Stand alone terrain conflict detector and operating methods therefor

• US 6,021,374 A
• Filed: 10/09/1997
• Issued: 02/01/2000
• Est. Priority Date: 10/09/1997
• Status: Expired due to Fees

• Current Assignee: Mcdonnell Douglas Corporation (The Boeing Co.)
• Original Assignee: Mcdonnell Douglas Corporation (The Boeing Co.)
• Inventors: Wood, Charles T.
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Hernandez, Olga
• Application Number:
  US08/947,468
• Time in Patent Office: 845 Days
• Field of Search: 701/301, 701/120, 701/213, 701/216, 701/208, 244/175
• US Class Current: 701/301
• 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: G08G 5/0086 for monitoring terrain radar or analogous systems specially adapted for terrain avoidance G01S13/935
• 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

A stand alone terrain conflict detector of an aircraft includes a global positioning system (GPS) receiver, an inertial navigation system, navigational and topographical databases, a control panel, a central processing unit (CPU), which CPU generates position data, a current flight path vector and control signals, an obstacle detector which receives the position data and the current flight path vector and which generates a flight path signal, an alert signal identifying a terrain threat to the aircraft and a projected flight path vector, a video generator coupled to the obstacle detector and the CPU, and a display connected to the video generator. The display outputs one of a 2D image, a first 3D image and a second 3D image and the terrain threat generated by video generator. Advantageously, the video generator generates the 2D image responsive to the flight path signal and navigational data during the first mode of operation, generates the first 3D image including the projected flight path vector responsive to the flight path vector and one of navigational data and topographical data during the second mode of operation, and automatically generates, whenever the alert signal is generated, the second 3D image, including an escape vector, having a scale different than that of the first 3D image, responsive to the projected flight path vector and one of the navigational data and the topographical data during the third mode of operation. A method for operating the stand alone terrain conflict detector is also described.

Claims

1. A stand alone terrain conflict detector of an aircraft having first, second, and third modes of operation, comprising:

a global positioning system (GPS) receiver;

a laser gyroscope;

an accelerometer;

a navigational database;

a topographical database;

a processor;

a control panel operatively coupled to said processor for directing operation of said processor;

an obstacle detector, operatively coupled to said GPS receiver, said laser gyroscope, said accelerometer, said navigational database, said topographical database, and said processor, which obstacle detector, in cooperation with said processor, generates a first signal indicative of a flight plan, and generates at least one of a second signal signifying a terrain threat to the aircraft when an obstacle is located within a predetermined distance of a projected flight path vector of the aircraft and a third signal indicative of the projected flight path vector;

an audio generator which generates an distinctive audible signal responsive to said second signal;

a video generator, operatively coupled to said obstacle detector, which generates a two dimensional (2D) image indicative of the flight path responsive to said first signal and data stored in said navigational database during the first mode of operation, which generates a first three dimensional (3D) image including the projected flight path vector responsive to said third signal and data stored in at least one of said navigational and topographical databases during the second mode of operation, and which automatically generates, whenever said audible signal is generated, a second 3D image, including an escape vector, having a scale different than that of said first 3D image responsive to said third signal and data stored in at least one of said navigational and topographical databases during the third mode of operation; and

a display, electrically coupled to said video generator, which displays a respective one of said 2D image, said first 3D image and said second 3D image and said terrain threat.

2. The stand alone terrain conflict detector as recited in claim 1, further comprising a 3D terrain database, wherein a selected portion of at least one of said first and second 3D images is replaced by a corresponding 3D terrain image stored in said 3D terrain database.

3. The stand alone terrain conflict detector as recited in claim 1, wherein said navigational database and said topographical database are stored in a single means for storing.

4. A stand alone terrain conflict detector of an aircraft having first through third modes of operation, comprising:

a global positioning system (GPS) receiver;

a laser gyroscope;

an accelerometer;

a navigational database;

a topographical database;

a control panel;

a central processing unit (CPU), operatively coupled to said GPS receiver, said laser gyroscope, said accelerometer, said control panel, and said navigational database, which CPU generates position data, a flight path vector and control signals;

an obstacle detector operatively coupled to said CPU to receive said position data, said flight path vector responsive to said control signals, which generates a first signal indicative of a flight plan, and which generates at least one of a second signal identifying a terrain threat to the aircraft when an obstacle is located within a predetermined distance of a projected flight path vector of the aircraft and a third signal indicative of a projected flight path vector;

an audio generator which generates an distinctive audible signal responsive to said second signal;

a video generator, operatively coupled to said obstacle detector and said CPU, which generates a two dimensional (2D) image responsive to said first signal and data stored in said navigational database during the first mode of operation, which generates a first three dimensional (3D) image including the projected flight path vector responsive to said third signal and data stored in at least one of said navigational and topographical databases during the second mode of operation, and which automatically generates, whenever said audible signal is generated, a second 3D image, including an escape vector, having a scale different than that of said first 3D image responsive to said third signal and data stored in at least one of said navigational and topographical databases during the third mode of operation; and

a display, electrically coupled to said video generator, which displays a respective one of said 2D image, said first 3D image and said second 3D image and said terrain threat.

5. The stand alone terrain conflict detector as recited in claim 4, further comprising a 3D terrain database, wherein a selected portion of at least one of said first and second 3D images is replaced by a corresponding 3D terrain image stored in said 3D terrain database.

6. The stand alone terrain conflict detector as recited in claim 4, wherein said navigational database and said topographical database are stored in a single means for storing.

7. The stand alone terrain conflict detector as recited in claim 4, wherein said control panel comprises a virtual control panel manifest on said display.

8. The stand alone terrain conflict detector as recited in claim 4, wherein said escape vector displayed in the third mode of operation corresponds to the projected flight path vector displayed in the second mode of operation, wherein maneuvers of the aircraft are reflected in said escape vector, and wherein the distal end of said escape vector terminates in a section of said second 3D image to thereby permit a pilot to determine whether or not said maneuver will cause the aircraft to avoid said terrain threat.

9. The stand alone terrain conflict detector as recited in claim 4, wherein said control panel, said central processing unit (CPU), said audio generator, said video generator, and said display are disposed within a portable computer.

10. The stand alone terrain conflict detector as recited in claim 4, further comprising a laptop computer housing said central processing unit (CPU), said audio generator, said video generator, and said display, wherein said laptop computer includes a compact disk read only memory (CD-ROM) which stores said navigational database, and wherein said control panel comprises a virtual control panel displayed on said display.

13. The stand alone terrain conflict detector as recited in claim 4, wherein said escape vector displayed in the third mode of operation corresponds to the projected flight path vector displayed in the second mode of operation, wherein maneuvers of the aircraft responsive to said guidable signal are reflected in said escape vector, and wherein the distal end of said escape vector terminates in a section of said second 3D image to thereby permit a pilot to determine whether or not said maneuver will cause the aircraft to avoid said terrain threat.

11. A stand alone terrain conflict detector of an aircraft having first, second, and third modes of operation, comprising:

receiving means for determining aircraft position from satellites;

first means for determining said aircraft position inertially;

second means for determining aircraft acceleration;

third means for storing navigational data;

fourth means for storing topographical data;

processing means operatively coupled to said receiving means, and said first means, said second means and said third means for generating position data and a flight path vector;

control means for controlling said processing means;

detecting means operatively coupled to said CPU to receive said position data, said flight path vector responsive to said control signals provided by said control means, for generating a first signal indicative of a flight plan, and for generating at least one of a second signal identifying a terrain threat to the aircraft when an obstacle is located within a predetermined distance of a projected flight path vector of the aircraft and a third signal indicative of a projected flight path vector;

first generating means for generating an distinctive audible signal responsive to said second signal;

second generating means, operatively coupled to said detecting means and said processing means, for generating a two dimensional (2D) image responsive to said first signal and navigational data stored in said third means during the first mode of operation, for generating a first three dimensional (3D) image including the projected flight path vector responsive to said third signal and at least one of navigational data stored in said third means and topographical data stored in said fourth means during the second mode of operation, and which automatically generates, whenever said audible signal is generated, a second 3D image, including an escape vector, having a scale different than that of said first 3D image responsive to said third signal and at least one of navigational data stored in said third means and topographical data stored in said fourth means during the third mode of operation; and

display means, electrically coupled to said second generating means, for displaying a respective one of said 2D image, said first 3D image and said second 3D image and said terrain threat.

12. The stand alone terrain conflict detector as recited in claim 11, further comprising fifth means for storing a 3D terrain database, wherein a selected portion of at least one of said first and second 3D images is replaced by a corresponding 3D terrain image stored in said fifth means.

14. An operating method for a stand alone terrain conflict detector of an aircraft, the terrain conflict detector having a memory storing navigational data and topographical data and first, second and third modes of operation, the method comprising steps for:

(a) determining a first aircraft position from satellites;

(b) determining a second aircraft position inertially;

(c) determining aircraft acceleration;

(d) generating position data and a flight path vector responsive to control signals, at least one of said first and second aircraft positions, and said aircraft acceleration;

(e) generating a first signal indicative of a flight plan, and generating at least one of a second signal identifying a terrain threat to the aircraft when an obstacle is located within a predetermined distance of a projected flight path vector of the aircraft and a third signal indicative of a projected flight path vector responsive to said position data, said flight path vector, and said control signals;

(f) generating a distinctive audible signal responsive to said second signal;

(g) generating a two dimensional (2D) image responsive to said first signal and said navigational data during the first mode of operation;

(h) generating a first three dimensional (3D) image including the projected flight path vector responsive to said third signal and at least one of navigational data and topographical data during the second mode of operation;

(i) automatically generating, whenever said audible signal is generated, a second 3D image, including an escape vector, having a scale different than that of said first 3D image responsive to said third signal and at least one of the navigational data and the topographical data during the third mode of operation; and

(j) selectively displaying a respective one of said 2D image, said first 3D image and said second 3D image and said terrain threat.

15. The operating method for the stand alone terrain conflict detector as recited in claim 14, wherein the memory stores 3D terrain data, and wherein said step (h) comprises generating a first three dimensional (3D) image including the projected flight path vector responsive to said third signal and at least one of the navigational data, the topographical data and the 3D terrain data during the second mode of operation.

16. The operating method for the stand alone terrain conflict detector as recited in claim 14, wherein the memory stores 3D terrain data base, and wherein said step (i) comprises automatically generating, whenever said audible signal is generated, a second 3D image, including an escape vector, having a scale different than that of said first 3D image, responsive to said third signal and at least one of the navigational data, the topographical data, and the 3D terrain data during the third mode of operation.

17. The operating method for the stand alone terrain conflict detector as recited in claim 14, wherein said escape vector displayed in the third mode of operation corresponds to the projected flight path vector displayed in the second mode of operation, wherein maneuvers of the aircraft responsive to said audible signal are reflected in said escape vector, and wherein the distal end of said escape vector terminates in a section of said second 3D image to thereby permit a pilot to determine whether or not said maneuver will cause the aircraft to avoid said terrain threat.