Vehicular display system

• US 5,313,201 A
• Filed: 08/31/1990
• Issued: 05/17/1994
• Est. Priority Date: 08/31/1990
• Status: Expired due to Fees

• Current Assignee: Cheryl E. Rose, Compaq Computer Corporation (HP Inc.), Logistics Development Corporation
• Original Assignee: Logistics Development Corporation
• Inventors: Ryan, Timothy D.
• Primary Examiner(s): Swarthout, Brent
• Application Number:
  US07/575,605
• Time in Patent Office: 1,355 Days
• Field of Search: 340/961, 340/971, 340/945, 364/439, 364/461, 342/29, 342/30, 342/32, 342/36, 342/37, 342/38, 342/41, 342/458
• US Class Current: 340/961
• CPC Class Codes: G01S 13/933 of aircraft or spacecraft
• CPC Class Codes: G08G 5/0008 with other aircraft
• CPC Class Codes: G08G 5/0013 with a ground station
• 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

Abstract

A vehicular display includes a three-dimensional representation of a moving host vehicle fixed at a stationary point on the screen, and dynamic representations of objects located within a predetermined distance of the host vehicle in locations proportional and scaled to their respective distances and locations from the host. The display plots the trajectories of these objects and classifies them according to probability of collision, warning the user if collision is imminent. The display also includes a variety of navigational aids, including heading lines, compass indications, and various non-alphanumeric indicators. Both the hardware and software used in the system are of the type which may be provided on small civilian craft, in addition to replacing the more complex and less intuitive displays presently provided in such contexts as commercial aircraft, marine vehicles, and air traffic control systems. The display also may be adapted for use in outer space.

Claims

1. A display system comprising the combination of:

means for obtaining coordinates of a host craft and other objects situated within a predetermined distance from the host craft; and

means for dynamically displaying said host craft and said other objects on a two-dimensional screen,

wherein said host craft is displayed as being stationary and all objects on the screen are displayed at positions given by projections onto a principal plane of the screen of their positions in a three-dimensional coordinate system having an origin located at the position of the host craft and three mutually perpendicular coordinate axes, at least two of which appear to a viewer to be located outside the principal plane of the screen and such that all objects within a predetermined distance from the host craft, on all sides of the host craft, are therefore displayed relative to the three axes in a purely graphical manner which conveys to a user of the system the exact position of the other objects relative to the host craft without necessitating inclusion of alphanumeric characters in the display, said display system further comprising means for transforming said coordinates obtained by said host craft coordinate obtaining means into said three-dimensional coordinate system having said origin located at the position of the host craft, and

wherein said display means further comprises means for indicating the direction of movement of said host craft and said other objects in relation to said coordinate system, said direction indicating means further comprising means for representing the host craft by four points connected by at most six lines to form a tetrahedron, one vertex of which points in the direction of movement of the host craft, the triangular side opposite said vertex having a smaller area than the other sides of the tetrahedron.

2. A display system as claimed in claim 1, wherein said display means further comprises means for depicting the host craft tetrahedron as being yawed and pitched at nonzero angles in respect to the plane of the display screen.

3. A display system as claimed in claim 2, wherein said nonzero yaw and pitch angles are, respectively, approximately 0.3 and 0.7 radians.

4. A display system as claimed in claim 1, wherein said direction indicating means further comprises means for representing said other objects by four points connected by five lines to form tetrahedrons, one vertex of each pointing in the direction of movement of the objects in said coordinate system and the triangular side opposite each vertex having a smaller area than the other sides of the tetrahedron.

5. A display system comprising the combination of:

means for obtaining coordinates of a host craft and other objects situated within a predetermined distance from the host craft; and

means for dynamically displaying said host craft and said other objects on a two-dimensional screen,

wherein said host craft is displayed as being stationary and all objects on the screen are displayed at positions given by projections onto a principal plane of the screen of their positions in a three-dimensional coordinate system having an origin located at the position of the host craft and three mutually perpendicular coordinate axes, at least two of which appear to a viewer to be located outside the principal plane of the screen and such that all objects within a predetermined distance from the host craft, on all sides of the host craft, are therefore displayed relative to the three axes in a purely graphical manner which conveys to a user of the system the exact position of the other objects relative to the host craft without necessitating inclusion of alphanumeric characters in the display, said display system further comprising means for transforming said coordinates obtained by said host craft coordinate obtaining means into said three-dimensional coordinate system having said origin located at the position of the host craft, and

wherein said display means further comprises means for indicating the direction of movement of said host craft and said other objects in relation to said coordinate system, said direction indicating means further comprising means for representing said other objects by four points connected by five lines to form tetrahedral object representations, one vertex of each of said object representations pointing in a direction of movement of a corresponding one of said objects in said coordinate system and the triangular side opposite each said one vertex having a smaller area than the other sides of the tetrahedral object representations.

6. A display system as claimed in claim 5, wherein said display means further comprises means for scaling sizes of said object representations according to a distance in said coordinate system from the point of view of a user of the system.

7. A display system comprising the combination of:

means for obtaining coordinates of a host craft and other objects situated within a predetermined distance from the host craft; and

means for dynamically displaying said host craft and said other objects on a two-dimensional screen,

wherein said host craft is displayed as being stationary and all objects on the screen are displayed at positions given by projections onto a principal plane of the screen of their positions in a three-dimensional coordinate system having an origin located at the position of the host craft and three mutually perpendicular coordinate axes, at least two of which appear to a viewer to be located outside the principal plane of the screen and such that all objects within a predetermined distance from the host craft, on all sides of the host craft, are therefore displayed relative to the three axes in a purely graphical manner which conveys to a user of the system the exact position of the other objects relative to the host craft without necessitating inclusion of alphanumeric characters in the display, said display system further comprising means for transforming said coordinates obtained by said host craft coordinate obtaining means into said three-dimensional coordinate system having said origin located at the position of the host craft, and

wherein said coordinate system is a three-dimensional Cartesian coordinate system and further comprising means for generating a sphere of influence representation on the display screen, said sphere of influence representation including two circles, the first in the X-Y plane and the second in the Y-Z plane of said Cartesian coordinate system.

8. A display system as claimed in claim 7, further comprising means for generating a diaphanous sphere representation which includes the two circles.

9. A display system comprising the combination of:

means for obtaining coordinates of a host craft and other objects situated within a predetermined distance from the host craft; and

means for dynamically displaying said host craft and said other objects on a two-dimensional screen,

wherein said host craft is displayed as being stationary and all objects on the screen are displayed at positions given by projections onto a principal plane of the screen of their positions in a three-dimensional coordinate system having an origin located at the position of the host craft and three mutually perpendicular coordinate axes, at least two of which appear to a viewer to be located outside the principal plane of the screen and such that all objects within a predetermined distance from the host craft, on all sides of the host craft, are therefore displayed relative to the three axes in a purely graphical manner which conveys to a user of the system the exact position of the other objects relative to the host craft without necessitating inclusion of alphanumeric characters in the display, said display system further comprising means for transforming said coordinates obtained by said host craft coordinate obtaining means into said three-dimensional coordinate system having said origin located at the position of the host craft, and

further comprising probability indicating means for indicating a probability of collision between one of the objects and the host craft,

wherein said coordinate system is a Cartesian coordinate system and said probability indicating means includes means for generating a triangle, a first leg of said triangle extending from said origin to said one of the objects, and another leg of said triangle forming the projection of said first leg into the X-Y plane of said Cartesian coordinate system.

10. A display system as claimed in claim 9, further comprising means for varying the color of said triangle according to the probability of collision between one of said objects and the host craft.

11. A display system as claimed in claim 9, further comprising means for periodically increasing the brightness of at least one of the legs of said triangle to indicate an imminent collision threat by causing said one of the legs to flash.

12. A display system as claimed in claim 9, further comprising means for generating an audible warning in case of a high collision threat probability.

14. A display system as claimed in claim 14, further comprising a heading line extending from the origin of said coordinate system towards a body in outer space.

13. A display system as claimed in claim 14, further comprising a line extending from the origin of said coordinate system in a direction representative of the direction of one of earth'"'"'s magnetic poles.

15. A display system as claimed in claim 14, further comprising an IBM XT™

compatible computer.

16. A display system as claimed in claim 14, further comprising an Enhanced Graphics Adaptor.

17. A display system as claimed in claim 14, further comprising means for inputting data representative of the position and velocity of the host craft and of objects within a predetermined distance from the host craft.

18. A display system as claimed in claim 17, wherein said data inputting means comprises means for obtaining said position and velocity from sources external to the host craft.

19. A display system as claimed in claim 17, wherein said data inputting means comprises means for obtaining said position and velocity data from an on-board host craft locator system.

20. A display system as claimed in claim 19, wherein said locator system is a radar system.

21. A display system as claimed in claim 19, wherein said locator system is a sonar system.

22. A display system as claimed in claim 14, further comprising means for displaying a path of one of said other objects in respect to the host craft by simultaneously displaying representations of said object at positions representing positions of said object at a plurality of different times for a time lapse effect.

23. A display system comprising the combination of:

means for obtaining coordinates of a host craft and other objects situated within a predetermined distance from the host craft; and

means for dynamically displaying said host craft and said other objects on a two-dimensional screen,

wherein said host craft is displayed as being stationary and all objects on the screen are display at positions given by projections onto a principal plane of the screen of their positions in a three-dimensional coordinate system having an origin located at the position of the host craft and three mutually perpendicular coordinate axes, at least two of which appear to a viewer to be located outside the principal plane of the screen and such that all objects within a predetermined distance from the host craft, on all sides of the host craft, are therefore displayed relative to the three axes in a purely graphical manner which conveys to a user of the system the exact position of the other objects relative to the host craft without necessitating inclusion of alphanumeric characters in the display, said display system further comprising means for transforming said coordinates obtained by said host craft coordinate obtaining means into said three-dimensional coordinate system having said origin located at the position of the host craft, and

further comprising means for indicating deviation of the host craft from a desired heading,

wherein said deviation from the desired heading indicating means includes means for generating a triangle, a first leg of which extends from said origin in the direction of the desired heading and a second leg extends from the origin in a direction of an actual heading of the host craft.

24. A display system comprising the combination of:

means for obtaining coordinates of a host craft and other objects situated within a predetermined distance from the host craft; and

means for dynamically displaying said host craft and said other objects on a two-dimensional screen,

wherein said host craft is displayed as being stationary and all objects on the screen are displayed at positions given by projections onto a principal plane of the screen of their positions in a three-dimensional coordinate system having an origin located at the position of the host craft and three mutually perpendicular coordinate axes, at least two of which appear to a viewer to be located outside the principal plane of the screen and such that all objects within a predetermined distance from the host craft, on all sides of the host craft, are therefore displayed relative to the three axes in a purely graphical manner which conveys to a user of the system the exact position of the other objects relative to the host craft without necessitating inclusion of alphanumeric characters in the display, said display system further comprising means for transforming said coordinates obtained by said host craft coordinate obtaining means into said three-dimensional coordinate system having said origin located at the position of the host craft, and

further comprising pendulum means for representing the orientation of the host craft in respect to the ground,

wherein said pendulum means comprises a triangle, a first leg of which extends from the origin of said coordinate system in a direction perpendicular to the heading of the host craft and a second leg of which extends from the end of said first leg opposite the host craft in a direction which represents a vertical direction perpendicular to the ground.

25. A method of representing a host craft and its surrounding space on a display screen comprising the steps of

(a) inputting a position and velocity for the host craft and at least one other object within a predetermined distance from the host craft;

(b) transforming the position into a three-dimensional coordinate system having an origin at the host craft, said origin being fixed both in respect to the display screen and the host craft, and three mutually perpendicular coordinate axes, at least two of which appear to a viewer to be located outside the principal plane of the screen and such that all objects within a predetermined distance from the host craft, on all sides of the host craft, may be simultaneously displayed relative to the three axes in a purely graphical manner which conveys to a user of the system the exact location of the other object relative to the host craft without necessitating inclusion of alphanumeric characters in the display; and

(c) displaying said host craft and said other object by projecting representations of said host craft and said other object in real time into said screen within said coordinate system,

wherein step (c) comprises the step of drawing onto said display screen a representation of a sphere of influence defined by two circles for indicating a predetermined distance surrounding said host craft in three dimensions, the first circle representing a projection of an equatorial plane of said sphere of influence and the second circle representing a projection of a longitudinal plane of said sphere of influence onto said display screen.

26. A method as claimed in claim 25, wherein said step of drawing said circles comprises the steps of setting a Z value of said first circle in three-dimensional Cartesian space to zero for the purpose of calculating the location of points around the perimeter of the first circle, said three-dimensional Cartesian space being defined by three mutually perpendicular axes, an X-axis, a Y-axis, and a Z-axis, said Z value being set to zero such that the circle drawn lies completely in the X-Y plane, drawing said first circle, exchanging Z and X coordinates so that the X-coordinate is set to zero and so that the second circle to be drawn will lie in the Y-Z plane, and drawing said second circle.

27. A method as claimed in claim 26, wherein said first circle is defined by the formulae X=rg sin K and Y=rg cos K, wherein rg is the radius of the sphere of influence and K is the angular distance between points drawn on the perimeter of the circle.

28. A method as claimed in claim 25, further comprising the step of calculating the six locations at which X, Y and Z coordinates through the origin intersect said two circles.

29. A method as claimed in claim 28, wherein said six locations are located by first calculating the spherical coordinates of each point, and subsequently converting the spherical coordinates to X, Y, Z format, rotating the points, and projecting said points onto the display screen.

30. A method as claimed in claim 29, further comprising the step of drawing the host craft at the center of said sphere of influence.

31. A method as claimed in claim 25, further comprising the step of recording said position and velocity for subsequent replay in order to analyze events represented by the recorded information.

32. A method of representing a host craft and its surrounding space on a display screen, comprising the steps of

(a) inputting a position for the host craft and at least one other object within a predetermined distance from the host craft;

(b) transforming the position into a three-dimensional coordinate system having an origin at the host craft, said origin fixed in respect to the display screen and the host craft, and three mutually perpendicular coordinate axes, at least two of which appear to a viewer to be located outside the principal plane of the screen and such that all objects within a predetermined distance from the host craft, on all sides of the host craft, may be simultaneously displayed relative to the three axes in a purely graphical manner which conveys to a user of the system the exact position of the other object relative to the host craft without necessitating inclusion of alphanumeric characters in the display; and

(c) displaying said host craft and said other object by projecting representations of said host craft and said other object in real time onto said screen within said coordinate system,

wherein step (c) further comprises the steps of drawing four points representing four vertices of a wind tee shape and connecting the four points by five lines to represent said host craft.

33. A method as claimed in claim 32, wherein step (c) further comprises the steps of drawing at least one of said objects by drawing four points representing vertices of the windtee shape and connecting the four points by five lines to represent said object.

34. A method of representing a host craft and its surrounding space on a display screen, comprising the steps of

(a) inputting a position for the host craft and at least one other object within a predetermined distance from the host craft;

(b) transforming the position into a three-dimensional coordinate system having an origin at the host craft, said origin fixed in respect to the display screen and the host craft, and three mutually perpendicular coordinate axes, at least two of which appear to a viewer to be located outside the principal plane of the screen and such that all objects within a predetermined distance from the host craft, on all sides of the host craft, may be simultaneously displayed relative to the three axes in a purely graphical manner which conveys to a user of the system the exact position of the other object relative to the host craft without necessitating inclusion of alphanumeric characters in the display; and

(c) displaying said host craft and said other object by projecting representations of said host craft and said other object in real time onto said screen within said coordinate system,

wherein step (c) further comprises the steps of drawing at least one of said objects by drawing four points representing vertices of a wind tee shape and connecting the four points by at most six lines to represent said object.