Aircraft virtual image display system and method for providing a real-time perspective threat coverage display

• US 5,838,262 A
• Filed: 12/19/1996
• Issued: 11/17/1998
• Est. Priority Date: 12/19/1996
• Status: Expired due to Term

• Current Assignee: Sikorsky Aircraft Corporation (Martin Marietta Corporation)
• Original Assignee: Sikorsky Aircraft Corporation (Martin Marietta Corporation)
• Inventors: Kershner, Stuart D., Warburton, Frank W.
• Primary Examiner(s): Hofsass, Jeffery A.
• Assistant Examiner(s): Lee, Benjamin C.
• Application Number:
  US08/769,909
• Time in Patent Office: 698 Days
• Field of Search: 340/945, 340/961, 340/988, 340/995, 340/973, 340/980, 364/443, 364/460, 364/461, 364/424.06, 364/424.012, 364/449.2, 342/63, 342/64, 342/65, 395/118, 395/119, 395/125, 395/127, 701/300, 701/301, 701/302, 701/207
• US Class Current: 340/945
• CPC Class Codes: F41G 3/225 Helmet sighting systems
• CPC Class Codes: F41G 9/002 for guiding a craft to a correct firing position for bombing control F41G9/02
• 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: G02B 2027/0138 comprising image capture systems, e.g. camera
• CPC Class Codes: G02B 2027/014 comprising information/image processing systems
• CPC Class Codes: G02B 27/01 Head-up displays
• CPC Class Codes: G02B 27/017 Head mounted

Abstract

A virtual image display system for aircraft is operative to identify threat systems that are proximal the flight path of an aircraft when the aircraft is within the threat range of such threat systems. The virtual image display system is further operative to generate three-dimensional threat envelopes of identified threat systems and to display real-time perspective video images of such three-dimensional threat envelopes for viewing by the pilot.

Claims

1. A virtual image display system for an ownship for identifying each threat system nearby a flight path of the ownship when the ownship is within a threat range of such threat system, for generating a three-dimensional threat envelope for each identified threat system, and for displaying real-time perspective video images of such three-dimensional threat envelope for viewing by a pilot of the ownship, comprising:

a video display subsystem for generating and displaying video images to the ownship pilot;

means for sensing the attitude and position of the head of the ownship pilot in relation to an ownship cockpit coordinate system;

a digital terrain database for providing topographical data and information with respect to terrain proximal the flight path of the ownship;

database means for providing geographical coordinate, elevation, and characteristics data with respect to threat systems proximal the flight path of the ownship;

database means for providing navigational data and dynamic state information with respect to the ownship; and

computer processing means functionally interconnected to said threat systems database means and said navigational data/dynamic state information database means and operative for identifying each threat system nearby the flight path of the ownship when the ownship is within a threat range of the threat system, wherein said computer processing means is operative to identify the threat system by determining a current position and a short-term projected flight path of the ownship, by correlating said current position and said short-term projected flight path of the ownship with geographical coordinates of the threat system to determine whether the threat system is proximal said current position and said short-term projected flight path of the ownship, and determining whether the ownship is within the threat range of the threat system;

said computer processing means being functionally interconnected to said video display subsystem, said attitude/position sensing means, said digital terrain database, said threat systems database means, and said navigational data/dynamic state database means and operative for generating a three-dimensional threat envelope for said identified threat system, wherein said computer processing means is operative to generate said three-dimensional threat envelope for said identified threat system by defining a two-dimensional plan view of said three-dimensional threat envelope, by defining terrain profiles for said two-dimensional plan view, by identifying a terrain profile grazing line for each of said terrain profiles, by defining an endpoint for each said terrain grazing profile, and by connecting said endpoints of adjacent ones of said terrain grazing lines by a boundary line wherein said terrain grazing lines and said boundary lines in combination form a set of interconnected polygons emanating from said identified threat system that define said three-dimensional threat envelope;

said computer processing means being functionally interconnected to said video display subsystem, said attitude/position sensing means, said digital terrain database, said threat systems database means, and said navigational data/dynamic state database means and operative for displaying real-time perspective video images of each said generated three-dimensional threat envelope for viewing by the ownship pilot.

2. The virtual image display system of claim 1 wherein said video display subsystem is a helmet-mounted display subsystem.

3. The virtual image display system of claim 1 wherein said threat systems database means comprises:

a threat systems database for providing geographical coordinate and elevation data of said threat systems proximal the flight path of the ownship; and

a threat systems characteristics database for providing data regarding functional characteristics of said threat systems proximal the flight path of the ownship.

4. The virtual image display system of claim 1 further comprising virtual imaging means for generating virtual images of the external world proximal the flight path of the ownship, and wherein said computer processing means is functionally interconnected to said virtual imaging means and operative to convert said virtual images to video images and to display said video images of said virtual images for viewing by the ownship pilot by means of said video display subsystem.

6. The method of claim 1 wherein said substep (204A) of defining said two-dimensional plan view of said three-dimensional threat envelope further comprises the substeps of:

(204A1) calculating first and second horizontal perimeter radials; and

(204A2) defining a plurality of horizontal fan radials between said first and second horizontal perimeter radials, said first and second horizontal perimeter radials and said plurality of horizontal fan radials in combination defining said two-dimensional plan view of three-dimensional threat envelope.

7. The method of claim 6 wherein said substep (204B) of defining said terrain profiles further comprises the substeps of:

(204B1) calculating azimuth angles for each of said first and second horizontal perimeter radials and each of said plurality of horizontal fan radials;

(204B2) subdividing each of said first and second horizontal perimeter radials and each of said plurality of horizontal fan radials into a plurality of segments;

(204B3) identifying unique localities for each of said first and second horizontal perimeter radials and each of said plurality of horizontal fan radials based upon said corresponding plurality of segments;

(204B4) identifying polar coordinates for each said unique locality and transforming said polar coordinates of each said unique locality to rectangular coordinates;

(204B5) correlating said rectangular coordinates of each said unique locality with topographical data from a digital terrain database to determine a terrain elevation for each said unique locality; and

(204B6) creating a terrain profile matrix for each of said first and second horizontal perimeter radials and each of said plurality of horizontal fan radials wherein each said terrain profile matrix defines one said terrain profile.

8. The method of claim 7 wherein said substep (204C) of identifying said terrain grazing line for each said terrain profile comprises the substeps of:

(204C1) calculating a ratio for each entry in each said terrain profile matrix;

(204C2) determining a critical ratio for each said terrain profile matrix; and

(204C3) defining said terrain grazing line for each said terrain profile based upon said critical ratio of each said corresponding terrain profile matrix.

5. A method for providing threat information to a pilot of an ownship flying a flight path by means of a video display subsystem, comprising the steps of:

(202) identifying each threat system proximal the flight path of the ownship when the ownship is within a threat range of the threat system, said threat system identification step includes the substeps of

(202A) determining a current position and a short-term projected flight path of the ownship,

(202B) correlating said current position and said short-term projected flight path of the ownship with geographical coordinates of the threat system to determine whether the threat system is proximal said current position and said short-term projected flight path of the ownship; and

(202C) determining whether the ownship is within the threat range of the threat system;

(204) generating a three-dimensional threat envelope of each said identified threat system, said three-dimensional threat envelope generating step including the substep of

(204A) defining a two-dimensional plan view of said three-dimensional threat envelope,

(204B) defining terrain profiles for said two-dimensional plan view,

(204C) identifying a terrain grazing line for each of said terrain profiles,

(204D) defining an endpoint for each said terrain grazing profile, and

(204E) connecting said endpoints of adjacent terrain grazing lines by a boundary line wherein said terrain grazing lines and said boundary lines in combination form a set of interconnected polygons emanating from said identified threat system that define said three-dimensional threat envelope;

(206) storing each said generated three-dimensional threat envelope in a computer memory cache;

(208) determining, for each said stored three-dimensional threat envelope, whether any portion thereof is within a system field of view of the ownship;

(220) returning to step (202) if it is determined in step (208) that no portion of said three-dimensional threat envelope is within said system field of view;

(212) displaying a perspective video image of said portion of said three-dimensional threat envelope for viewing by the pilot of the ownship by means of the video display subsystem; and

(216) repeating steps (204), (206), (208), and (212) as required to display a continuous series of real-time perspective video images of said threat envelope for viewing by the pilot of the ownship by means of the video display subsystem.

9. The method of claim 5 wherein said step (208) of determining whether any portion of said stored three-dimensional image of said threat envelope is within the field of view of the pilot comprises the substeps of:

(208A) determining a current position and dynamic state of the ownship;

(208B) determining a field of view of the pilot in relation to a cockpit coordinate system of the ownship based upon signals provided by an attitude/position sensing apparatus;

(208C) correlating said current position and dynamic of the ownship with said field of view of the pilot to determine said system field of view; and

(208D) correlating said system field of view with spatial coordinates of said stored three-dimensional threat envelope to determine if any portion of said three-dimensional threat envelope is within said system field of view.

10. The method of claim 9 further comprising a step (210) of:

providing, prior to returning to step (202) in step (220), a directional cue to the pilot of the ownship as to directional movement required to bring said three-dimensional threat envelope within the system FOV.

11. The method of claim 9 wherein said step (212) of displaying said perspective video image of said portion of said three-dimensional threat envelope comprises the substeps of:

(212A) retrieving said three-dimensional threat envelope stored in step (206);

(212B) correlating said spatial coordinates of said three-dimensional threat envelope with said system field of view to determine what portion of said three-dimensional threat envelope is visible to the pilot of the ownship;

(212C) generating said perspective video image corresponding to said portion of said three-dimensional threat envelope that is visible to the pilot of the ownship; and

(212D) displaying, by means of the video display subsystem, said generated perspective video image of said three-dimensional threat envelope for viewing by the pilot of the ownship.

12. The method of claim 11 further comprising a substep (212E) of providing a warning to the ownship pilot that the ownship is being operated in a threat zone defined by said displayed perspective video image of said three-dimensional threat envelope.

13. The method of claim 12 wherein said substep (212E) of providing said warning to the ownship pilot comprises a substep (212E1) of displaying a video warning image in conjunction with said displayed perspective video image of said three-dimensional threat envelope.

14. The method of claim 12 wherein said substep (212E) of providing said warning to the ownship pilot comprises a substep (212E2) of cyclically altering the intensity of said displayed perspective video image of said three-dimensional threat envelope.

15. The method of claim 12 wherein said substep (212E) of providing said warning to the ownship pilot comprises a substep (212E3) of coloring said displayed perspective video image of said three-dimensional threat envelope in a first color if said ownship is being operated in the threat zone defined by said displayed perspective video image of said three-dimensional threat envelope and coloring said displayed perspective video image of said three-dimensional threat envelope in a second color if said ownship is being operated in a safe zone defined by said displayed perspective video image of said three-dimensional threat envelope.

16. The method of claim 11 further comprising a substep (212E3) of providing a countdown warning to the ownship pilot with respect to flight time accrued in a threat zone defined by said displayed perspective video image of said three-dimensional threat envelope in relation to a response timeline of the threat system.

17. The method of claim 16 wherein said substep (212E3) of providing said countdown warning further comprises the substeps of:

(212E3.1) determining the current position and dynamic state of the ownship at the current position;

the short-term projected flight path of the ownship, and the coordinates of said three-dimensional threat envelope and calculating a start time that defines an initial entry of the ownship into the threat zone;

(212E3.2) accessing a threat systems characteristics database to determine said response timeline of the threat system;

(212E3.3) initiating a countdown timer based upon the said response timeline of the threat system;

(212E3.4) generating and displaying a video image representative of said countdown timer in conjunction with said displayed perspective video image of said three-dimensional threat envelope; and

(212E3.5) terminating said countdown timer and simultaneously terminating said displayed video image of said countdown timer.

18. The method of claim 11 further comprising a substep (212F) of providing the pilot with a visual cue as to at least one vertical differential between the ownship, the ground, and said displayed perspective video image of said three-dimensional threat envelope.

19. The method of claim 18 wherein said substep (212F) of providing the pilot with said visual cue comprises the substeps of:

(212F1) determining an altitude of the ownship at the current position of the ownship, determining the mean sea level of said ground at equivalent coordinates, determining an altitude of said displayed perspective video image of said three-dimensional threat envelope at equivalent coordinates, and calculating vertical differentials between said ownship and said ground and said ownship and said displayed perspective video image of said three-dimensional threat envelope, as required; and

(212F2) generating and displaying a numerical video image of each said vertical differential in conjunction with said displayed perspective video image of said three-dimensional threat envelope.

20. The method of claim 18 wherein said substep (212F) of providing the pilot with said visual cue comprises the substeps of:

(212F1) determining an altitude of the ownship at the current position of the ownship, determining the mean sea level of said ground at equivalent coordinates, determining an altitude of said displayed perspective video image of said three-dimensional threat envelope at equivalent coordinates, and calculating vertical differentials between said ownship and said ground and said ownship and said displayed perspective video image of said three-dimensional threat envelope, as required; and

(212F2) generating and displaying a symbolic video image representative of each said vertical differential in conjunction with said displayed perspective video image of said three-dimensional threat envelope.

21. The method of claim 11 further comprising the substep (212G) of providing the pilot with a parametric visual cue as to when the ownship will enter a threat zone defined by the displayed perspective video image of the three-dimensional threat envelope.

22. The method of claim 21 wherein said substep (212G) of providing the pilot with said parametric visual cue includes the substeps of:

(212G1) determining the current position and dynamic state of the ownship at the current position, the short-term projected flight path of the ownship, and coordinates of said three-dimensional threat envelope and calculating a point of intersection of the short-term projected flight path of the ownship with said three-dimensional threat envelope;

(212G2) calculating a non-steady state parameter representative of the relationship between said point of intersection and the current position of the ownship; and

(212G3) generating and displaying a video image of said non-steady state parameter as said parametric visual cue in conjunction with said displayed perspective video image of said three-dimensional threat envelope.

23. The method of claim 5 further comprising the step of:

(214) repeating steps 204, 206 and 212 for each additional threat range of each said identified threat system; and

wherein said step (216) repeats step 214.

24. The method of claim 5 further comprising the substep (212H) of providing a pilot alert to warn the pilot that the ownship is being flown directly towards said identified threat system.