Automatic aircraft collision avoidance system and method

• US 8,886,445 B1
• Filed: 03/05/2010
• Issued: 11/11/2014
• Est. Priority Date: 03/05/2010
• Status: Active Grant

• Current Assignee: U.S. Government Administrator of NASA (Government of the United States of America)
• Original Assignee: United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration
• Inventors: Skoog, Mark, Hook, Loyd, McWherter, Shaun, Willhite, Jaimie
• Primary Examiner(s): Zeender, Ryan
• Assistant Examiner(s): Amsdell, Dana
• Application Number:
  US12/718,034
• Time in Patent Office: 1,712 Days
• US Class Current: 701/120
• CPC Class Codes: G06T 15/10 Geometric effects
• CPC Class Codes: G06T 17/005 Tree description, e.g. octree, quadtree
• CPC Class Codes: G06T 17/20 Finite element generation, e.g. wire-frame surface description, tesselation
• CPC Class Codes: G06T 2210/12 Bounding box
• CPC Class Codes: G06T 2210/61 Scene description
• CPC Class Codes: G06T 2215/16 Using real world measurements to influence rendering
• CPC Class Codes: G08G 5/04 Anti-collision systems

Abstract

The invention is a system and method of compressing a DTM to be used in an Auto-GCAS system using a semi-regular geometric compression algorithm. In general, the invention operates by first selecting the boundaries of the three dimensional map to be compressed and dividing the three dimensional map data into regular areas. Next, a type of free-edged, flat geometric surface is selected which will be used to approximate terrain data of the three dimensional map data. The flat geometric surface is used to approximate terrain data for each regular area. The approximations are checked to determine if they fall within selected tolerances. If the approximation for a specific regular area is within specified tolerance, the data is saved for that specific regular area. If the approximation for a specific area falls outside the specified tolerances, the regular area is divided and a flat geometric surface approximation is made for each of the divided areas. This process is recursively repeated until all of the regular areas are approximated by flat geometric surfaces. Finally, the compressed three dimensional map data is provided to the automatic ground collision system for an aircraft.

Claims

1. A method for using three dimensional map terrain data in an automatic ground collision avoidance system for an aircraft, comprising the steps of:

accessing the three dimensional map terrain data on a computer system;

selecting the boundaries of the three dimensional map terrain data to be compressed;

dividing the selected boundaries of the three dimensional map terrain data into regular geometric areas;

defining each regular geometric area with a corresponding free-edged, planar geometric surface;

approximating the three dimensional map terrain data within each regular geometric area using the planar geometric surface so that each regular geometric area is defined by a an independent planar geometric surface;

checking the terrain approximation for each regular geometric area to determine if the terrain approximation is within user selected tolerances;

dividing the regular geometric areas outside the users selected tolerances into smaller regular geometric areas and approximating terrain data as described above for each of the smaller regular geometric areas;

recursively repeating the checking and dividing the steps until all terrain approximations for regular geometric areas fall within tolerances; and

,

outputting final compressed three dimensional map data to the automatic ground collision system for an aircraft.

3. The method for using three dimensional terrain map data of claim 1, wherein the approximating step includes using a method selected from the group of max thinned and biased linear regression.

4. The method for using three dimensional terrain map data of claim 3, wherein the approximation step includes using the method of max thinned and the terrain approximation for each regular geometric area is determined by setting the free-edged planar geometric surface to a constant elevation which is equal to the highest elevation terrain within the regular area.

5. The for using three dimensional map terrain data of claim 3, wherein the approximating step includes using the method of biased linear regression and the terrain approximation for each regular geometric area is determined by performing a linear regression through the digital elevated terrain data to obtain an orientation of each free-edged planar geometric surface and biasing the free-edged planar geometric surface so that no terrain is higher than the free edged planar geometric surface.

6. The method for using three dimensional map terrain data of claim 1, wherein the checking step further comprises:

selecting global error tolerances for the boundaries of the digital terrain map;

selecting error tolerances for user specific zones; and

,

checking the terrain approximations for each regular geometric area against the global error tolerances and the error tolerances for specific zones.

7. The method for using three dimensional map terrain data of claim 1, wherein the dividing the type of regular geometric area comprises a recursive division resulting in a tree structure selected from a binary tree or a quad tree.

8. The method for using three dimensional map terrain data of claim 1, wherein the outputting step further comprises outputting:

header information correlating to the boundaries of the three dimensional terrain map, the type of free edged planar geometric surface defined, the tree structure selected for dividing the regular geometric area, a size of the regular geometric areas, and a data byte format;

table information that indexes data along regular geometric area boundaries; and

, compressed data.

9. The method for using three dimensional map terrain data of claim 8, further comprising the steps of:

determining a specific regular geometric area associated with a position area of interest;

decoding the compressed data associated with the specific regular geometric area to identify the geometric location of each free-edged planar geometric surface within a two-dimensional representation of the specific regular geometric area; and

,

using the decoded data to output the height associated with the position area of interest to a display.

10. The method for using three dimensional map terrain data of claim 9, wherein the decoding step further comprises converting each data element of the compressed data into four floating point numbers that define a location of the boundaries of a square-shaped representation of the free-edged planar geometric surfaces within the specific regular geometric area.

11. The method for using three dimensional map terrain data of claim 10, wherein a size of the square-shaped representations of the free-edged planar geometric surfaces relates to a number of times the free-edged planar geometric surface was divided pursuant to checking the terrain approximation for error tolerances.

12. The method for using three dimensional map terrain data of claim 11, wherein the using the decoded data step further comprises outputting decoded data associated with edges of the position area of interest and all edges of the square-shaped representations of the free-edged planar geometric surface representations within the position area of interest.

2. The method for using three dimensional map terrain data of claim wherein the regular geometric areas comprise one degree by one degree cells.