Method and system for the control and management of a three dimensional space envelope

• US 5,867,804 A
• Filed: 09/06/1995
• Issued: 02/02/1999
• Est. Priority Date: 09/07/1993
• Status: Expired due to Term

• Current Assignee: Honeywell Intellectual Properties Incorporated (Honeywell International Inc.)
• Original Assignee: Harold R. Pilley
• Inventors: Pilley, Harold R., Pilley, Lois V.
• Primary Examiner(s): Chin, Gary
• Application Number:
  US08/524,081
• Time in Patent Office: 1,245 Days
• Field of Search: 364/427, 364/428, 364/436, 364/439, 364/440, 364/441, 364/460, 364/461, 73/178 T, 340/903, 340/435, 340/961, 342/29, 342/36, 342/37, 342/38, 342/454, 342/544, 342/456, 342/455, 701/15, 701/16, 701/117, 701/120-122, 701/300, 701/301
• 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 19/071 DGPS 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 19/20 Integrity monitoring, fault detection or fault isolation of space segment
• CPC Class Codes: G01S 19/41 Differential correction, e.g. DGPS [differential GPS]
• 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 method and system supporting seamless 3-dimensional operations in a multi-dimensional environment using orbiting satellite compatible coordinate references and databases. The system includes a control and management element and an aircraft/surface vehicle element. The two elements utilize a common worldwide coordinate reference frame and a common time reference for its operation. Precise collision detection, navigation and 3-dimensional situational awareness functions are performed using precise vector processing algorithms in combination compatible databases. Seamless air and ground operations are supported in such a fashion that the overall processing mathematics are directly applicable anywhere around the globe, only the specific databases need change for any given site. No regional distance scaling corrections or discontinuity compensations are required from site to site anywhere around the globe. Such a system greatly simplifies the operation of airports and other 4-dimensional environments. The simplicity of this system provides high availability and reduced system exposure to single point failures, while providing superior performance for air traffic controllers and aircraft/surface vehicle operators in the 3-dimensional space envelope.

Claims

1. An improved airport control and management method for controlling and managing surface and airborne movements of vehicles and aircraft operating within a selected airport space envelope comprising the steps of:

a. preparing a 3-dimensional digital map of a selected airport space envelope, the map containing GNSS reference points,

b. receiving and displaying said map to the monitor screen of a computer located on at least one of said vehicles and aircrafts,

c. determining GNSS position data using a GNSS receiver connected to said computer,

d. receiving said GNSS data at said computer,

e. broadcasting from a controlling facility, ATC clearance command data,

f. receiving said ATC clearance command data using a radio connected to said computer,

g. extracting trajectory information from said ATC clearance command for storage in a GNSS compatible trajectories database of said computer,

h. determining a travel path compatible for display in said map using said GNSS compatible trajectories database,

i. determining a current position compatible with said map using said GNSS position data and

j. displaying said current position and said travel path in said map.

2. An improved airport control and management method for controlling and managing surface and airborne movements of vehicles and aircraft operating within a selected airport space envelope as recited in claim 1 further comprising the steps of:

a. determining with said computer navigational vertical and horizontal guidance using said GNSS position data and said trajectories database,

b. displaying said vertical and horizontal navigational guidance information indicated on a display showing the current position with respect to said travel path,

c. detecting off course conditions using said GNSS data and said trajectories database using said computer,

d. generating alerts based upon said detected off course conditions using said computer.

3. A method for seamless 3-dimensional airport traffic management using a computer system incorporating wrong way monitoring for at least one of a plurality of aircraft and surface vehicles operating at airports located anywhere around the globe, the method comprising:

a. adopting an Earth Centered Earth Fixed coordinate reference frame for processing by said computer system,

b. selecting an airport from all possible airports,

c. establishing a travel path waypoints database for said selected airport, said travel path waypoints database containing 3-dimensional waypoints,

d. establishing a vehicle database, said vehicle database containing identification, position and velocity information for said vehicle operating at said airport.

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

f. determining the previous and next waypoints along said assigned travel path,

g. determining a true course vector to said next waypoint from said previous waypoint,

h. determining the velocity vector of said vehicle using said vehicle data base,

i. determining a vector DOT product between said true course vector and said velocity vector,

j. calculating an angle between said true course vector and said velocity vector using said vector DOT product, and

k. setting for said vehicle a wrong way flag if said angle is within a specified numerical range.

4. A method for seamless 3-dimensional airport traffic management waypoint processing as recited in claim 3 further comprising:

a. determining the 3-dimensional range to said next waypoint using said vehicle position contained in said vehicle database, and

b. incrementing automatically to the next waypoint pair in said travel path waypoints database when the 3-dimensional range to said next waypoint is within a predetermined distance.

5. A method for seamless 3-dimensional airport traffic management wrong way false alarm reduction as recited in claim 4 further comprising the steps of:

a. incrementing to the next pair of previous and next waypoints contained in said travel path waypoints database for said vehicle having said wrong way flag set,

b. Determining the current distance to said next waypoint from the current position for said vehicle having said wrong way flag set,

c. storing said current distance in a database,

d. comparing the stored previous distance to said current distance, and

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

6. A method for seamless 3-dimensional airport traffic management using a computer system incorporating speed up or slow down indicators for at least one of a plurality of aircrafts and surface vehicles operating at airports located anywhere around the globe, the method comprising:

a. adopting an Earth Centered Earth Fixed coordinate reference frame for processing by said computer system,

b. selecting an airport from all possible airports,

c. establishing a travel path waypoints database for said selected airport, said travel path waypoints database containing 4-dimensional waypoints where said 4-dimensional waypoints include a 3-dimensional waypoint with desired arrival time,

d. establishing a vehicle database, said vehicle database containing identification, position and velocity information for said vehicle operating at said airport,

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

f. Determining previous and next waypoints with desired arrival times along said assigned travel path,

g. Determining for said vehicle a 3-dimensional distance vector from the current position to the next waypoint,

h. establishing a current time,

i. Determining a remaining time for said vehicle to reach said next waypoint, by subtracting said current time from said desired arrival time at the next waypoint,

j. calculating for said vehicle a necessary 3-dimensional vector velocity to reach said next waypoint at said desired arrival time, by dividing said 3-dimensional distance vector by said remaining time to reach said next waypoint,

k. comparing said necessary 3-dimensional vector velocity to the 3-dimensional vector velocity containing in said vehicle database, and

l. issuing for said vehicle a 3-dimensional vector velocity increase or decrease guidance based on the result of said comparing step.

7. A method for generating velocity warnings as recited in claim 6 further comprising:

a. comparing said necessary 3-dimensional vector velocity to predefined velocity limits,

b. generating warnings when said necessary 3-dimensional vector velocity is outside of said predefined velocity limits.