Obstacle determination and display system

• US 9,997,078 B2
• Filed: 09/09/2016
• Issued: 06/12/2018
• Est. Priority Date: 09/09/2016
• Status: Active Grant

• Current Assignee: Garmin International, Inc. (Garmin Limited)
• Original Assignee: Garmin International, Inc. (Garmin Limited)
• Inventors: Gadgil, Anup A., Komer, Joseph L.
• Primary Examiner(s): Goldman, Richard A
• Application Number:
  US15/261,492
• Publication Number:
  US 20180075762A1
• Time in Patent Office: 641 Days
• Field of Search: 701 3, 701300, 701120, 701 23, 701 7, 701 17, 701 24, 701121, 701301, 342 29, 342 30, 342 5, 340945, 340931
• CPC Class Codes: B64D 43/00 Arrangements or adaptations of instruments arrangements of cameras B64D47/08; aeronautical measuring instruments per se G01C
• CPC Class Codes: B64D 43/02 for indicating aircraft speed or stalling conditions
• CPC Class Codes: B64D 45/00 Aircraft indicators or protectors not otherwise provided for camouflage F41H3/00
• CPC Class Codes: B64D 45/08 optical
• CPC Class Codes: B64D 47/08 Arrangements of cameras
• CPC Class Codes: G01C 23/00 Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
• CPC Class Codes: G06F 3/00 Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
• CPC Class Codes: G08G 5/0021 located in the aircraft
• CPC Class Codes: G08G 5/0052 for cruising combined instruments indicating more than one navigational value G01C23/00
• CPC Class Codes: G08G 5/0078 for monitoring traffic from the aircraft radar or analogous systems specially adapted for traffic control G01S13/91
• CPC Class Codes: G08G 5/04 Anti-collision systems
• CPC Class Codes: G08G 5/045 Navigation or guidance aids, e.g. determination of anti-collision manoeuvers radar or analogous systems specially adapted for anti-collision between aircraft G01S13/933

Abstract

An obstacle avoidance system is provided to assist a pilot in avoiding obstacles. The obstacle avoidance system includes a set of proximity sensors and a pilot interface device. The set of proximity sensors detects nearby obstacles by emitting a signal and receiving a reflected signal from an obstacle. A processor receives an obstacle indication from the set of proximity sensors and detects the obstacle that is in proximity to the aircraft based at least in part on the reflected signal. The processor acquires a distance and a direction to the obstacle and calculates a threat level posed by the obstacle. The pilot interface device is operable to display the following: an ownship icon indicative of the aircraft, a velocity vector icon indicative of a velocity vector of the aircraft, and an obstacle graphic indicative of the distance, direction, and threat level of the obstacle.

Claims

1. An obstacle avoidance system operable to detect and display obstacles in proximity to an aircraft, the obstacle avoidance system comprising:

a display;

a communications element operable to receive an obstacle indication from one or more proximity sensors associated with the aircraft during flight of the aircraft, the aircraft having one or more rotor blades generating lift to hover and move the aircraft through the air in any direction,

wherein the obstacle indication is associated with a signal reflected from an obstacle;

a processor coupled with the display and the communications element, the processor operable to;

acquire a distance and a direction to the obstacle from the aircraft based upon the obstacle indication,

determine a relative altitude of the obstacle based upon the obstacle indication,

determine a threat level posed by the obstacle to the aircraft,

determine an obstacle display including an ownship icon and an obstacle graphic indicative of the distance and the direction to the obstacle from the aircraft, the obstacle graphic including a threat indication based upon the determined threat level posed to the aircraft by the obstacle and a relative altitude indication configured to indicate whether the obstacle is above or below the aircraft, and

control the display to present the determined obstacle display.

2. The obstacle avoidance system of claim 1, wherein the system is operable to activate automatically upon at least one of a detected movement of the aircraft, a location of the aircraft relative to an airport, a location of the aircraft relative to a waypoint, activation of a hover mode of the aircraft, or a speed of descent of the aircraft.

3. The obstacle avoidance system of claim 1,

wherein the processor is further operable to determine a breadth of the obstacle,

wherein the obstacle graphic includes an annular arc-width indicative of the breadth of the obstacle.

4. The obstacle avoidance system of claim 1, wherein the threat indication is presented by a color that is indicative of the threat level posed by the obstacle.

5. The obstacle avoidance system of claim 1, wherein the threat indication is a potential-threat indication if the threat level posed by the obstacle is above a low threshold and below a high threshold.

6. The obstacle avoidance system of claim 1, wherein the threat indication is an actual-threat indication if the threat level posed by the obstacle is above a high threshold.

7. The obstacle avoidance system of claim 1, wherein the system is operable to generate a directional audio-cue indicative of the threat level posed by the obstacle and indicative of the distance and the direction to the obstacle.

8. The obstacle avoidance system of claim 1, wherein the processor is further operable to:

determine a velocity vector icon indicative of movement of the aircraft in a direction; and

determine a projected-position indication that is indicative of a projected location of the aircraft after a time lapse, and

control the display to present the velocity vector icon and the projected-position indication.

9. The obstacle avoidance system of claim 1, wherein the signal is reflected from an obstacle located below the aircraft when the aircraft is descending.

10. The obstacle avoidance system of claim 9, wherein the determined threat level posed by the obstacle is high when the acquired direction to the obstacle is directly below the aircraft.

11. The obstacle avoidance system of claim 1, wherein the signal is reflected from an obstacle located above the aircraft when the aircraft is ascending.

12. The obstacle avoidance system of claim 1, wherein the processor is further configured to remove the obstacle graphic from the obstacle display when the distance and the direction to the obstacle from the aircraft cannot be acquired based upon the obstacle indication.

13. An obstacle avoidance system operable to detect and display obstacles in proximity to an aircraft, the obstacle avoidance system comprising:

a pilot interface device;

a set of proximity sensors associated with the aircraft during flight of the aircraft, the aircraft having one or more rotor blades generating lift to hover and move the aircraft through the air in any direction,

wherein the set of proximity sensors is operable to emit a signal and receive a reflection of the signal from an obstacle;

a processor coupled with the pilot interface device and the set of proximity sensors, the processor operable to;

receive an obstacle indication from the set of proximity sensors and detect the obstacle that is in proximity to the aircraft based at least in part on the reflected signal,

determine a distance and a direction to the obstacle,

calculate a threat level posed by the obstacle to the aircraft,

determine an obstacle display including an ownship icon and an obstacle graphic indicative of the distance and the direction to the obstacle from the aircraft and an altitude of an obstacle, and

control the pilot interface device to present the obstacle display.

14. The obstacle avoidance system of claim 13,

wherein the pilot interface device is a flight display configured to be utilized by the pilot in flying the aircraft,

wherein the ownship icon and the obstacle graphic are displayed on the flight display upon activation of a hover mode of the aircraft.

15. The obstacle avoidance system of claim 13,

wherein the set of proximity sensors is operable to detect a relative altitude of the obstacle,

wherein the obstacle graphic presents a relative altitude indication to show whether the obstacle is above or below the aircraft.

16. The obstacle avoidance system of claim 13,

wherein the set of proximity sensors is operable to detect a breadth of the obstacle,

wherein the obstacle graphic includes an annular arc-width indicative of the breadth of the obstacle.

17. The obstacle avoidance system of claim 13, wherein the obstacle graphic includes an indication of the determined distance and direction to the obstacle, and wherein the indication is associated with a color indicative of the distance and the direction to the obstacle.

18. The obstacle avoidance system of claim 13, wherein the system is operable to generate a directional audio-cue indicative of the distance and the direction to the obstacle.