Marine navigation binoculars with virtual display superimposing real world image

• US 6,181,302 B1
• Filed: 02/07/1997
• Issued: 01/30/2001
• Est. Priority Date: 04/24/1996
• Status: Expired due to Fees

• Current Assignee: Lynde C. Macgill
• Original Assignee: Lynde C. Macgill
• Inventors: Lynde, C. Macgill
• Primary Examiner(s): Shalwala, Bipin
• Assistant Examiner(s): LEWIS, DAVID LEE
• Application Number:
  US08/797,097
• Time in Patent Office: 1,453 Days
• Field of Search: 345/7, 345/429, 359/33, 359/374, 359/404, 359/480, 359/145, 359/896, 359/630, 359/632, 348/113-120, 701/201, 701/213, 356/138, 356/139
• US Class Current: 345/7
• CPC Class Codes: G01C 21/203 Specially adapted for sailing ships
• CPC Class Codes: G02B 23/18 for binocular arrangements focusing binocular pairs G02B7/06; adjusting pupillary distance of binocular pairs G02B7/12
• CPC Class Codes: G06T 17/05 Geographic models
• CPC Class Codes: G06T 19/006 Mixed reality object pose determination, tracking or camera calibration for mixed reality G06T7/00

Abstract

A system including binoculars augmented with a computer-generated virtual display of navigation information (hereinafter referred to as “nav glasses”) and marine navigation systems employing such binoculars. The computer-generated display is superimposed on the real world image available to the user. Nav glasses also have the components needed to link them to a navigation system computer which is utilized to generate the see-through display of the navigation information. They are preferably equipped with sensors compass and an inclinometer for acquiring azimuth and inclination information needed by the navigation computer and a sensor for measuring any magnification of the field of view. The nav glasses can be employed to lock onto a moving target, which can then be tracked by onboard radar. The navigation system in which the nav glasses are incorporated also accept inputs from other sources such as a shipboard compass, a GPS, and other navigation aids; and a route planning system. The field of view of the nav glasses is calculated from information obtained from the nav glasses and navigation sensors, and a display manager generates a pre-fetch display of navigation information from the route planning and radar inputs. This pre-fetch display or image extends well beyond the nav glass field of view. Consequently, as the glasses are shifted from side-to-side or up or down, all that may be required to match the virtual display to the real world image is to align a different segment of the pre-fetch image with the actual field of view. Once the alignment of the virtual display of navigation information and the actual field of view is completed, the virtual overlay is transmitted in coded form to a video output component of the navigation computer and forwarded to the nav glasses where the virtual display is constructed and superimposed on the real world view.

Claims

1. A navigation system for a marine vessel that employs a composite image produced by superimposing a virtual image comprising navigational data over a real image of a portion of a surrounding environment, comprising:

(a) an ocular device comprising a housing in which are disposed a set of positionable optical lenses that image light reflected from the portion of the surrounding environment so as to directly form a field of view of the real image of the portion of the surrounding environment on a user'"'"'s retina;

(b) a virtual image generator that produces an optical signal directed toward the user'"'"'s retina so as to form a virtual image on the retina, said optical signal being generated in response to a video input signal;

(c) an azimuth sensor that produces an azimuth signal, the azimuth sensor being coupled to the ocular device, said azimuth signal being indicative of an orientation of the field of view formed by the ocular device;

(d) a plurality of instruments disposed onboard and related to a bearing and position of the marine vessel, including a vessel direction sensor that produces a vessel direction signal indicative of a direction in which the vessel is heading and an absolute position sensing instrument that produces an absolute position signal indicative of a position of the marine vessel; and

(e) a navigational computer coupled in communication with the ocular device and the plurality of instruments, said navigational comprising;

(i) a processor and a memory for storing machine instructions executable on the processor;

(ii) a video display controller that generates the video input signal;

(iii) a persistent storage means for storing the navigational data; and

(iv) the machine instructions that are stored in the memory, when executed by the processor, cause it to perform a plurality of functions, including;

(1) processing the azimuth signal and the absolute position signal, and as a function thereof, determining the field of view produced by the ocular device;

(2) determining a portion of the navigational data that should be included in the virtual image, based at least in part upon the field of view that has been determined and the vessel direction signal; and

(3) including only said portion of the navigational data thus determined in the composite image.

2. The navigation system of claim 1, wherein the ocular device has a variable magnification factor control that is user adjustable, further comprising a magnification factor sensor coupled to the ocular device to determine the magnification factor that the user has selected for the ocular device, producing a magnification factor signal indicative thereof, wherein the field of view is also determined as a function of the magnification factor signal.

3. The navigation system of claim 1, wherein the virtual image includes a tick mark that defines an inclination of the ocular device.

4. The navigation system of claim 1, wherein the navigational computer is mounted onboard the marine vessel, further comprising a communications link that couples the navigation computer in communication with the ocular device.

5. The navigation system of claim 1, further comprising an inclination sensor coupled to the ocular device, said inclination sensor sensing an inclination of the ocular device and producing an inclination signal that is used by the processor of the navigational computer to further determine the orientation of the field of view.

6. The navigation system of claim 1, wherein the navigational data include locations of navigational hazards, and wherein the virtual image graphically displays navigational hazards disposed within the field of view of the ocular device.

7. The navigation system of claim 1, wherein the processor of the navigational computer processes the vessel direction signal and absolute position signal and displays indicia of a heading direction and a position of the marine vessel in the virtual display.

8. The navigation system of claim 1, wherein the ocular device comprises binocular optics.

9. The navigation system of claim 1, wherein the virtual image generator comprises a virtual display head that includes a liquid crystal display and a beam splitter disposed proximate to said liquid crystal display to produce the virtual image.

10. The navigation system of claim 1, wherein the navigational data include electronic navigational charts stored in the memory, the virtual image comprising at least a portion of a navigational chart corresponding to the field of view of the ocular device.

11. The navigation system of claim 10, wherein the electronic navigational charts include virtual three-dimensional navigational data, a portion of said virtual three-dimensional navigational data being displayed in the virtual image.

12. The navigation system of claim 10, wherein the processor of the navigational computer selectively fetches and displays electronic navigational chart data corresponding to a current field of view for generating the virtual image, and prefetches additional electronic navigational chart data corresponding to portions of the real image that are adjacent to but outside a current field of view, the additional electronic navigational chart data being thereby immediately accessible and displayable in the virtual image as the field of view changes to include a portion of the real image that was previously adjacent to, but outside the field of view before it changed.

13. The navigation system of claim 12, wherein if the field of view changes sufficiently so that a new field of view extends beyond the portions of the real image to which the additional electronic navigational chart data correspond, the navigational computer again fetches navigational chart data corresponding to the new field of view and prefetches new additional electronic navigational chart data corresponding to portions of the real image that are now adjacent to but outside the new current field of view.

14. The navigation system of claim 10, wherein the electronic navigational charts comprise water depth data, and the virtual image comprises contour lines, each contour line corresponding to a defined depth of water.

15. The navigation system of claim 10, wherein the electronic navigational charts include textual information pertaining to various charted objects, including navigation buoys, navigation lights, danger points, and coastal contours, portions of the textual information corresponding to such charted objects that lie within the real image field of view being selectively displayed in the virtual image adjacent to said charted objects.

16. The navigation system of claim 15, wherein the ocular device includes a cursor control that enables the user to position a cursor in the virtual display, the user positioning the cursor over a charted object in the real image and activating a selection control to selectively enable and disable display of the textual information.

17. The navigation system of claim 15, wherein the textual information is disposed within an information panel displayed in the virtual image.

18. The navigation system of claim 1, further comprising an onboard radar system that produces a produces a radar image of objects in the surrounding environment, wherein the navigation computer is coupled with the onboard radar system, the ocular device including a control that enables the user to select a target object in the field of view of the real image to be tracked by the onboard radar system, the target object that is selectable by the user including both fixed and moving objects.

19. The navigation system of claim 18, wherein the ocular device includes a cursor control that enables the user to position a cursor in the virtual display, the user selecting the target object by positioning the cursor over a desired real image object and activating the control to select the target object over which the cursor has been positioned.

20. The navigation system of claim 18, wherein the target object is a moving object having a position, heading, and speed determined by the onboard radar system and wherein the virtual image includes an indication of at least one of said position, heading, and speed of the target object.

21. The navigation system of claim 20, wherein the navigational computer determines at least one of an estimated closest point of approach and estimated time of closest point of approach relative to the target object, based on the position, heading, and speed of the target object, and the position, heading, and speed of the marine vessel, the virtual image an indication of said at least one of the estimated closest point of approach and the estimated time of closest point of approach.

22. The navigation system of claim 1, further comprising a route planning system onboard the marine vessel and coupled in communication with the navigational computer, said route planning system providing route information to the navigational computer.

23. The navigation system of claim 22, wherein the route planning system provides an intended track to the navigational computer, the virtual image including a representation of at least a portion of the intended track of the vessel.

24. The navigation system of claim 22, wherein the route planning system provides a set of waypoints to the navigational computer, at least a portion of said waypoints being represented in the virtual image.

25. The navigation system of claim 22, wherein the route information provided by the route planning system includes a desired course with limits of cross-track deviation from the desired course, the virtual image including indications of the cross-track deviation limits and the desired course.

26. The navigation system of claim 22, wherein the route information provided by the route planning systems includes an intended track and actual track of the vessel, said intended track and actual vessel track being included in the virtual image.

27. The navigation system of claim 1, wherein the plurality of onboard instruments include at least one of a rudder angle sensor, engine rotational speed sensor, propeller pitch sensor, thruster status indicator, wind force sensor, and wind speed sensor, the virtual image including an indication of said at least one of the rudder angle, engine rotational speed, propeller pitch, thruster status, wind force, and wind speed.

28. The navigation system of claim 27, wherein the indication of at least one of the rudder angle, engine rotational speed, propeller pitch, thruster status, wind force, and wind speed is displayed in a virtual dashboard comprising a digital emulation a plurality of analog gauges.