Method and system for intelligent collision detection and warning

• US 6,795,772 B2
• Filed: 06/24/2002
• Issued: 09/21/2004
• Est. Priority Date: 06/23/2001
• Status: Active Grant

• Current Assignee: American GNC Corporation
• Original Assignee: American GNC Corporation
• Inventors: Lin, Ching-Fang, An, Dong
• Primary Examiner(s): Marc-Coleman, Marthe Y.
• Application Number:
  US10/179,765
• Publication Number:
  US 20030004642A1
• Time in Patent Office: 820 Days
• Field of Search: 701/301, 701/213, 701/303, 701/200, 701/207, 701/214, 342/29, 342/32, 342/64, 342/65, 340/947, 340/961
• US Class Current: 701/301
• CPC Class Codes: G08G 5/0008 with other aircraft
• CPC Class Codes: G08G 5/0078 for monitoring traffic from the aircraft radar or analogous systems specially adapted for traffic control G01S13/91

Abstract

A method and system for collision avoidance, carried by each aircraft, includes a miniature MEMS (MicroElectroMechanical Systems) IMU (Inertial Measurement Unit), a miniature GPS (Global Positioning System) receiver, a display, a data link receiver/transmitter, and a central processing system. Each aircraft carries a GPS receiver coupled with a self-contained miniature IMU for uninterrupted position determination. This position information is shared with other aircraft over an RF (Radio Frequency) data link. An intelligent display shows the relative positions of the aircraft in the immediate vicinity of the host aircraft and issues voice and flashing warnings if a collision hazard exists. This system provides situational awareness to the pilot and enhances the safety of flight.

Claims

1. A collision avoidance system, carried in a host aircraft, comprising:

an IMU (Inertial Measurement Unit) providing inertial motion measurements;

a GPS (Global Positioning System) receiver providing GPS positioning measurements;

a data link receiver/transmitter exchanging position data between the host aircraft and at least a participating aircraft;

a central processing unit receiving said inertial motion measurements from said IMU, said GPS positioning measurements from said GPS receiver, and aircraft position information from said data link receiver/transmitter to produce a plurality of warning level information for a collision avoidance; and

an interface and display unit presenting warning level information for collision avoidance states to a pilot of said host aircraft.

2. The collision avoidance system, as recited in claim 1, wherein said central processing unit further comprises:

a GPS/IMU relative positioning module producing an uninterrupted position information;

a collision detection and warning module receiving said uninterrupted position information from said GPS/IMU relative positioning module and other aircraft position information from said data link receiver/transmitter through said GPS/IMU relative positioning module to produce said warning level information for said collision avoidance;

a collision avoidance information output interface providing an interface with said interface and display unit and feeding said warning level information for said collision avoidance to said interface and display unit; and

a data link management module realizing and managing a communication logic for said collision avoidance system.

3. A method for intelligent collision detection and warning for a host aircraft, comprising the steps of:

(a) providing inertial motion measurements by an IMU (Inertial Measurement Unit);

(b) providing GPS positioning measurements by a GPS (Global Positioning System) receiver;

(c) exchanging position data between the host aircraft and at least a participating aircraft by a data link receiver/transmitter;

(d) sending said inetial motion measurements from said IMU, said GPS positioning measurements from said GPS receiver, and aircraft position information from said data link receiver/transmitter to a central processing unit to produce a plurality of warning level information for a collision avoidance; and

(e) presenting a warning level information by an interface and display unit to a pilot of said host aircraft.

4. The method, as recited in claim 3, wherein the step (d) further comprises the steps of:

(d.1) producing an uninterrupted position information by a GPS/IMU relative positioning module;

(d.2) sending said uninterrupted position information from said GPS/IMU relative positioning module and other aircraft position information from said data link receiver/transmitter through said GPS/IMU relative positioning module to a collision detection and warning module to produce said warning level information for said collision avoidance;

(d.3) providing a collision avoidance information output interface with said interlace and display unit and feeding said warning level information for said collision avoidance to said interface and display unit; and

(d.4) realizing and managing a communication logic for said collision avoidance system by a data link management module.

5. A collision avoidance system, carried in a host aircraft, comprising:

an IMU (Inertial Measurement Unit) providing inertial motion measurements;

a GPS (Global Positioning System) receiver providing GPS positioning measurements;

a data link receiver/transmitter exchanging position data between the host aircraft and a participating aircraft;

a central processing unit receiving said inertial motion measurements from said IMU, said GPS positioning measurements from said GPS receiver, and aircraft position information from said data link receiver/transmitter to produce a plurality of warning level information for a collision avoidance, wherein said central processing unit further comprises;

a GPS/IMU relative positioning module producing an uninterrupted position information;

a collision detection and warning module receiving said uninterrupted position information from said GPS/IMU relative positioning module and other aircraft position information from said data link receiver/transmitter through said GPS/IMU relative positioning module to produce said warning level information for said collision avoidance, wherein said collision detection and warning module comprises;

a host aircraft dynamic state estimation module producing a real-time dynamic state of said host aircraft by using position data from said GPS/IMU relative positioning module, wherein GPS data and INS (Inertial Navigation System) data are fully coupled and integrated;

an approaching aircraft dynamic state estimation module predicting a trajectory of said participating aircraft by using said position data from said data link receiver/transmitter; and

an alert criteria and collision avoidance logic module producing said warning level information for said collision avoidance by using collision avoidance criteria based on a prediction of an intersection formed between a host aircraft related region and a participating aircraft related region;

a collision avoidance information output interface providing an interface with an interface and display unit and feeding said warning level information for said collision avoidance to said interface and display unit; and

a data link management module realizing and managing a communication logic for said collision avoidance system; and

said interface and display unit presenting warning level information for collision avoidance states to a pilot of said host aircraft.

6. The collision avoidance system, as recited in claim 5, wherein said data link management module enables each of said host and participating aircrafts approaching an airspace to be registered into a communication network by registering in said data link management module, sending a related information thereof to said alert criteria and collision avoidance logic module for future decision making, and showing said participating aircraft on said interface and display unit.

7. The collision avoidance system, as recited in claim 6, wherein each of said host and participating aircrafts leaving said airspace needs to be unregistered from said communication network to release communication resources, wherein unregistration information generated from said data link management module is sent to said alert criteria and collision avoidance logic module and removed from said interface and display unit.

8. The collision avoidance system, as recited in claim 7, wherein said data link management module enables each of said host and participating aircraft broadcasts dynamic information to said communication network, wherein said host aircraft dynamic state estimation module initiates an operation and sends a status of said host aircraft to said data link management module.

9. The collision avoidance system, as recited in claim 8, wherein said host aircraft dynamic state estimation module timely initiates a collision avoidance decision making cycle that stimulates said alert criteria and collision avoidance logic module to acquire a dynamic information of said participating aircraft.

10. The collision avoidance system, as recited in claim 9, wherein said alert criteria and collision avoidance logic module integrates said dynamic information and makes a decision which is sent to said user interface and display module for presentation.

11. The collision avodiance system, as recited in claim 10, wherein said interface and display unit further comprises a data process module, an audio interface and a graphite interface, wherein said data process module transforms a plurality of warning level information for collision avoidance states from said collision detection and warning module through said collision avoidance information output interface into a data stream in a graphic data format for said graphic interface, and into said data stream in an audio data format for said audio interface, wherein said graphic interface presents graphic display of said warning level information to said pilot and said audio interface presents voices of said warning level information for said collision avoidance states to said pilot, wherein said audio interface comprises a sentence analysis module, an audio word library and an audio output device, wherein said audio word library stores pre-loaded words and said audio output device generates voice warnings for said pilot, wherein said sentence analysis module generates sentences using a data stream in said audio data format and relevant words from said audio word library to said audio output device.

12. The collision avoidance system, as recited in claim 8, wherein said host aircraft related region is defined as an airspace that said host aircraft is going to reach at a next epoch with current dynamic states thereof, wherein said participating aircraft related region is classified into a first and a second sub-region class, wherein said first sub-region class one is defined as said host aircraft related region and a region said participating aircraft is going to reach at said next epoch and said second sub-region class is defined as said airspace that said participating aircraft is capable of reaching with a maximum maneuver capability thereof.

13. The collision avoidance system, as recited in claim 5, wherein said host aircraft dynamic state estimation module timely initiates a collision avoidance decision making cycle that stimulates said alert criteria and collision avoidance logic module to acquire a dynamic information of said participating aircraft.

14. The collision avoidance system, as recited in claim 13, wherein said alert criteria and collision avoidance logic module integrates said dynamic information and makes a decision which is sent to said user interface and display module for presentation.

15. The collision avoidance system, as recited in claim 14, wherein said host aircraft related region is defined as an airspace that said host aircraft is going to reach at a next epoch with current dynamic states thereof, wherein said participating aircraft related region is classified into a first and a second sub-region class, wherein said first sub-region class one is defined as said host aircraft related region and a region said participating aircraft is going to reach at said next epoch and said second sub-region class is defined as said airspace that said participating aircraft is capable of reaching with a maximum maneuver capability thereof.

16. The collision avoidance system, as recited in claim 15, wherein said warning level information for collision avoidance states of said interface and display unit includes a first level that means no collision threat, a second level that represents a potential collision threat, and a third level that alerts a collision danger if said host aircraft continues a current dynamic state thereof;

shows a relationship with said participating aircraft in a graphic and lexical mode, wherein presentation parameters include relative velocities, relative ranges, and relative directions; and

focuses on a behavior of said participating aircraft.

17. The collision avodiance system, as recited in claim 14, wherein said interface and display unit further comprises a data process module, an audio interface and a graphite interface, wherein said data process module transforms a plurality of warning level information for collision avoidance states from said collision detection and warning module through said collision avoidance information output interface into a data stream in a graphic data format for said graphic interface, and into said data stream in an audio data format for said audio interface, wherein said graphic interface presents graphic display of said warning level information to said pilot and said audio interface presents voices of said warning level information for said collision avoidance states to said pilot.

18. The collision avoidance system, as recited in claim 17, wherein said audio interface comprises a sentence analysis module, an audio word library and an audio output device, wherein said audio word library stores pre-loaded words and said audio output device generates voice warnings for said pilot, wherein said sentence analysis module generates sentences using a data stream in said audio data format and relevant words from said audio word library to said audio output device.

19. The collision avoidance system, as recited in claim 5, wherein said host aircraft related region is defined as an airspace that said host aircraft is going to reach at a next epoch with current dynamic states thereof, wherein said participating aircraft related region is classified into a first and a second sub-region class, wherein said first sub-region class one is defined as said host aircraft related region and a region said participating aircraft is going to reach at said next epoch and said second sub-region class is defined as said airspace that said participating aircraft is capable of reaching with a maximum maneuver capability thereof.

20. The collision avodiance system, as recited in claim 5, wherein said interface and display unit further comprises a data process module, an audio interface and a graphite interface, wherein said data process module transforms a plurality of warning level information for collision avoidance states from said collision detection and warning module through said collision avoidance information output interface into a data stream in a graphic data format for said graphic interface, and into said data stream in an audio data format for said audio interface, wherein said graphic interface presents graphic display of said warning level information to said pilot and said audio interface presents voices of said warning level information for said collision avoidance states to said pilot.

21. The collision avoidance system, as recited in claim 20, wherein said audio interface comprises a sentence analysis module, an audio word library and an audio output device, wherein said audio word library stores pre-loaded words and said audio output device generates voice warnings for said pilot, wherein said sentence analysis module generates sentences using a data stream in said audio data format and relevant words from said audio word library to said audio output device.

22. A collision avoidance system, carried in a host aircraft, comprising:

an IMU (Inertial Measurement Unit) providing inertial motion measurements;

a GPS (Global Positioning System) receiver providing GPS positioning measurements;

a data link receiver/transmitter exchanging position data between the host aircraft and at least a participating aircraft;

a central processing unit receiving said inertial motion measurements from said IMU, said GPS positioning measurements from said GPS receiver, and aircraft position information from said data link receiver/transmitter to produce a plurality of warning level information for a collision avoidance, wherein said central processing unit comprises;

a GPS/IMU relative positioning module producing an uninterrupted position information;

a collision detection and warning module receiving said uninterrupted position information from said GPS/IMU relative positioning module and other aircraft position information from said data link receiver/transmitter through said GPS/IMU relative positioning module to produce said warning level information for said collision avoidance;

a collision avoidance information output interface providing an interface with an interface and display unit and feeding said warning level information for said collision avoidance to said interface and display unit; and

a data link management module realizing and managing a communication logic for said collision avoidance system, wherein said data link management module enables each of said host and participating aircrafts approaching an airspace to be registered into a communication network by registering in said data link management module, and sending a related information thereof to said collision detection and warning module for future decision making; and

said interface and display unit presenting warning level information for collision avoidance states to a pilot of said host aircraft and showing said participating aircraft.

23. The collision avoidance system, as recited in claim 22, wherein each of said host and participating aircrafts leaving said airspace needs to be unregistered from said communication network to release communication resources, wherein unregistration information generated, from said data link management module is sent to said alert criteria and collision avoidance logic module and removed from said interface and display unit.

24. The collision avoidance system, as recited in claim 23, wherein said data link management module enables each of said host and participating aircraft broadcasts dynamic information to said communication network.

25. The collision avodiance system, as recited in claim 24, wherein interface and display unit further comprises a data process module, an audio interface and a graphite interface, wherein said data process module transforms a plurality of warning level information for collision avoidance states from said collision detection and warning module through said collision avoidance information output interface into a data stream in a graphic data format for said graphic interface, and into said data stream in an audio data format for said audio interface, wherein said graphic interface presents graphic display of said warning level information to said pilot and said audio interface presents voices of said warning level information for said collision avoidance states to said pilot.

26. The collision avoidance system, as recited in claim 25, wherein said audio interface comprises a sentence analysis module, an audio word library and an audio output device, wherein said audio word library stores pre-loaded words and said audio output device generates voice warnings for said pilot, wherein said sentence analysis module generates sentences using a data stream in said audio data format and relevant words from said audio word library to said audio output device.

27. A collision avoidance system, carried in a host aircraft, comprising:

an IMU (Inertial Measurement Unit) providing inertial motion measurements;

a GPS (Global Positioning System) receiver providing GPS positioning measurements;

a data link receiver/transmitter exchanging position data between the host aircraft and at least a participating aircraft;

a central processing unit receiving said inertial motion measurements from said IMU, said GPS positioning measurements from said GPS receiver, and aircraft position information from said data link receiver/transmitter to produce a plurality of warning level information for a collision avoidance; and

an interface and display unit presenting warning level information for collision avoidance states to a pilot of said host aircraft, said warning level information for collision avoidance states of said interface and display unit including a first level that means no collision threat, a second level that represents a potential collision threat, and a third level that alerts a collision danger if said host aircraft continues a current dynamic state thereof, showing a relationship with said participating aircraft in a graphic and lexical mode, wherein presentation parameters include relative velocities, relative ranges, and relative directions, and focusing on a behavior of said participating aircraft.

28. The collision avodiance system, as recited in claim 27, wherein interface and display unit further comprises a data process module, an audio interface and a graphite interface, wherein said data process module transforms a plurality of warning level information for collision avoidance states from said collision detection and warning module through said collision avoidance information output interface into a data stream in a graphic data format for said graphic interface, and into said data stream in an audio data format for said audio interface, wherein said graphic interface presents graphic display of said different warning level information for said collision avoidance to said pilot and said audio interface presents voices of said warning level information for said collision avoidance states to said pilot.

29. The collision avoidance system, as recited in claim 28, wherein said audio interface comprises a sentence analysis module, an audio word library and an audio output device, wherein said audio word library stores pre-loaded words and said audio output device generates voice warnings for said pilot, wherein said sentence analysis module generates sentences using a data stream in said audio data format and relevant words from said audio word library to said audio output device.

30. A collision avoidance system, carried in a host aircraft, comprising:

an IMU (Inertial Measurement Unit) providing inertial motion measurements;

a GPS (Global Positioning System) receiver providing GPS positioning measurements;

a data link receiver/transmitter exchanging position data between the host aircraft and at least a participating aircraft;

a central processing unit receiving said inertial motion measurements from said IMU, said GPS positioning measurements from said GPS receiver, and aircraft position information from said data link receiver/transmitter to produce a plurality of warning level information for a collision avoidance; and

an interface and display unit presenting warning level information for collision avoidance states to a pilot of said host aircraft, wherein said interface and display unit is designed for graphically displaying relative location, altitude, range, azimuth and heading of said participating aircraft and providing said pilot with a depiction of trajectories related to said participating aircraft to effectively yield a situation awareness display that allows a clear identification of neighborhood flight trajectory tracks and isolation of potential collision paths so as to identify said a bearing and range of said participating aircraft and mark a corresponding relative altitude.

31. A collision avoidance system, carried in a host aircraft, comprising:

an IMU (Inertial Measurement Unit) providing inertial motion measurements;

a GPS (Global Positioning System) receiver providing GPS positioning measurements;

a data link receiver/transmitter exchanging position data between the host aircraft and at least a participating aircraft;

a central processing unit receiving said inertial motion measurements from said IMU, said GPS positioning measurements from said GPS receiver, and aircraft position information from said data link receiver/transmitter to produce a plurality of warning level information for a collision avoidance, wherein said central processing unit further comprises;

a GPS/IMU relative positioning module producing an uninterrupted position information;

a collision detection and warning module receiving said uninterrupted position information from said GPS/IMU relative positioning module and other aircraft position information from said data link receiver/transmitter through said GPS/IMU relative positioning module to produce said warning level information for said collision avoidance;

a collision avoidance information output interface providing an interface with an interface and display unit and feeding said warning level information for said collision avoidance to said interface and display unit; and

a data link management module realizing and managing a communication logic for said collision avoidance system; and

said interface and display unit presenting warning level information for collision avoidance states to a pilot of said host aircraft, wherein interface and display unit further comprises a data process module, an audio interface and a graphite interface, wherein said data process module transforms a plurality of warning level information for collision avoidance states from said collision detection and warning module through said collision avoidance information output interface into a data stream in a graphic data format for said graphic interface, and into said data stream in an audio data format for said audio interface, wherein said graphic interface presents graphic display of said warning level information to said pilot and said audio interface presents voices of said warning level information for said collision avoidance states to said pilot.

32. The collision avoidance system, as recited in claim 31, wherein said audio interface comprises a sentence analysis module, an audio word library and an audio output device, wherein said audio word library stores pre-loaded words and said audio output device generates voice warnings for said pilot, wherein said sentence analysis module generates sentences using a data stream in said audio data format and relevant words from said audio word library to said audio output device.

33. A method for intelligent collision detection and warning, comprising the steps of:

(a) providing inertial motion measurements by an IMU (Inertial Measurement Unit);

(b) providing GPS positioning measurements by a GPS (Global Positioning System) receiver;

(c) exchanging position data between the host aircraft and at least a participating aircraft by a data link receiver/transmitter;

(d) sending said inertial motion measurements from said IMU, said GPS positioning measurements from said GPS receiver, and aircraft position information from said data link receiver/transmitter to a central processing unit to produce a plurality of warning level information for a collision avoidance; and

(e) presenting a warning level information by an interface and display unit to a pilot of said host aircraft;

wherein the step (d) further comprises the steps of;

(d.1) producing an uninterrupted position information by a GPS/IMU relative positioning module;

(d.2) sending said uninterrupted position information from said GPS/IMU relative positioning module and other aircraft position information from said data link receiver/transmitter through said GPS/IMU relative positioning module to a collision detection and warning module to produce said warning level information for said collision avoidance;

(d.3) providing a collision avoidance information output interface with said interface and display unit and feeding said warning level information for said collision avoidance to said interface and display unit; and

(d.4) realizing and managing a communication logic for said collision avoidance system by a data link management module;

wherein the step (d.2) further comprises the steps of;

(d.2.1) producing a real-time dynamic state of said host aircraft by a host aircraft dynamic state estimation module by using position data from said GPS/IMU relative positioning module, wherein GPS data and INS data are fully coupled and integrated;

(d.2.2) predicting a trajectory of said participating aircraft by an approaching aircraft dynamic state estimation module by using said position data from said data link receiver/transmitter; and

(d.2.3) producing said warning level information for said collision avoidance by an alert criteria and collision avoidance logic module by using collision avoidance criteria based on a prediction of an intersection formed between a host aircraft related region and a participating aircraft related region.

34. The method, as recited in claim 33, wherein the step (c) further comprises the steps of:

(c.1) enabling each of said host and participating aircrafts approaching an airspace to be registered into a communication network by registering in said data link management module,

(c.2) sending a related information thereof to said alert criteria and collision avoidance logic module for future decision making, and

(c.3) showing said participating aircraft on said interface and display unit.

35. The method, as recited in claim 34, wherein the step (c) further comprises the steps of:

(c.4) unregistering from said communication network to release communication resources for each of said host and participating aircrafts which leaves said airspace,

(c.5) sending unregistration information generated from said data link management module to said alert criteria and collision avoidance logic module, and

(c.6) removing said unregistered participating aircraft from said interface and display unit of said host aircraft.

36. The method, as recited in claim 35, wherein the step (c) further comprises a step (c.7) of enabling each of said host and participating aircraft broadcasts dynamic information to said communication network by said data link management module.

37. The method, as recited in claim 36, wherein the step (d.2.1) further comprises a step of timely initiating a collision avoidance decision making cycle, by said host aircraft dynamic state estimation module, that stimulates said alert criteria and collision avoidance logic module to acquire a dynamic information of said participating aircraft.

38. The method, as recited in claim 37, wherein the step (d.2.3) further comprises a step of integrating said dynamic information and making a decision which is sent to said user interface and display module for presentation by means of said alert criteria and collision avoidance logic module.

39. The method, as recited in claim 38, wherein the step (e) further comprises the steps of:

(e.1) transforming, by a data process module, said warning level information for collision avoidance states from said collision detection and warning module through said collision avoidance information output interface into a data stream in a graphic data format for a graphic interface and in an audio data format for an audio interface,

(e.2) presenting a graphic display of said warning level information for said collision avoidance to said pilot by said graphic interface, and

(e.3) presenting voices of said warning level information for said collision avoidance states to said pilot by said audio interface;

wherein said audio interface comprises a sentence analysis module, an audio word library and an audio output device, wherein said audio word library stores pre-loaded words and said audio output device generates voice warnings for said pilot, wherein said sentence analysis module generates sentences using a data stream in said audio data format and relevant words from said audio word library to said audio output device.

40. The method, as recited in claim 36, wherein said host aircraft related region is defined as an airspace that said host aircraft is going to reach at a next epoch with current dynamic states thereof, wherein said participating aircraft related region is classified into a first and a second sub-region class, wherein said first sub-region class one is defined as said host aircraft related region and a region said participating aircraft is going to reach at said next epoch and said second sub-region class is defined as said airspace that said participating aircraft is capable of reaching with a maximum maneuver capability thereof.

41. The method, as recited in claim 33, wherein the step (d.2.1) further comprises a step of timely initiating a collision avoidance decision making cycle, by said host aircraft dynamic state estimation module, that stimulates said alert criteria and collision avoidance logic module to acquire a dynamic information of said participating aircraft.

42. The method, as recited in claim 41, wherein the step (d.2.3) further comprises a step of integrating said dynamic information and making a decision which is sent to said user interface and display module for presentation by means of said alert criteria and collision avoidance logic module.

43. The method, as recited in claim 42, wherein said host aircraft related region is defined as an airspace that said host aircraft is going to reach at a next epoch with current dynamic states thereof, wherein said participating aircraft related region is classified into a first and a second sub-region class, wherein said first sub-region class one is defined as said host aircraft related region and a region said participating aircraft is going to reach at said next epoch and said second sub-region class is defined as said airspace that said participating aircraft is capable of reaching with a maximum maneuver capability thereof.

44. The method, as recited in claim 43, wherein said warning level information for collision avoidance states of said interface and display unit includes a first level that means no collision threat, a second level that represents a potential collision threat, and a third level that alerts a collision danger if said host aircraft continues a current dynamic state thereof;

shows a relationship with said participating aircraft in a graphic and lexical mode, wherein presentation parameters include relative velocities, relative ranges, and relative directions; and

focuses on a behavior of said participating aircraft.

45. The method, as recited in claim 42, wherein the step (e) further comprises the steps of:

(e.1) transforming, by a data process module, said warning level information for collision avoidance states from said collision detection and warning module through said collision avoidance information output interface into a data stream in a graphic data format for a graphic interface and in an audio data format for an audio interface,

(e.2) presenting a graphic display of said warning level information for said collision avoidance to said pilot by said graphic interface, and

(e.3) presenting voices of said warning level information for said collision avoidance states to said pilot by said audio interface.

46. The method, as recited in claim 45, wherein said audio interface comprises a sentence analysis module, an audio word library and an audio output device, wherein said audio word library stores pre-loaded words and said audio output device generates voice warnings for said pilot, wherein said sentence analysis module generates sentences using a data stream in said audio data format and relevant words from said audio word library to said audio output device.

47. The method, as recited in claim 33, wherein said host aircraft related region is defined as an airspace that said host aircraft is going to reach at a next epoch with current dynamic states thereof, wherein said participating aircraft related region is classified into a first and a second sub-region class, wherein said first sub-region class one is defined as said host aircraft related region and a region said participating aircraft is going to reach at said next epoch and said second sub-region class is defined as said airspace that said participating aircraft is capable of reaching with a maximum maneuver capability thereof.

48. The method, as recited in claim 33, wherein the step (e) further comprises the steps of:

(e.1) transforming, by a data process module, said warning level information for collision avoidance states from said collision detection and warning module through said collision avoidance information output interface into a data stream in a graphic data format for a graphic interface and in an audio data format for an audio interface,

(e.2) presenting a graphic display of said warning level information for said collision avoidance to said pilot by said graphic interface, and

(e.3) presenting voices of said warning level information for said collision avoidance states to said pilot by said audio interface.

49. The method, as recited in claim 48, wherein said audio interface comprises a sentence analysis module, an audio word library and an audio output device, wherein said audio word library stores pre-loaded words and said audio output device generates voice warnings for said pilot, wherein said sentence analysis module generates sentences using a data stream in said audio data format and relevant words from said audio word library to said audio output device.

50. A method for intelligent collision detection and warning, comprising the steps of:

(a) providing inertial motion measurements by an IMU (Inertial Measurement Unit);

(b) providing GPS positioning measurements by a GPS (Global Positioning System) receiver;

(c) exchanging position data between the host aircraft and at least a participating aircraft by a data link receiver/transmitter;

(d) sending said inertial motion measurements from said IMU, said GPS positioning measurements from said GPS receiver, and aircraft position information from said data link receiver/transmitter to a central processing unit to produce a plurality of warning level information for a collision avoidance; and

(e) presenting a warning level information by an interface and display unit to a pilot of said host aircraft;

wherein the step (d) further comprises the steps of;

(d.1) producing an uninterrupted position information by a GPS/IMU relative positioning module;

(d.2) sending said uninterrupted position information from said GPS/IMU relative positioning module and other aircraft position information from said data link receiver/transmitter through said GPS/IMU relative positioning module to a collision detection and warning module to produce said warning level information for said collision avoidance;

(d.3) providing a collision avoidance information output interface with said interface and display unit and feeding said warning level information for said collision avoidance to said interface and display unit; and

(d.4) realizing and managing a communication logic for said collision avoidance system by a data link management module;

wherein the step (c) further comprises the steps of;

(c.1) enabling each of said host and participating aircrafts approaching an airspace to be registered into a communication network by registering in said data link management module,

(c.2) sending a related information thereof to said alert criteria and collision avoidance logic module for future decision making, and

(c.3) showing said participating aircraft on said interface and display unit.

51. The method, as recited in claim 50, wherein the step (c) further comprises the steps of:

(c.4) unregistering from said communication network to release communication resources for each of said host and participating aircrafts which leaves said airspace,

(c.5) sending unregistration information generated from said data link management module to said alert criteria and collision avoidance logic module, and

(c.6) removing said unregistered participating aircraft from said interface and display unit of said host aircraft.

52. The method, as recited in claim 51, wherein the step (c) further comprises a step (c.7) of enabling each of said host and participating aircraft broadcasts dynamic information to said communication network by said data link management module.

53. The method, as recited in claim 52, wherein the step (e) further comprises the steps of:

(e.1) transforming, by a data process module, said warning level information for collision avoidance states from said collision detection and warning module through said collision avoidance information output interface into a data stream in a graphic data format for a graphic interface and in an audio data format for an audio interface,

(e.2) presenting a graphic display of said warning level information for said collision avoidance to said pilot by said graphic interface, and

(e.3) presenting voices of said warning level information for said collision avoidance states to said pilot by said audio interface.

54. The method, as recited in claim 53, wherein said audio interface comprises a sentence analysis module, an audio word library and an audio output device, wherein said audio word library stores pre-loaded words and said audio output device generates voice warnings for said pilot, wherein said sentence analysis module generates sentences using a data stream in said audio data format and relevant words from said audio word library to said audio output device.

55. A method for intelligent collision detection and warning, comprising the steps of:

(a) providing inertial motion measurements by an IMU (Inertial Measurement Unit);

(b) providing GPS positioning measurements by a GPS (Global Positioning System) receiver;

(c) exchanging position data between the host aircraft and at least a participating aircraft by a data link receiver/transmitter;

(d) sending said inertial motion measurements from said IMU, said GPS positioning measurements from said GPS receiver, and aircraft position information from said data link receiver/transmitter to a central processing unit to produce a plurality of warning level information for a collision avoidance; and

(e) presenting a warning level information by an interface and display unit to a pilot of said host aircraft;

wherein said warning level information for collision avoidance states of said interface and display unit includes a first level that means no collision threat, a second level that represents a potential collision threat, and a third level that alerts a collision danger if said host aircraft continues a current dynamic state thereof;

shows a relationship with said participating aircraft in a graphic and lexical mode, wherein presentation parameters include relative velocities, relative ranges, and relative directions; and

focuses on a behavior of said participating aircraft.

56. The method, as recited in claim 55, wherein the step (e) further comprises the steps of:

(e.1) transforming, by a data process module, said warning level information for collision avoidance states from said collision detection and warning module through said collision avoidance information output interface into a data stream in a graphic data format for a graphic interface and in an audio data format for an audio interface,

(e.2) presenting a graphic display of said warning level information for said collision avoidance to said pilot by said graphic interface, and

(e.3) presenting voices of said warning level information for said collision avoidance states to said pilot by said audio interface.

57. The method, as recited in claim 56, wherein said audio interface comprises a sentence analysis module, an audio word library and an audio output device, wherein said audio word library stores pre-loaded words and said audio output device generates voice warnings for said pilot, wherein said sentence analysis module generates sentences using a data stream in said audio data format and relevant words from said audio word library to said audio output device.

58. A method for intelligent collision detection and warning, comprising the steps of:

(a) providing inertial motion measurements by an IMU (Inertial Measurement Unit);

(b) providing GPS positioning measurements by a GPS (Global Positioning System) receiver;

(c) exchanging position data between the host aircraft and at least a participating aircraft by a data link receiver/transmitter;

(d) sending said inertial motion measurements from said IMU, said GPS positioning measurements from said GPS receiver, and aircraft position information from said data link receiver/transmitter to a central processing unit to produce a plurality of warning level information for a collision avoidance; and

(e) presenting a warning level information by an interface and display unit to a pilot of said host aircraft;

wherein said interface and display unit is designed for graphically displaying relative location, altitude, range, azimuth and heading of said participating aircraft and providing said pilot with a depiction of trajectories related to said participating aircraft to effectively yield a situation awareness display that allows a clear identification of neighborhood flight trajectory tracks and isolation of potential collision paths so as to identify said a bearing and range of said participating aircraft and mark a corresponding relative altitude.

59. A method for intelligent collision detection and warning, comprising the steps of:

(a) providing inertial motion measurements by an IMU (Inertial Measurement Unit);

(b) providing GPS positioning measurements by a GPS (Global Positioning System) receiver;

(c) exchanging position data between the host aircraft and at least a participating aircraft by a data link receiver/transmitter;

(d) sending said inertial motion measurements from said IMU, said GPS positioning measurements from said GPS receiver, and aircraft position information from said data link receiver/transmitter to a central processing unit to produce a plurality of warning level information for a collision avoidance; and

(e) presenting a warning level information by an interface and display unit to a pilot of said host aircraft;

wherein the step (d) further comprises the steps of;

(d.1) producing an uninterrupted position information by a GPS/IMU relative positioning module;

(d.2) sending said uninterrupted position information from said GPS/IMU relative positioning module and other aircraft position information from said data link receiver/transmitter through said GPS/IMU relative positioning module to a collision detection and warning module to produce said warning level information for said collision avoidance;

(d.3) providing a collision avoidance information output interface with said interface and display unit and feeding said warning level information for said collision avoidance to said interface and display unit; and

(d.4) realizing and managing a communication logic for said collision avoidance system by a data link management module;

wherein the step (e) further comprises the steps of;

(e.1) transforming, by a data process module, said warning level information for collision avoidance states from said collision detection and warning module through said collision avoidance information output interface into a data stream in a graphic data format for a graphic interface and in an audio data format for an audio interface,

(e.2) presenting a graphic display of said warning level information for said collision avoidance to said pilot by said graphic interface, and

(e.3) presenting voices of said warning level information for said collision avoidance states to said pilot by said audio interface.

60. The method, as recited in claim 59, wherein said audio interface comprises a sentence analysis module, an audio word library and an audio output device, wherein said audio word library stores pre-loaded words and said audio output device generates voice warnings for said pilot, wherein said sentence analysis module generates sentences using a data stream in said audio data format and relevant words from said audio word library to said audio output device.