein the route generator signals the operator that a candidate planned route has been determined that is measurably superior to the current planned route.

25. The route planning and evaluation method of claim 18, wherein adjusting the animation includes stopping the animation and adjustably scrolling the animation forward or backwards.

26. The route planning and evaluation method of claim 18, wherein the route generator generates a manual planned route based on operator provided waypoints, each consecutive pair of waypoints defining a leg of the route.

27. The route planning and evaluation method of claim 18, wherein the method is stored on a computer-readable medium as a computer program which, when executed by a computer will perform the steps of route planning and evaluation.

28. The route planning and evaluation method of claim 18, wherein the route planning and evaluation method is a maritime route planning and evaluation method.

29. A maritime route planning and evaluation method, comprising:

providing a planning interval to define a planning time interval;

receiving from a location device, a location and velocity for a host ship;

sensing data for at least one object in an environment proximate to the ship;

receiving from an electronic maritime chart library a chart containing the location of the ship;

displaying to an operator, the chart and a representation of the host ship at current location and a representation of any sensed objects proximate to the ship;

receiving from the operator and/or the retrieved maritime chart, information including at least one navigation constraint and potential host ship and object speed, the information combined with the environmental data, location and velocity as collective route elements;

generating a planned route for the host ship and a predicted route for each sensed object based upon the collective route elements for a first planning interval;

displaying the routes to the operator, the planned position of the host ship and the predicted location for each sensed object, the planned position of the host ship and the predicted location for each sensed object displayed as an animation, in response to a predicted proximate convergence of the host ship and an object, the convergence signaled to the operator;

modifying the host ship planned route in response to the operator modifying one or more of the collective route elements;

adopting the host ship planned route as the current route in response to operator approval; and

repeating the generation of the planned route for subsequent planning interval.

30. The maritime route planning and evaluation method of claim 29, wherein the environmental data is received by at least one sensor upon the host ship.

31. The maritime route planning and evaluation method of claim 29, wherein the navigation constraint is selected from the group of:

a navigation rule, a waypoint, a keep out area, a minimum distance perimeter about an object, a destination, and combinations thereof.

32. The maritime route planning and evaluation method of claim 29, wherein the environmental data includes data selected from the group consisting essentially of, the speed and direction of one or more ocean currents, the speed and heading of one or more detected objects, navigation data transmitted by nearby ship objects, and combinations thereof.

33. The maritime route planning and evaluation method of claim 29, wherein a candidate planned route for the host ship and the predicted route for each sensed object are continuously revised.

34. The maritime route planning and evaluation method of claim 33, wherein the route generator signals the operator that a candidate planned route has been determined that is measurably superior to the current planned route.

35. The maritime route planning and evaluation method of claim 29, wherein adjusting the animation includes stopping the animation and scrolling the animation forwards or backward at adjustable time intervals.