Procedure for the detection and display of artificial obstacles for a rotary-wing aircraft

• US 9,401,093 B2
• Filed: 03/30/2015
• Issued: 07/26/2016
• Est. Priority Date: 03/28/2014
• Status: Active Grant

• Current Assignee: Airbus Helicopters
• Original Assignee: Airbus Helicopters
• Inventors: Gillet, Marianne, Filias, Francois-Xavier, Pire, Richard
• Primary Examiner(s): Sample, Jonathan L
• Application Number:
  US14/672,604
• Publication Number:
  US 20150279219A1
• Time in Patent Office: 484 Days
• US Class Current: 1/1
• CPC Class Codes: G01S 13/89 for mapping or imaging
• CPC Class Codes: G01S 13/93 for anti-collision purposes
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 17/933 of aircraft or spacecraft
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 2207/30261 Obstacle
• CPC Class Codes: G06V 20/17 taken from planes or by drones
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G08G 5/0021 located in the aircraft
• CPC Class Codes: G08G 5/04 Anti-collision systems

Abstract

A procedure for the detection and display of the ground and of obstacles through the use of detection means installed onboard a vehicle, which detection means send measurement signals toward the ground and receive a plurality of elementary plots (Pe). The procedure makes it possible to create a grid of the ground along a horizontal plane, with each ground cell (Ms(i,j)) consisting of an elementary plot (Pe) having a minimum altitude Zmin(i,j)), and with each other elementary plot (Pe) corresponding to the ground cell (Ms(i,j)) and having a different altitude (Z_n(i,j)), thereby forming an obstacle plot (Po_n(i,j)). Each newly received elementary plot (Pe) is then compared against the corresponding ground cell (Ms(i,j)) and processed according to its altitude (Z_n(i,j)). The ground cells (Ms(i,j)) and/or the obstacle plots (Po_n(i,j)) are displayed on display means in order to indicate to the pilot of the vehicle the potential obstacles other than the ground.

Claims

1. A procedure for the detection and display of the ground and of obstacles, the procedure comprising:

sending measurement signals from detection means installed on board a vehicle into an environment of the vehicle;

receiving by the detection means a plurality of elementary plots (Pe) expressed in the form of three-dimensional coordinates, the elementary plots (Pe) corresponding to returns from the measurement signals following their contact with the ground or with obstacles in the environment of the vehicle such that the elementary plots (Pe) represent at least part of the environment of the vehicle;

creating by a processor a two-dimensional grid of the ground along a horizontal plane using ground cells (Ms(i,j)), with each ground cell (Ms(i,j)) consisting of an elementary plot (Pe) having an altitude (Z_Pe), with the elementary plot (Pe) consisting of the elementary plot (Pe) corresponding to the ground cell (Ms(i,j)) whose altitude (Z_Pe) is a minimum altitude (Zmin(i,j));

creating by the processor a network of obstacle plots (Po_n(i,j)), with each elementary plot (Pe) corresponding to a ground cell (Ms(i,j)) and having an altitude (Z_Pe) greater than the minimum altitude (Zmin(i,j)) of the ground cell (Ms(i,j)) forming an obstacle plot (Po_n(i,j));

storing by the processor in a memory the ground cells (Ms(i,j)), with each ground cell (Ms(i,j)) being stored in the memory with the minimum altitude (Zmin(i,j));

storing by the processor in the memory the obstacle plots (Po_n(i,j)), with each obstacle plot (Po_n(i,j)) being stored in the memory with an altitude (Z_n(i,j)) equal to the altitude (Z_Pe);

comparing by the processor each ground cell (Ms(i,j)) against each newly received elementary plot (Pe) having an altitude (Z_Pe) and corresponding to the ground cell (Ms(i,j)), such that;

when any minimum altitude (Zmin(i,j)) is not stored in the memory for the ground cell (Ms(i,j)), storing by the processor in the memory the altitude (Z_Pe) of the newly received elementary plot (Pe) for the ground cell (Ms(i,j)) as the minimum altitude (Zmin(i,j));

when the altitude (Z_Pe) of the newly received elementary plot (Pe) is greater than the minimum altitude (Zmin(i,j)) of the ground cell (Ms(i,j)), storing by the processor in the memory the newly received elementary plot (Pe) as an obstacle plot (Po_n(i,j)) having an altitude (Z_n(i,j)) that is equal to the altitude (Z_Pe) of the newly received elementary plot (Pe) with the minimum altitude (Zmin(i,j)) of the ground cell (Ms(i,j)) remaining unchanged;

when the altitude (Z_Pe) of the newly received elementary plot (Pe) is less than the minimum altitude (Zmin(i,j)) of the ground cell (Ms(i,j)), storing by the processor in the memory an obstacle plot (Po_n(i,j)) with an altitude (Z_n(i,j)) that is equal to the minimum altitude (Zmin(i,j)) and storing in the memory the altitude (Z_Pe) of the newly received elementary plot (Pe) as the new minimum altitude (Zmin(i,j)) of the ground cell (Ms(i,j));

when the altitude (Z_Pe) of the newly received elementary plot (Pe) is equal to the minimum altitude (Zmin(i,j)) of the ground cell (Ms(i,j)), ignoring by the processor the newly received elementary plot (Pe); and

displaying the obstacle plots (Pon(i,j)) on a display.

2. The procedure according to claim 1, wherein each obstacle plot (Po_n(i,j)) having a difference in altitude between the altitude (Z_n(i,j)) and the minimum altitude (Zmin(i,j)) of the ground cell (Ms(i,j)) corresponding to the obstacle plot (Po_n(i,j)) that is less than a first threshold is ignored during the step of displaying the obstacle plots (Pon(i,j)).

3. The procedure according to claim 1, wherein each obstacle plot (Po_n(i,j)) having a difference in altitude between the altitude (Z_n(i,j)) and the minimum altitude (Zmin(i,j)) of the ground cell (Ms(i,j)) corresponding to the obstacle plot (Po_n(i,j)) that is greater than a second threshold is ignored during the step of displaying the obstacle plots (Pon(i,j)).

4. The procedure according to claim 1, wherein each ground cell (Ms(i,j)) is in the form of a square whose dimensions vary depending on the position of the vehicle with respect to the ground.

5. The procedure according to claim 1, wherein each ground cell (Ms(i,j)) is in the form of a square, each of whose sides corresponds to 10 meters on the ground.

6. The procedure according to claim 2, wherein the first threshold is equal to 30 feet.

7. The procedure according to claim 3, wherein the second threshold is equal to 500 feet.

8. The procedure according to claim 1, wherein during the step of displaying the obstacle plots (Pon(i,j)) each ground cell (Ms(i,j)) is displayed taking into consideration the minimum altitude (Zmin(i,j)) associated with the ground cell (Ms(i,j)), thereby forming a three-dimensional grid representing the ground.

9. The procedure according to claim 1, further comprising converting the three-dimensional coordinates of the elementary plots (Pe) prior to creating the two-dimensional grid of the ground in order to convert the three-dimensional coordinates of the elementary plots (Pe) of a reference mark linked to the vehicle into a ground-based geographic reference mark.

10. The procedure according to claim 1, wherein each ground cell (Ms(i,j)) forms a digital terrain model (MNT), and the initial minimum altitude (Zmin(i,j)) of the ground cell (Ms(i,j)) is the altitude of the digital terrain model (MNT).

11. A system for the detection and display of the ground and of obstacles, the system comprising:

detection means to send measurement signals into an environment of a vehicle and to receive a plurality of elementary plots (Pe) expressed in the form of three-dimensional coordinates, the elementary plots (Pe) corresponding to returns from the measurement signals following their contact with the ground or with obstacles in the environment of the vehicle such that the elementary plots (Pe) represent at least part of the environment of the vehicle;

a reference and course heading system;

a location system;

a processing unit;

one or more memory storage means; and

display means;

wherein the processing unit is operable with the detection means, the reference and course heading system, the location system, the memory storage means, and the display means to;

create a two-dimensional grid of the ground along a horizontal plane using ground cells (Ms(i,j)), with each ground cell (Ms(i,j)) consisting of an elementary plot (Pe) having an altitude (Z_Pe), with the elementary plot (Pe) consisting of the elementary plot (Pe) corresponding to the ground cell (Ms(i,j)) whose altitude (Z_Pe) is a minimum altitude (Zmin(i,j));

create a network of obstacle plots (Po_n(i,j)), with each elementary plot (Pe) corresponding to a ground cell (Ms(i,j)) and having an altitude (Z_Pe) greater than the minimum altitude (Zmin(i,j)) of the ground cell (Ms(i,j)) forming an obstacle plot (Po_n(i,j));

store in the memory storage means the ground cells (Ms(i,j)), with each ground cell (Ms(i,j)) being stored in the memory storage means with the minimum altitude (Zmin(i,j));

store in the memory storage means the obstacle plots (Po_n(i,j)), with each obstacle plot (Po_n(i,j)) being stored in the memory storage means with an altitude (Z_n(i,j)) equal to the altitude (Z_Pe);

compare each ground cell (Ms(i,j)) against each newly received elementary plot (Pe) having an altitude (Z_Pe) and corresponding to the ground cell (Ms(i,j)), such that;

when any minimum altitude (Zmin(i,j)) is not stored in the memory storage means for the ground cell (Ms(i,j)), the altitude (Z_Pe) of the newly received elementary plot (Pe) is stored in the memory storage means for the ground cell (Ms(i,j)) as the minimum altitude (Zmin(i,j));

when the altitude (Z_Pe) of the newly received elementary plot (Pe) is greater than the minimum altitude (Zmin(i,j)) of the ground cell (Ms(i,j)), the newly received elementary plot (Pe) is stored in the memory storage means as an obstacle plot (Po_n(i,j)) having an altitude Z_n(i,j)) that is equal to the altitude (Z_Pe) of the newly received elementary plot (Pe) with the minimum altitude (Zmin(i,j)) of the ground cell (Ms(i,j)) remaining unchanged;

when the altitude (Z_Pe) of the newly received elementary plot (Pe) is less than the minimum altitude (Zmin(i,j)) of the ground cell (Ms(i,j)), an obstacle plot (Po_n(i,j)) is stored in the memory storage means with an altitude (Z_n(i,j)) that is equal to the minimum altitude (Zmin(i,j)) and the altitude (Z_Pe) of the newly received elementary plot (Pe) is stored in the memory storage means as the new minimum altitude (Zmin(i,j)) of the ground cell (Ms(i,j));

when the altitude (Z_Pe) of the newly received elementary plot (Pe) is equal to the minimum altitude (Zmin(i,j)) of the ground cell (Ms(i,j)), the newly received elementary plot (Pe) is ignored; and

display the obstacle plots (Pon(i,j)) on the display means.

12. A vehicle comprising:

detection means to send measurement signals into an environment of a vehicle and to receive a plurality of elementary plots (Pe) expressed in the form of three-dimensional coordinates, the elementary plots (Pe) corresponding to returns from the measurement signals following their contact with the ground or with obstacles in the environment of the vehicle such that the elementary plots (Pe) represent at least part of the environment of the vehicle;

a processor;

a memory;

a display;

wherein the processor is configured to;

create a two-dimensional grid of the ground along a horizontal plane using ground cells (Ms(i,j)), with each ground cell (Ms(i,j)) consisting of an elementary plot (Pe) having an altitude (Z_Pe), with the elementary plot (Pe) consisting of the elementary plot (Pe) corresponding to the ground cell (Ms(i,j)) whose altitude (Z_Pe) is a minimum altitude (Zmin(i,j));

create a network of obstacle plots (Po_n(i,j)), with each elementary plot (Pe) corresponding to a ground cell (Ms(i,j)) and having an altitude (Z_Pe) greater than the minimum altitude (Zmin(i,j)) of the ground cell (Ms(i,j)) forming an obstacle plot (Po_n(i,j));

store in the memory the ground cells (Ms(i,j)), with each ground cell (Ms(i,j)) being stored in the memory with the minimum altitude (Zmin(i,j));

store in the memory the obstacle plots (Po_n(i,j)), with each obstacle plot (Po_n(i,j)) being stored in the memory with an altitude (Z_n(i,j)) equal to the altitude (Z_Pe);

compare each ground cell (Ms(i,j)) against each newly received elementary plot (Pe) having an altitude (Z_Pe) and corresponding to the ground cell (Ms(i,j)), such that;

when any minimum altitude (Zmin(i,j)) is not stored in the memory for the ground cell (Ms(i,j)), the altitude (Z_Pe) of the newly received elementary plot (Pe) is stored in the memory for the ground cell (Ms(i,j)) as the minimum altitude (Zmin(i,j));

when the altitude (Z_Pe) of the newly received elementary plot (Pe) is greater than the minimum altitude (Zmin(i,j)) of the ground cell (Ms(i,j)), the newly received elementary plot (Pe) is stored in the memory as an obstacle plot (Po_n(i,j)) having an altitude (Z_n(i,j)) that is equal to the altitude (Z_Pe) of the newly received elementary plot (Pe) with the minimum altitude (Zmin(i,j)) of the ground cell (Ms(i,j)) remaining unchanged;

when the altitude (Z_Pe) of the newly received elementary plot (Pe) is less than the minimum altitude (Zmin(i,j)) of the ground cell (Ms(i,j)), an obstacle plot (Po_n(i,j)) is stored in the memory with an altitude (Z_n(i,j)) that is equal to the minimum altitude (Zmin(i,j)) and the altitude (Z_Pe) of the newly received elementary plot (Pe) is stored in the memory as the new minimum altitude (Zmin(i,j)) of the ground cell (Ms(i,j));

when the altitude (Z_Pe) of the newly received elementary plot (Pe) is equal to the minimum altitude (Zmin(i,j)) of the ground cell (Ms(i,j)), the newly received elementary plot (Pe) is ignored; and

display the obstacle plots (Pon(i,j)) on the display.