VEHICLE-BASED AUTOMATIC TRAFFIC CONFLICT AND COLLISION AVOIDANCE

• US 20090088972A1
• Filed: 09/28/2007
• Published: 04/02/2009
• Est. Priority Date: 09/28/2007
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Bushnell, Glenn S.
• Granted Patent: US 8,380,424 B2
• Time in Patent Office: Days
• US Class Current: 701/210
• CPC Class Codes: G01C 23/005 Flight directors indicating arrangements specially adapted for rotary gyroscopes G01C19/32
• CPC Class Codes: G08G 5/0052 for cruising combined instruments indicating more than one navigational value G01C23/00
• 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

Systems and methods for providing vehicle-centric collision avoidance are disclosed. In one embodiment, a method includes determining a first flight trajectory for a first aircraft. The method also includes determining a second flight trajectory for a second aircraft. A distance between the first aircraft and the second aircraft at a first closest point of approach (CPA) is predicted. The predicted closest point of approach is then compared to a separation perimeter layer. The separation perimeter layer is configured to provide a minimum separation distance from the first aircraft to the second aircraft. When the predicted closest point of approach breaches the separation perimeter, the first flight trajectory is altered to provide collision avoidance.

Claims

1. A method for aircraft guidance, comprising:

determining a first flight trajectory for a first aircraft;

determining a second flight trajectory for a second aircraft;

predicting a first distance between the first aircraft and the second aircraft at a first closest point of approach (CPA) based on the first and second flight trajectories;

comparing the first distance to a first separation perimeter layer, the first separation perimeter layer configured to provide a first minimum separation distance from the first aircraft to the second aircraft; and

altering the first flight trajectory in a first magnitude when the first distance breaches the first separation perimeter layer.

2. The method of claim 1, further comprising computing a first direction from a current position of the first aircraft to the first predicted CPA, wherein altering the first flight trajectory includes altering the first flight trajectory in a second direction that is opposite of the first direction.

3. The method of claim 1, wherein predicting a first distance includes continuously predicting the first distance as the first aircraft moves along the first flight trajectory, and wherein comparing the first distance includes continuously comparing the first distance to the first separation perimeter layer.

4. The method of claim 3, further comprising reinstating at least a portion of the first flight trajectory when the first distance does not breach the first separation perimeter layer.

5. The method of claim 1, further comprising:

comparing the first distance to a second separation perimeter layer, the second separation perimeter layer configured to provide a second minimum separation distance from the first aircraft and the second aircraft; and

altering the first flight trajectory in a second magnitude when the first distance breaches the second minimum separation distance,

wherein the second minimum separation distance is smaller than the first minimum separation distance, and wherein the second magnitude is greater than the first magnitude.

6. The method of claim 1, further comprising:

predicting a time to reach the first predicted CPA from a current position of the first aircraft,

wherein each of the first magnitude and the second magnitude is configured based on at least one of the first distance, the time to reach the first predicted CPA, the first flight trajectory, and the second flight trajectory.

8. The method of claim 1, wherein determining a first flight trajectory for the first aircraft includes determining the first flight trajectory based on at least one of a flight plan of the first aircraft, and current position and velocity of the first aircraft.

9. The method of claim 1, wherein determining a second flight trajectory for the second aircraft includes determining the second flight trajectory based on at least one of a flight plan of the second aircraft, and current position and velocity of the second aircraft.

10. The method of claim 1, further comprising implementing the first flight trajectory as flight control commands, wherein altering the first flight trajectory includes modifying the first flight trajectory prior to its implementation as flight control commands.

11. The method of claim 1, further comprising implementing the first trajectory as flight control commands, and wherein altering the first flight trajectory includes implementing alterations to the first flight trajectory as avoidance commands that compete with the flight control commands.

12. The method of claim 1, further comprising:

predicting a second distance between the second aircraft and the first aircraft at a third closest point of approach (CPA) based on the first and second flight trajectories;

comparing the second distance to a third separation perimeter layer, the third separation perimeter layer configured to provide a third minimum separation distance from the second aircraft to the first aircraft; and

altering the second flight trajectory in a third magnitude when the second distance breaches the third separation perimeter layer.

7. The method of claim 7, further comprising:

determining whether the first aircraft and the second aircraft are flying in formation based on the first flight trajectory and the second flight trajectory,

wherein each of the first magnitude and the second magnitude is further configured based on whether the first aircraft and the second aircraft are flying in formation.

13. A computer readable medium having computer-executable instructions that, when executed, perform acts comprising:

determining a first flight trajectory for a first aircraft;

determining a second flight trajectory for a second aircraft;

predicting a distance between the first aircraft and the second aircraft at a closest point of approach (CPA) based on the first and second flight trajectories;

comparing the distance to a separation perimeter layer, the separation perimeter layer configured to provide a minimum separation distance from the first aircraft to the second aircraft; and

altering the first flight trajectory when the distance breaches the separation perimeter layer.

14. The computer readable medium of claim 13, further comprising computing a first direction from a current position of the first aircraft to the first predicted CPA, wherein altering the first flight trajectory includes altering the first flight trajectory in a second direction that is opposite of the first direction.

15. The computer readable medium of claim 13, wherein predicting a distance includes continuously predicting the distance as the first aircraft moves along the first flight trajectory, and wherein comparing the distance includes continuously comparing the distance to the separation perimeter layer, further comprising reinstating at least a portion of the first trajectory when the distance does not breach the separation perimeter layer.

16. The computer readable medium claim 13, further comprising reinstating at least a portion of the first flight trajectory when the distance between the first aircraft and the second aircraft at the CPA does not breach the separation perimeter layer.

17. The computer readable medium of claim 13, further comprising:

implementing the first trajectory as flight control commands,

wherein altering the first flight trajectory includes assigning a gain prior to implementing the first flight trajectory as flight control commands.

18. The computer readable medium of claim 13, further comprising:

predicting a time to reach the first predicted CPA from a current position of the first aircraft,

wherein altering the first flight trajectory includes altering the first flight trajectory using a magnitude that varies inversely to a duration of the time to reach the first predicted CPA.

19. The computer readable medium of claim 13, wherein altering the first flight trajectory includes altering the first flight trajectory using a magnitude that varies inversely to a length of the predicted distance between the first aircraft and the second aircraft at the closest point of approach (CPA).

20. An aircraft comprising:

a structural assembly; and

at least one system for guiding aircraft at least partially disposed within the structural assembly, the system comprising;

a first determination component configured to determine a first flight trajectory for a first aircraft;

a second determination component configured to determine a second flight trajectory for a second aircraft;

a prediction component configured to predict a distance between the first aircraft and the second aircraft at a closest point of approach (CPA) based on the first and second flight trajectories;

a comparison component configured to compare the distance to a separation perimeter layer, the separation perimeter layer configured to provide a minimum separation distance from the first aircraft to the second aircraft; and

an alteration component configured to alter the first flight trajectory when the distance breaches the separation perimeter layer.