GNSS based, seamless, multi-dimensional control and management system for vehicles operating in a multi-dimensional environment

• US 5,740,047 A
• Filed: 05/21/1996
• Issued: 04/14/1998
• Est. Priority Date: 10/09/1990
• Status: Expired due to Term

• Current Assignee: Honeywell Intellectual Properties Incorporated (Honeywell International Inc.)
• Original Assignee: Harold R. Pilley
• Inventors: Pilley, Lois V., Pilley, Harold Robert
• Primary Examiner(s): Chin, Gary
• Application Number:
  US08/651,837
• Time in Patent Office: 693 Days
• Field of Search: 364/427, 364/428, 364/436, 364/439, 364/440, 364/441, 364/460, 364/461, 364/449.7, 73/178 T, 340/435, 340/903, 340/961, 342/29, 342/36-38, 342/454-456
• US Class Current: 701/120
• 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: G01S 1/047 Displays or indicators G01S1/06 takes precedence
• CPC Class Codes: G01S 19/07 providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
• CPC Class Codes: G01S 19/14 specially adapted for specific applications
• CPC Class Codes: G01S 19/15 Aircraft landing systems
• CPC Class Codes: G01S 19/53 Determining attitude
• CPC Class Codes: G01S 5/0009 Transmission of position information to remote stations involving assistance data G01S5/0236
• CPC Class Codes: G08G 5/0013 with a ground station
• CPC Class Codes: G08G 5/0026 located on the ground
• CPC Class Codes: G08G 5/0082 for monitoring traffic from a ground station radar or analogous systems specially adapted for traffic control G01S13/91

Abstract

A GNSS Based Multi-Dimensional Control and Management System for vehicles operating in a multi-dimensional environment is disclosed. GNSS compatible techniques provide for a seamless airport independent four (4) dimensional vehicular management capability. The system utilizes precise 3-dimensional maps, the Earth Centered Earth Fixed (ECEF) WGS-84 coordinate reference frame, local coordinate frames such as local and state plane grids, zone-based management processing, automated airport lighting control, collision prediction and avoidance processing, 4-dimensional waypoint navigation, and air traffic control and vehicle situational awareness through global management processes that allow for the safe and efficient management of an airport in the air and one the ground. The management methods and processes are also applicable to vehicles and aircraft operating in the airport space envelope as well as other remote user sites with or without the assistance of the air traffic controller. The methods and processes employed provide a fundamental framework for increased airport safety, operational efficiency, cost savings and improved automation.

Claims

1. A method for GNSS compatible traffic management using a computer system incorporating zone incursion processing located on a vehicle including aircraft and surface vehicular equipment, said method comprising the steps of:

a. adopting a coordinate reference system for processing by said computer system, where said adopted coordinate reference system is the Earth Centered Earth Fixed coordinate reference;

b. selecting a geographical region for said traffic management;

said selected region being referenced to said adopted coordinate reference system;

c. establishing a static zones database, for said selected region, said static zones database containing descriptive data representing selected spatial characteristics referenced to said adopted coordinate reference system;

d. determining GNSS position data of said vehicle;

e. establishing a vehicle database, said vehicle database containing said position data referenced to said adopted coordinate reference system;

f. determining if said position data of said vehicle database incur a static zone, said static zone being defined within said static zones database; and

g. enabling a static zone incursion flag for said vehicle if said position data incur said static zone of said static zones database thereby making a static zone incursion alert.

2. The method for traffic management according to claim 1 further comprising:

generating incursion alerts, said generation of incursion alerts comprising the steps of;

establishing a travel path waypoints database, said travel path waypoints database containing waypoints referenced to said adopted coordinate reference system;

b. generating for said vehicle an assigned travel path, selected from said travel path waypoints database;

c. enabling said static zone incursion flag for static zones not intersecting said assigned travel path; and

d. generating a static zone incursion alert for said vehicle when said vehicle position incurs a static zone of said static zone database with said static zone incursion flag enabled.

3. A method for traffic management according to claim 2 further comprising, masking generation of false static zone incursion alerts, said masking generation of false static zone incursion alerts comprising the steps of;

a. disabling said static zone incursion flag for static zones intersecting said assigned travel path, thereby masking the generation of said false static zone incursion alerts along said assigned travel path.

4. A method for GNSS compatible on and off course processing traffic management using a computer system located aboard a vehicle, said vehicle including aircraft and surface vehicular equipment, said method comprising the steps of:

a. adopting a coordinate reference system for processing by said computer system, where said adopted coordinate reference system is the GNSS Earth Centered Earth Fixed coordinate reference;

b. selecting a geographical region for said traffic management, said selected region being referenced to said adopted coordinate reference system;

c. establishing a travel path waypoints database for said region, said waypoints database containing descriptive data representing waypoint characteristics referenced to said adopted coordinate reference system;

d. determining GNSS position data of said vehicle;

e. establishing a vehicle database, said vehicle database containing said position data referenced to said adopted coordinate reference system;

f. generating for said vehicle an assigned travel path selected from said waypoints database;

g. determining the previous and next waypoints along said assigned travel path;

h. establishing for said vehicle, a route zone for said assigned travel path, using said previous and next waypoints;

i. determining if said vehicle position data contained in said vehicle database is outside of said route zone; and

j. setting for said vehicle an off course flag when said position data of said vehicle database is outside of said route zone, thereby making an off course alert when said vehicle is off course.

5. A method for GNSS compatible vehicle traffic management according to claim 4 utilizing wrong way monitoring, said method further comprising the steps of:

a. determining a true course vector to said next waypoint from said position data contained in said vehicle database;

b. determining a velocity vector of said vehicle in said adopted coordinate reference system;

c. determining the angle between said true course vector and said velocity vector; and

d. setting for said vehicle a wrong way flag if said angle is not within a specified acceptable numerical range, thereby generating an alert for said vehicle when said vehicle is traveling in the wrong direction.

6. The method for traffic management according to claim 5 further comprising;

the step of disabling said off course alert if said position data for said vehicle contained in said vehicle database is outside of said route zone and said vehicle wrong way flag is not set.

7. The method for vehicle traffic management according to claim 5 further comprising:

a. determining the range to said next waypoint from said position data in said vehicle database; and

b. incrementing automatically to the next waypoint pair in said waypoints database when said range to said next waypoint is within a predetermined distance.

8. The method for traffic management according to claim 5 further comprising reducing incidence of wrong way false alerts, said reducing incidence of wrong way false alerts comprising the steps of;

a. incrementing to the next pair of previous and next waypoints contained in said waypoints database when said wrong way flag is set;

b. determining the current GNSS position and a previous position for said vehicle using said vehicle database, wherein said current position becomes said previous position upon the receipt of a new position in said vehicle database, and said new position becoming said current position;

c. determining the current distance to said next waypoint from said current position when said wrong way flag is set;

d. determining the previous distance to said next waypoint from said previous position when said wrong way flag is set;

e. comparing said previous distance to said current distance; and

f. clearing said vehicle wrong way flag when said current distance is smaller than said previous distance.

9. A method for GNSS compatible vehicle traffic management using a computer system located on a vehicle, incorporating collision detection processing between at least two vehicles of a plurality of vehicles, said plurality of vehicles including aircraft and surface vehicular equipment said method comprising the steps of:

a. adopting a coordinate reference system for processing by said computer system, where said adopted coordinate reference system is the GNSS Earth Centered Earth Fixed coordinate reference;

b. selecting a geographical region for said traffic management, said selected region being referenced to said adopted coordinate reference system;

c. establishing a vehicle database, said vehicle database containing identification, position and velocity information, determining a time of applicability for said position and velocity information which is referenced to said adopted coordinate reference system for said at least two vehicles operating in said selected region;

d. determining a type classification for said at least two vehicles using said identification information contained in said vehicle database;

e. determining a manner of movement and operation for said at least two vehicles, using said information contained in said vehicle database;

f. constructing for said at least two vehicles dynamic zones, wherein each of said dynamic zones is sized based on said type classification and said manner of movement and operation of said at least two vehicles using said identification, position and velocity information in said vehicle database;

g. generating time-based projected positions for said at least two vehicles using said vehicle database;

h. generating projected dynamic zones for said at least two vehicles using said projected positions;

i. determining if at least two of said projected dynamic zones intersect; and

j. setting a collision flag for at least one of said at least two vehicles having said projected dynamic zones intersect with at least one other projected dynamic zone thus generating an alert indicating a potential collision condition.

10. A method for GNSS compatible vehicle traffic management using a computer system located on a vehicle, incorporating speed up or slow down indicators for vehicles including aircraft and surface vehicular equipment, said method comprising the steps of:

a. adopting a coordinate reference system for processing by said computer system, where said adopted coordinate reference system is the GNSS Earth Centered Earth Fixed coordinate reference;

b. selecting a geographical region for said traffic management, said selected region being referenced to said adopted coordinate reference system;

c. establishing a travel path waypoints database for said selected geographical region, said travel path waypoints containing waypoints referenced to said adopted coordinate reference system where said waypoints include a position with an arrival time;

d. determining GNSS position data of said vehicle;

e. establishing a vehicle database, said vehicle database containing said position data referenced to said adopted coordinate reference system for said vehicle operating in said selected region;

f. generating for said vehicle an assigned travel path selected from said travel path waypoints database;

g. determining previous and next waypoints with desired arrival times along said assigned travel path;

h. determining for said vehicle a distance from the current position to the next waypoint;

i. establishing a current time;

j. determining a remaining time for said vehicle to reach said next waypoint by subtracting said current time from said desired arrival time associated with said next waypoint;

k. calculating for said vehicle a necessary velocity to reach said next waypoint at said desired arrival time, by dividing said distance by said remaining time;

l. determining the current velocity of said vehicle;

m. comparing said necessary velocity to said current velocity;

n. providing for said vehicle increase or decrease velocity guidance based upon said comparing of said necessary velocity to said current velocity.

11. The method for traffic management according to claim 10 further comprising generating velocity warnings, said generating velocity warnings comprising the steps of:

a. establishing a database of desired velocity ranges for various manner of movements,

b. determining the current manner of movement of said vehicle;

c. selecting a desired velocity range for said vehicle, based upon said current manner of movement, from said database of desired velocity ranges;

d. comparing said current velocity to said selected desired velocity range; and

e. generating a velocity alert when said current velocity of said vehicle is outside said selected desired velocity range.