Integrated horizontal and profile terrain display format for situational awareness

• US 5,936,552 A
• Filed: 06/12/1997
• Issued: 08/10/1999
• Est. Priority Date: 06/12/1997
• Status: Expired due to Term

• Current Assignee: Rockwell Collins, Inc. (Raytheon Technologies Corporation d/b/a RTX)
• Original Assignee: Rockwell Science Center, Inc.
• Inventors: Spicer, Jeffrey L., Wichgers, Joel M.
• Primary Examiner(s): Lee, Benjamin C.
• Application Number:
  US08/874,017
• Time in Patent Office: 789 Days
• Field of Search: 340/963, 340/970, 340/961, 340/968, 701/297, 701/301, 701/221, 701/300, 701/213, 701/219, 345/427, 345/419, 342/26, 342/29, 342/41, 342/179, 342/176, 342/197, 342/33, 348/116
• US Class Current: 340/963
• 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 13/86 Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
• CPC Class Codes: G01S 13/933 of aircraft or spacecraft
• CPC Class Codes: G01S 13/935 for terrain-avoidance
• CPC Class Codes: G01S 7/062 in which different colours are used
• CPC Class Codes: G01S 7/22 Producing cursor lines and indicia by electronic means
• CPC Class Codes: G08G 5/0021 located in the aircraft
• CPC Class Codes: G08G 5/0086 for monitoring terrain radar or analogous systems specially adapted for terrain avoidance G01S13/935

Abstract

A visual display format for a terrain situational awareness system comprising a horizontal terrain elevation view and a profile terrain elevation view of potential terrain hazards integrated onto a single display.

Claims

1. A visual display format for a situational awareness system comprising:

horizontal terrain elevation view wherein the horizontal terrain elevation view is a display of terrain elevation relative to a vehicle'"'"'s position including vehicle'"'"'s altitude; and

a profile terrain elevation view wherein the profile terrain elevation view is a display of vertical terrain profile in a line from directly in front of the vehicle out to a selected distance.

2. The visual display format according to claim 1 wherein said position is determined using data from a satellite-based positioning system, ground-positioning system, inertial navigation system, terrain correlation system, radar correlation system altimeter system, or dead reckoning, or any combination thereof.

3. The visual display format according to claim 2 wherein said satellite-based positioning system is GNSS.

4. The visual display format according to claim 2 wherein said positioning system is determined using a position determination function.

5. The visual display format according to claim 2 wherein said satellite-based positioning system is at least one of Global Positioning System, Global Orbiting Navigation Satellite System (GLONASS), and GNSS-2, a satellite based augmentation system, and a ground based augmentation system.

6. The visual display format according to claim 2 wherein said position is determined using a LORAN radio navigation signal and an altimeter.

7. The visual display format according to claim 6 wherein said Loran radio navigation signal is a Loran C radio navigation signal.

8. The visual display format according to claim 1 further comprising an altitude display.

9. The visual display format according to claim 1 further comprising at least one of vehicle heading and selected vehicle heading.

10. The visual display format according to claim 1 comprising a first portion displaying said horizontal elevation view and a second portion displaying said profile elevation view.

11. The visual display format according to claim 1 wherein said display portrays the hazards to a vehicle based upon a calculated function including at least one of altitude separation, vehicle motion, vehicle performance envelope, environmental factors, and aircraft configuration.

12. The visual display format according to claim 1 employing a color coding scheme corresponding to elevations relative to the vehicle'"'"'s altitude.

13. The visual display format according to claim 12 wherein said color coding scheme employs the color blue to represent bodies of water.

14. The visual display format according to claim 12 wherein said color coding scheme employs the color red for elevations approximately equal to the vehicle'"'"'s altitude and above.

15. The visual display format according to claim 14 wherein said color coding scheme employs the color green for elevations lower than a predetermined beneath the vehicle'"'"'s altitude.

16. The visual display format according to claim 15 wherein said color coding scheme employs the color yellow for elevations less than the vehicle'"'"'s altitude but above the predetermined distance beneath the vehicle'"'"'s altitude.

17. The visual display format according to claim 15 wherein said predetermined distance is from about 1000 feet to about 2000 feet.

18. The visual display format according to claim 17 wherein said predetermined distance is about 1500 feet.

19. The visual display format according to claim 1 wherein said horizontal and profile terrain elevation views are determined based on terrain data stored in a database.

20. The visual display format according to claim 19 wherein said terrain database includes natural terrain data.

21. The visual display format according to claim 19 wherein terrain database includes man-made objects.

22. The visual display format according to claim 19 wherein said terrain database includes boundaries and other virtual objects.

23. The visual display format according to claim 19 wherein said display displays at least one of navigational information including at least one of mission plan, airport location, docking location, and restricted space.

24. The visual display format according to claim 23 wherein said display displays at least one potential hazard to the vehicle, occupants, and cargo including at least one of the position of other vehicles, weather information, atmospheric hazards, hazardous contaminants, animals posing a threat to the vehicle, and air/water currents.

25. The visual display format according to claim 1 wherein the selected distance is selectable in specified increments.

26. The visual display format according to claim 25 wherein the specified increments are 10, 20, 40, 80, 160, 320, and 640 nautical miles.

27. The visual display format according to claim 1 wherein the selected distance is continuously selectable.

34. The visual display format according to claim 23 employing a color coding scheme corresponding to elevations relative to an vehicle'"'"'s altitude.

35. The visual display format according to claim 34 wherein said color coding scheme employs the color red for elevations above the vehicle'"'"'s altitude and for elevations less than vehicle'"'"'s altitude but above a predetermined distance beneath the vehicle'"'"'s altitude.

36. The visual display format according to claim 35 wherein said color coding scheme employs the color green for elevations lower than a predetermined distance beneath the vehicle'"'"'s altitude.

37. The visual display format according to claim 34 wherein said color coding scheme employs the color red for elevations approximately equal to the vehicle'"'"'s altitude and above.

38. The visual display format according to claim 37 wherein said color coding scheme employs the color green for elevations lower than the vehicle'"'"'s altitude.

39. The visual display format according to claim 37 wherein said color coding scheme employs the color yellow for elevations approximately equal to the vehicle'"'"'s altitude and higher than a predetermined distance beneath the vehicle'"'"'s altitude and the color green for elevations lower than a predetermined distance beneath the vehicle'"'"'s altitude.

40. The visual display format according to claim 39 wherein said color coding scheme employs the color blue to represent bodies of water.

41. The visual display format according to claim 40 wherein said predetermined distance is from about 1000 feet to about 2000 feet.

42. The visual display format according to claim 41 wherein said predetermined distance is about 1500 feet.

28. A terrain situational awareness system comprising a visual display format comprising:

a horizontal elevation view wherein the horizontal terrain elevation view is a display of terrain elevation relative to a vehicle'"'"'s position including vehicle'"'"'s altitude; and

a profile elevation view wherein the profile terrain elevation view is a display of vertical terrain profile in a line directly in front of the vehicle out to a selected distance.

29. The visual display format according to claim 28 wherein said position is determined using a LORAN radio navigation signal and an altimeter.

30. The visual display format according to claim 29 wherein said loran radio navigation signal is a LORAN C radio navigation signal.

31. The visual display format according to claim 28 further comprising a barometric altitude display.

32. The visual display format according to claim 28 further comprising vehicle heading and selected vehicle heading.

33. The terrain situational awareness system according to claim 28 wherein said horizon and profile terrain elevation views are calculated from terrain elevation data stored in a database.

43. The visual display format according to claim 28 wherein said position is determined using data from a satellite-based positioning system.

44. The visual display format according to claim 43 wherein said satellite-based positioning system is at least one of GPS, GLONASS, GNSS, and GNSS-2.

45. The visual display format according to claim 44 further comprising accuracy enhancing augmentations.

46. The visual display format according to claim 44 wherein said satellite-based positioning system is the GPS Navstar Global Positioning System Precise Positioning Service.

47. A ground collision avoidance system comprising a terrain situational awareness system comprising:

a horizontal terrain elevation view wherein the horizontal terrain elevation view is a display of terrain elevation relative to a vehicle'"'"'s position including vehicle'"'"'s altitude; and

a profile terrain elevation view wherein the profile terrain elevation view is a display of vertical terrain profile in a line from directly in front of the vehicle out to a selected distance.

48. The ground collision avoidance system according to claim 47 comprising a satellite positioning system receiver, a database comprising terrain elevation data, a processor for calculating position and relative terrain elevation, means for integrating horizontal and profile display data onto a single display, and a display.

49. A flight management system comprising a terrain situational awareness system comprising:

a horizontal elevation view wherein the horizontal terrain elevation view is a display of terrain elevation relative to a vehicle'"'"'s position including vehicle'"'"'s altitude; and

a profile terrain elevation view wherein the profile terrain elevation view is a display of vertical terrain profile in a line from directly in front of the vehicle out to a selected distance.

50. A method for preventing collisions with the ground for a vehicle comprising the steps of:

providing a terrain database;

calculating a position including of said vehicle;

displaying the position of said vehicle and the surrounding terrain, wherein the horizontal and profile views of the surrounding terrain are displayed on a single display screen with the horizontal terrain elevation view displayed relative to the vehicle'"'"'s position and the profile terrain elevation view displayed as a vertical terrain profile line from directly in front of the vehicle out to a selected distance.

51. The method of claim 50 wherein said step of calculating the position of said vehicle comprises the steps of receiving a reference signal from a satellite-based positioning system and calculating the coordinate position and altitude of the vehicle.

52. The method of claim 51 wherein said satellite-based positioning system is a GPS Navstar Global Positioning System.

53. The method of claim 52 wherein said loran radio navigation signal comprises a LORAN C signal.

54. The method of claim 50 wherein said step of calculating the position of said vehicle comprises the steps of receiving a LORAN radio navigation signal and an altimeter signal and calculating the coordinate position and altitude of the vehicle.

55. In a ground collision avoidance system, the improvement comprising an integrated display format wherein horizontal and profile terrain elevation views are combined onto a single display with the horizontal terrain elevation view displayed relative to a vehicle'"'"'s position including altitude and the profile terrain elevation view displayed as a vertical terrain profile line from directly in front of the vehicle out to a selected distance.