Route-planning interactive navigation system and method

• US 7,818,120 B2
• Filed: 11/30/2006
• Issued: 10/19/2010
• Est. Priority Date: 11/30/2006
• Status: Active Grant

• Current Assignee: Raytheon Company (Rtx Corporation)
• Original Assignee: Raytheon Company (Rtx Corporation)
• Inventors: Poreda, Stanley J., Tinker, Peter Allmond
• Primary Examiner(s): To; Tuan C
• Assistant Examiner(s): MAWARI, REDHWAN K
• Application Number:
  US11/606,764
• Publication Number:
  US 20080133131A1
• Time in Patent Office: 1,419 Days
• Field of Search: 701/200, 701/96, 701/201, 701/300, 701/301, 342/357.01, 342/357.11, 342/357.12, 342/357.14
• US Class Current: 701/209
• CPC Class Codes: G01C 21/203 Specially adapted for sailing ships
• CPC Class Codes: G08G 3/02 Anti-collision systems

Abstract

Provided is a system and method for route planning and evaluation. The system includes a host object location device operable to provide the location of a host object over the passage of time. A sensor is also provided, operable to sense objects and data from an environment proximate to the host object. A computer is operatively coupled to the location device, the sensor device, a chart library and a display. The computer includes a route generator operable to generate a predicted route of at least one sensed object. The route generator is also operable to generate a planned route of the host object. The planned and predicted routes are displayed to an operator upon the display. In response to a predicted proximate convergence of the host object and at least one sensed object, the convergence signaled to the operator. The planned position of the host object and the predicted position of each sensed object are displayed as an animation to evaluate the planned route, for any time following the present time, the operator permitted to stop the animation and scroll the animation forward and backwards.

Claims

1. A route planning and evaluation method executed by a computer in a navigation system, comprising:

receiving from a location device, a location and velocity for a host vessel;

sensing data for at least one object in an environment proximate to the host vessel the data including navigation data;

receiving from an electronic chart library a chart containing the location of the host vessel;

displaying to an operator, the chart and a representation of the host vessel at current location and a representation of any sensed objects proximate to the host vessel;

receiving from the operator and/or the retrieved chart, information including at least one navigation constraint and potential host vessel and object speed, the information being combined with the environmental data, location and velocity as collective route elements;

generating, for a planning interval and subsequent planning intervals, a planned route for the host vessel and a predicted route for each sensed object by utilizing the navigation data, the routes being based upon the collective route elements, the planning interval being a time interval in which the planned and predicted routes are accepted as valid, the planned position of the host vessel and the predicted location for each sensed object displayed as an animation;

evaluating the host vessel planned route by adjusting the animation;

providing the animation only for each planning interval and animating from one planning interval to one of the subsequent intervals;

predicting a proximate convergence of the host vessel and sensed object;

signaling the proximate convergence to the operator;

generating an alternate planned route or new waypoint;

modifying the host vessel planned route according to the alternate planned route or new waypoint in response to the operator modifying one or more of the collective route elements; and

adopting the alternate planned route as the current route in response to operator approval.

2. The route planning and evaluation method of claim 1, wherein the planning interval is adjustable by the operator.

3. The route planning and evaluation method of claim 1, wherein the environmental data is received by at least one sensor upon the host vessel.

4. The route planning and evaluation method of claim 1, wherein the navigation constraint is selected from the group of:

a navigation rule, a waypoint, a keep out area, a minimum distance perimeter about an object, a destination, and combinations thereof.

5. The route planning and evaluation method of claim 1, wherein the environmental data includes data selected from the group consisting essentially of, the speed and direction of one or more ocean currents, the speed and heading of one or more detected objects, navigation data transmitted by nearby objects, and combinations thereof.

6. The route planning and evaluation method of claim 1, wherein a candidate planned route for the host vessel and the predicted route for each sensed object are continuously revised.

7. The route planning and evaluation method of claim 6, wherein the route generator signals the operator that a candidate planned route has been determined that is measurably superior to the current planned route.

8. The route planning and evaluation method of claim 1, wherein adjusting the animation includes stopping the animation and adjustably scrolling the animation forward or backwards.

9. The route planning and evaluation method of claim 1, wherein the route generator generates a manual planned route based on operator provided waypoints, each consecutive pair of waypoints defining a leg of the route.

10. The route planning and evaluation method of claim 1, wherein the method is stored on a computer-readable medium as a computer program which, when executed by a computer will perform the steps of route planning and evaluation.

11. The route planning and evaluation method of claim 1, wherein the route planning and evaluation method is a maritime route planning and evaluation method.

12. A maritime route planning and evaluation method executed by a computer in a navigation system, comprising:

providing a planning interval and subsequent planning intervals, the planning interval being a time interval in which the planned and predicted routes are accepted as valid;

receiving from a location device, a location and velocity for a host ship;

sensing data for at least one object in an environment proximate to the ship, the data including navigation data;

receiving from an electronic maritime chart library a chart containing the location of the ship;

displaying to an operator, the chart and a representation of the host ship at current location and a representation of any sensed objects proximate to the ship;

receiving from the operator and/or the retrieved maritime chart, information including at least one navigation constraint and potential host ship and object speed, the information being combined with the environmental data, location and velocity as collective route elements;

generating a planned route for the host ship and a predicted route for each sensed object based upon the collective route elements for a first planning interval;

displaying the routes to the operator, the planned position of the host ship and the predicted location for each sensed object, the planned position of the host ship and the predicted location for each sensed object being displayed as an animation;

providing the animation only for each planning interval and animating from one planning interval to one of the subsequent intervals;

predicting a proximate convergence of the host ship and an object;

signaling the proximate convergence to the operator;

generating an alternate planned route or new waypoint;

modifying the host ship planned route according to the alternate planned route or new waypoint in response to the operator modifying one or more of the collective route elements;

adopting the alternate planned route as the current route in response to operator approval; and

repeating the generation of the planned route for a subsequent planning interval.

13. The maritime route planning and evaluation method of claim 12, wherein the environmental data is received by at least one sensor upon the host ship.

14. The maritime route planning and evaluation method of claim 12, wherein the navigation constraint is selected from the group of:

a navigation rule, a waypoint, a keep out area, a minimum distance perimeter about an object, a destination, and combinations thereof.

15. The maritime route planning and evaluation method of claim 12, wherein the environmental data includes data selected from the group consisting essentially of, the speed and direction of one or more ocean currents, the speed and heading of one or more detected objects, navigation data transmitted by nearby ship objects, and combinations thereof.

16. The maritime route planning and evaluation method of claim 12, wherein a candidate planned route for the host ship and the predicted route for each sensed object are continuously revised.

17. The maritime route planning and evaluation method of claim 16, wherein the route generator signals the operator that a candidate planned route has been determined that is measurably superior to the current planned route.

18. The maritime route planning and evaluation method of claim 12, wherein adjusting the animation includes stopping the animation and scrolling the animation forwards or backward at adjustable time intervals.