Method and apparatus for sharing vehicle telemetry data among a plurality of users over a communications network

• US 6,338,011 B1
• Filed: 01/11/2000
• Issued: 01/08/2002
• Est. Priority Date: 01/11/2000
• Status: Expired due to Term

• Current Assignee: Solipsys Corp. (Rtx Corporation)
• Original Assignee: Solipsys Corp. (Rtx Corporation)
• Inventors: MacKenzie, Robert C., Tissue, Eric B., Abrams, Michael A., Citrin, Warren I., Furst, David I.
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Marc-Coleman, Marthe Y.
• Application Number:
  US09/480,859
• Time in Patent Office: 728 Days
• Field of Search: 701/1, 701/24, 701/27, 701/29, 701/30, 701/34, 701/3, 701/14, 340/825.15, 340/438, 340/445, 340/501, 342/159
• US Class Current: 701/1
• CPC Class Codes: G01S 13/66 Radar-tracking systems; Analogous systems
• CPC Class Codes: G01S 13/86 Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
• CPC Class Codes: G01S 13/87 Combinations of radar systems, e.g. primary radar and secondary radar
• CPC Class Codes: G01S 13/91 for traffic control G01S13/93 takes precedence
• CPC Class Codes: G01S 7/003 Transmission of data between radar, sonar or lidar systems and remote stations
• CPC Class Codes: G01S 7/295 Means for transforming co-ordinates or for evaluating data, e.g. using computers
• 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

In an Integrated Air Traffic Control System, apparatus, method, and software for sharing vehicle telemetry information between a plurality of sensors of different types and a plurality of users of different types utilizes a communications network coupling together the plurality of sensors and the plurality of users. A plurality of sensor processor devices are respectively coupled to the plurality of sensors, each sensor processor device being configured to receive vehicle telemetry information from its associated sensor, and to convert the receive vehicle information into common vehicle data of a type common to the plurality of users. A plurality of user processor devices are respectively coupled to the plurality of users, each user processor device being configured to receive a demand signal from its associated user and to transmit it to said communications network when it determines that its associated user has a predetermined vehicle profile which requires improvement. Each of the plurality of sensor processor devices receives the demand signal from the communications network and transmits its common vehicle data to the communications network when it determines that its associated sensor can provide vehicle information which improves the vehicle information profile.

Claims

1. Apparatus for sharing vehicle telemetry information between a plurality of sensors of different types and a plurality of users of different types, at least one of said sensors and at least one of said users being not on board said vehicle, said apparatus comprising:

a communications network coupling together the plurality of sensors and the plurality of users;

a plurality of sensor processor devices respectively coupled to the plurality of sensors, each processor device configured to receive vehicle telemetry information from its associated sensor, and to convert the received vehicle information into common vehicle data of a type common to the plurality of users; and

a plurality of user processor devices respectively coupled to the plurality of users, each processor device configured to receive a demand signal from its associated user and to transmit it to said communications network when it determines that its associated user has a predetermined vehicle profile which requires improvement;

each of said plurality of sensor processor devices receiving the demand signal from said communications network and transmitting its common vehicle data to the communications network when it determines that its associated sensor can provide vehicle information which improves said vehicle information profile.

2. Apparatus according to claim 1, wherein the predetermined vehicle profile comprises a fused vehicle profile including vehicle information updates from each of said plurality of sensors.

3. Apparatus according to claim 2, wherein each of said plurality of user processor devices assembles its own fused vehicle profile.

9. Apparatus according to claim 1, wherein each of said plurality of user processors transmits a demand signal which is based on vehicle track, geographic location, and the predetermined vehicle profile.

10. Apparatus according to claim 1, wherein the plurality of sensors are respectively co-located with the plurality of users.

11. Apparatus according to claim 10, wherein said plurality of sensors are selected from among a group consisting of radar sensors, infrared sensors, laser sensors, and audio sensors.

4. Apparatus for sharing vehicle telemetry information between a plurality of sensors of different types and a plurality of users of different types, comprising:

a communications network coupling together the plurality of sensors and the plurality of users;

a plurality of sensor processor devices respectively coupled to the plurality of sensors, each processor device configured to receive vehicle telemetry information from its associated sensor, and to convert the receive vehicle information into common vehicle data of a type common to the plurality of users; and

a plurality of user processor devices respectively coupled to the plurality of users, each processor device configured to receive a demand signal from its associated user and to transmit it to said communications network when it determines that its associated user has a predetermined vehicle profile which requires improvement;

each of said plurality of sensor processor devices receiving the demand signal from said communications network and transmitting its common vehicle data to the communications network when it determines that its associated sensor can provide vehicle information which improves said vehicle information profile, wherein one of said user processor devices requires a different predetermined vehicle profile for the same vehicle than another of said plurality of user processor devices.

5. Apparatus according to claim 4, wherein said vehicle profile comprises a performance profile for one of an airborne vehicle, a space vehicle, a land vehicle, a sea vehicle, and a sub-sea vehicle.

6. Apparatus for sharing vehicle telemetry information between a plurality of sensors of different types and a plurality of users of different types, comprising:

a communications network coupling together the plurality of sensors and the plurality of users;

a plurality of sensor processor devices respectively coupled to the plurality of sensors, each processor device configured to receive vehicle telemetry information from its associated sensor, and to convert the receive vehicle information into common vehicle data of a type common to the plurality of users; and

a plurality of user processor devices respectively coupled to the plurality of users, each processor device configured to receive a demand signal from its associated user and to transmit it to said communications network when it determines that its associated user has a predetermined vehicle profile which requires improvement;

each of said plurality of sensor processor devices receiving the demand signal from said communications network and transmitting its common vehicle data to the communications network when it determines that its associated sensor can provide vehicle information which improves said vehicle information profile,

wherein each of said plurality of sensor processor devices determines whether its associated sensor can provide vehicle information which improves said vehicle information profile by comparing an error of the predetermined vehicle profile with an error of an improved vehicle profile which would result if the vehicle information of the associated sensor was incorporated into the predetermined vehicle profile.

7. Apparatus according to claim 6, wherein each of said plurality of sensor processors compares the error of the predetermined vehicle profile with a first threshold and a second threshold, (i) if said error of the predetermined vehicle profile is above the first threshold, the vehicle information of the associated sensor is transmitted to the communications network, and the predetermined profile is improved, (ii) if said error of the predetermined profile is below the second threshold, the vehicle information of the associated sensor is not transmitted to the communications network, and the predetermined vehicle profile is not improved, (iii) if said error of the predetermined vehicle profile is between the first and second thresholds, an improved error of the predetermined vehicle profile is calculated based on vehicle information from the associated sensor and the improved error is compared to a third threshold to determine whether the associated sensor can provide vehicle information which improves said vehicle information profile.

8. Apparatus according to claim 7, wherein each of said plurality of sensor processor devices converts the received vehicle information into a common coordinate system.

12. Apparatus for sharing vehicle telemetry information between a plurality of sensors of different types and a plurality of users of different types, comprising:

a communications network coupling together the plurality of sensors and the plurality of users;

a plurality of sensor processor devices respectively coupled to the plurality of sensors, each processor device configured to receive vehicle telemetry information from its associated sensor, and to convert the receive vehicle information into common vehicle data of a type common to the plurality of users; and

a plurality of user processor devices respectively coupled to the plurality of users, each processor device configured to receive a demand signal from its associated user and to transmit it to said communications network when it determines that its associated user has a predetermined vehicle profile which requires improvement;

each of said plurality of sensor processor devices receiving the demand signal from said communications network and transmitting its common vehicle data to the communications network when it determines that its associated sensor can provide vehicle information which improves said vehicle information profile, wherein a second plurality of sensors and a second plurality of sensor processor devices are integrated into the apparatus without degrading performance of said plurality of sensor processor devices and said plurality of user processor devices.

13. Apparatus for sharing vehicle telemetry information between a plurality of sensors of different types and a plurality of users of different types, comprising:

a communications network coupling together the plurality of sensors and the plurality of users;

a plurality of sensor processor devices respectively coupled co the plurality of sensors, each processor device configured to receive vehicle telemetry information from its associated sensors and to convert the receive vehicle information into common vehicle data of a type common to the plurality of users; and

a plurality of user processor devices respectively coupled to the plurality of users, each processor device configured to receive a demand signal from its associated user and to transmit it to said communications network when it determines that its associated user has a predetermined vehicle profile which requires improvement;

each of said plurality of sensor processor devices receiving the demand signal from said communications network and transmitting its common vehicle data to the communications network when it determines that its associated sensor can provide vehicle information which improves said vehicle information profile, wherein one of said plurality of sensor processor devices receives vehicle information from the associated sensor of another of said plurality of sensor devices.

14. A system for communicating vehicle track information, over a communications network, among a plurality of platforms each of which has (i) a sensor and (ii) an operational unit which requires the vehicle track information, said system comprising:

first processing structure, coupled to a first one of said platforms, for processing vehicle track data from its associated first sensor and providing it to its associated first operational unit, said first processing structure providing a first current observation related estimate based on (i) the vehicle track data from the first sensor and (ii) reporting needs of the associated first operational unit or reporting needs received over the communications network, said first processing structure transmitting reporting needs to the communications network when it determines that its associated first operational unit requires an update to a stored first vehicle track profile;

second processing structure, coupled to a second one of said platforms, for processing vehicle track data from its associated second sensor and providing it to its associated second operational unit, said the second processing structure providing a second current observation related estimate based on (i) the vehicle track data from the second sensor and (ii) reporting needs of the associated second operational unit or reporting needs received over the communications network, said second processing structure transmitting a reporting need to the communications network when it determines that its associated second operational unit requires an update to a stored second vehicle track profile; and

each said processing structure developing a fusion algorithm combined track by fusing together (i) current observation related estimates received over the communications network and (ii) current observation related estimates provided by that processing structure.

15. A system according to claim 14, wherein each said processing structure transmits its current observation related estimate to the communications network when it determines that the vehicle track data from its associated sensor is responsive to a reporting need received over the communications network.

16. A system according to claim 14, wherein each current observation related estimate includes data with respect to a common coordinate system.

17. A system according to claim 14, wherein each said processing structure issues reporting needs comprising vehicle track identity.

18. A system according to claim 14, wherein each said processing structure provides its fusion algorithm combined track to its associated operational unit.

19. A system according to claim 14, wherein each said processing structure transmits a current observation related estimate to the communications network when a predetermined error rate of the fusion algorithm combined track exceeds a predetermined threshold.

20. A system according to claim 14, wherein each said processing structure transmits a current observation related estimate to the communications network when its associated sensor detects that the vehicle has changed direction.

21. A system according to claim 14, wherein each current observation related estimate is unattributable to said first sensor or to said second sensor.

22. A method of distributing vehicle track data over a communications network to a plurality of users each of which comprises a sensor and an operational unit, comprising the steps of:

sensing a vehicle track with a first sensor of a first user;

generating, at the first user, a first current observation related estimate based on the sensed vehicle track and reporting needs;

transmitting the first current observation related estimate to the communications network when it is determined that the first current observation related estimate will improve a predetermined vehicle track profile;

receiving, at the first user, a second current observation related estimate generated by a second user and transmitted over the communications network;

fusing, at the first user, the first current observation related estimate and the second current observation related estimate to provide a fusion algorithm combined track; and

providing the fusion algorithm combined track to a first operational unit.

23. A method according to claim 22, further comprising the steps of:

sensing a vehicle track of the same vehicle with a second sensor of a second user;

generating, at the second user, a second current observation related estimate based on the sensed vehicle track and the reporting needs;

transmitting the second current observation related estimate to the communications network when it is determined that the second current observation related estimate will improve the predetermined vehicle track profile;

receiving, at the second user, the first current observation related estimate generated by the first user and transmitted over the communications network;

fusing, at the second user, the first current observation related estimate and the second current observation related estimate to provide a second fusion algorithm combined track; and

providing the second fusion algorithm combined track to the second operational unit.

24. A method according to claim 23, wherein the first and the second current observation related estimates each comprises a common coordinate system.

25. A method according to claim 24, wherein each of the first and second users transmits reporting needs to the communications network.

26. A method according to claim 25, wherein the reporting needs of the first user are different than the reporting needs of the second user.

27. A method according to claim 23, wherein each said user determines whether its associated sensor can provide vehicle information which improves the predetermined vehicle profile by comparing an error of the predetermined vehicle profile with an error of an improved vehicle profile which would result if the vehicle data of the associated sensor was incorporated into the predetermined vehicle profile.

28. A method according to claim 23, wherein said first sensor and said second sensor are different sensor types.

29. A method according to claim 23, wherein said first user and said second user are disposed in different geographic locations.

30. A method according to claim 23, wherein the first user requires a different predetermined vehicle profile for the same vehicle than the second user.

31. A method according to claim 23, wherein in the first sensor and the second sensor are each capable of detecting a vehicle selected from the group consisting of an airborne vehicle, a space vehicle, a land vehicle, a sea vehicle, and a sub-sea vehicle.

32. A method according to claim 22, wherein the current observation related estimate comprises data in the WGS 84 coordinate system.

33. One or more computer-readable storage mediums containing one or more computer programs for causing one or more computers to distribute vehicle track data over a communications network to a plurality of users each of which comprises a sensor and an operational unit, the one or more computers being caused by the one or more computer programs to perform the steps of:

sensing a vehicle track with a first sensor of a first user;

generating, at the first user, a first current observation related estimate based on the sensed vehicle track and reporting needs;

transmitting the first current observation related estimate to the communications network when it is determined that the first current observation related estimate will improve a predetermined vehicle track profile;

receiving, at the first user, a second current observation related estimate generated by a second user and transmitted over the communications network;

fusing, at the first user, the first current observation related estimate and the second current observation related estimate to provide a fusion algorithm combined track; and

providing the fusion algorithm combined track to a first operational unit.

34. One or more computer-readable recording mediums according to claim 33, further comprising one or more computer programs which cause the one or more computers to perform the steps of:

sensing a vehicle track of the same vehicle with a second sensor of a second user;

generating, at the second user, a second current observation related estimate based on the sensed vehicle track and the reporting needs;

transmitting the second current observation related estimate to the communications network when it is determined that second current observation related estimate will improve the predetermined vehicle track profile;

receiving, at the second user, the first current observation related estimate generated by the first user and the transmitted over the communications network;

fusing, at the second user, the first current observation related estimate and the second current observation related estimate to provide a second fusion algorithm combined track; and

providing the second fusion algorithm combined track to the second operational unit.

35. Apparatus for sharing vehicle telemetry information between a plurality of sensors of different types and a plurality of users of different types, at least one of said sensors and at least one of said users being not on board said vehicle, said apparatus comprising:

a communications network coupling together the plurality of sensors and the plurality of users;

a plurality of sensor processor devices respectively coupled to the plurality of sensors, each processor device configured to receive vehicle telemetry information from its associated sensor, and to convert the receive vehicle information into common vehicle data of a type common to the plurality of users; and

a plurality of user processor devices respectively coupled to the plurality of users, each processor device configured to receive a demand signal from its associated user and to transmit it to said communications network;

each of said plurality of sensor processor devices receiving the demand signal from said communications network and transmitting its common vehicle data to the communications network, the common vehicle profile comprising a fused vehicle profile including vehicle information updates from each of said plurality of sensors, each of said plurality of user processor devices assembling its own fused vehicle profile.