IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
US-0426892
(2009-04-20)
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등록번호 |
US-8296056
(2012-10-23)
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발명자
/ 주소 |
- Becker, Robert C.
- Meyers, David W.
- Cornett, Alan G.
- Heidemann, Thomas W.
- Bui, Long
|
출원인 / 주소 |
- Honeywell International Inc.
|
대리인 / 주소 |
Ingrassia Fisher & Lorenz, P.C.
|
인용정보 |
피인용 횟수 :
9 인용 특허 :
12 |
초록
▼
A method of generating an image of a volume ahead of an aerial vehicle is provided. The method comprises determining a position of the aerial vehicle and generating a terrain image corresponding to ground features correlated to the position of the aerial vehicle. Obstacle data pertaining to a set of
A method of generating an image of a volume ahead of an aerial vehicle is provided. The method comprises determining a position of the aerial vehicle and generating a terrain image corresponding to ground features correlated to the position of the aerial vehicle. Obstacle data pertaining to a set of obstacles ahead of the aerial vehicle is determined with a forward looking sensor. An obstacle overlay image is generated and overlain onto the terrain image to generate a composite image.
대표청구항
▼
1. A method of generating an image of a volume ahead of an aerial vehicle, the method comprising: determining a position of the aerial vehicle using global positioning system (GPS) position data when GPS position data is available, and when GPS position data is not available, determining the positio
1. A method of generating an image of a volume ahead of an aerial vehicle, the method comprising: determining a position of the aerial vehicle using global positioning system (GPS) position data when GPS position data is available, and when GPS position data is not available, determining the position of the aerial vehicle by:determining an altitude of the aerial vehicle using a radar altimeter; andcalculating the position of the aerial vehicle by correlating the altitude with a digital terrain elevation map and correlating attitude data from an inertial measurement unit (IMU) pertaining to an attitude of the aerial vehicle with the elevation of the aerial vehicle;generating a terrain image corresponding to ground features correlated to the position of the aerial vehicle;determining obstacle data pertaining to a set of obstacles ahead of the aerial vehicle with a forward looking sensor;generating an obstacle overlay image; andoverlaying the obstacle overlay image onto the terrain image to generate a composite image,wherein the IMU is operable to smooth the transition between when GPS position data is available and when GPS position data is not available by:determining a position difference between the GPS position data and the position data calculated by correlating the altitude with a digital terrain elevation map; andestablishing an offset for the GPS position data and an offset for the position data calculated by correlating the altitude with a digital terrain elevation map based upon the position difference. 2. The method of claim 1, further comprising wherein the method causes the aerial vehicle to display at least a portion of the composite image on at least one display device. 3. The method of claim 1, further comprising time sharing a signal processor between determining the position of the aerial vehicle and generating the obstacle data image overlay. 4. The method of claim 1, wherein generating the terrain image correlated to the position of the aerial vehicle further comprises: generating the terrain image using a terrain rendering engine. 5. The method of claim 1, wherein generating the obstacle overlay image further comprises: generating the obstacle overlay image using a radar data processing engine. 6. The method of claim 1, wherein the forward looking sensor comprises at least one a 94 GHz forward looking radar, a forward looking infrared (FLIR) sensor, a Laser Detection and Ranging (LADAR) sensor, and a Millimeter Wave Radar (MMW). 7. An enhanced vision system for an aerial vehicle, the system comprising: a radar altimeter operable to generate elevation data pertaining to an altitude of the aerial vehicle;a forward looking radar operable to generate obstacle data pertaining to a set of obstacles ahead of the aerial vehicle; andan inertial measurement unit (IMU) operable to determine attitude data pertaining to an attitude of the aerial vehicle;a global positioning system (GPS) receiver operable to provide GPS position data for use by the system in rendering the terrain image;wherein the system is operable to: calculate position data by correlating the elevation data with a digital terrain elevation map and blend the GPS position data and the position data from the radar altimeter to smooth a transition between GPS available and GPS denied conditions by: determining a position difference between the GPS position data and the position data calculated by correlating the altitude with a digital terrain elevation map; andestablishing an offset for the GPS position data and an offset for the position data calculated by correlating the altitude with a digital terrain elevation map based upon the position difference;generate an obstacle overlay image;render a terrain image using the position data and the attitude data;overlay the obstacle data overlay image onto the terrain image to generate a composite image; andwherein the system further comprises a display on which the composite image is displayed. 8. The enhanced vision system of claim 7, wherein the forward looking radar operates at approximately 94 GHz. 9. The enhanced vision system of claim 7, wherein the radar altimeter is communicatively coupled to the forward looking radar. 10. The enhanced vision system of claim 7, wherein the radar altimeter comprises a signal processor that is time shared between calculating the position data and generating the obstacle data image overlay. 11. The enhanced vision system of claim 7, wherein the IMU provides the position data at a uniform rate so that the composite image moves smoothly on the display device to correlate with motion of the aerial vehicle. 12. The enhanced vision system of claim 7, wherein the IMU is further operable to: provide constantly available position data at a uniform rate so that the composite image moves smoothly on the display device. 13. A program product for generating a composite image for display on at least one display device in an aerial vehicle, the program-product comprising a processor-readable medium on which program instructions are embodied, wherein the program instructions are operable, when executed by at least one programmable processor included in the aerial vehicle, to cause the aerial vehicle to: determining a position of the aerial vehicle using global positioning system (GPS) position data when GPS position data is available, and when GPS position data is not available, determining the position of the aerial vehicle by: determining an altitude of the aerial vehicle using radar altimeter data; andcalculating the position of the aerial vehicle by correlating the altitude with digital terrain elevation map data and correlating attitude data from an inertial measurement unit (IMU) pertaining to an attitude of the aerial vehicle with the elevation of the aerial vehicle; blend the GPS position data and the data from the radar altimeter to smooth a transition between GPS available and GPS denied conditions by: determining a position difference between the GPS position data and the position data calculated by correlating the altitude with a digital terrain elevation map; andestablishing an offset for the GPS position data and an offset for the position data calculated by correlating the altitude with a digital terrain elevation map based upon the position difference;generate a terrain image correlated to the position of the aerial vehicle;determine obstacle data pertaining to a set of obstacles ahead of the aerial vehicle with a forward looking radar associated with the aerial vehicle; andgenerate an obstacle overlay image for overlaying the obstacle overlay image onto the terrain image in order to generate the composite image for displaying at least a portion of the composite image on the at least one display device. 14. The program product of claim 13, wherein the at least one programmable processor included in the aerial vehicle comprises a signal processor included in a radar altimeter, and wherein the program instructions are configured so that the signal processor is time shared between calculating the position data and generating the obstacle data image overlay. 15. The method of claim 1, further comprising: adding, in response to the GPS position data being not available, the offset for the GPS position data to the position data calculated by correlating the altitude with a digital terrain elevation map. 16. The method of claim 15, further comprising diminishing the offset for the GPS position data over time while the GPS position data is not available. 17. The method of claim 1, further comprising: adding, in response to the position data calculated by correlating the altitude with a digital terrain elevation map being unavailable, the offset for the position data calculated by correlating the altitude with a digital terrain elevation map to the GPS position data. 18. The method of claim 17, further comprising diminishing the offset for the position data calculated by correlating the altitude with a digital terrain elevation map over time while the position data calculated by correlating the altitude with a digital terrain elevation map is not available. 19. The enhanced vision system of claim 7, wherein the system is further operable to: add, in response to the GPS position data being not available, the offset for the GPS position data to the position data calculated by correlating the altitude with a digital terrain elevation map. 20. The enhanced vision system of claim 19, wherein the system is further operable to diminish the offset for the GPS position data over time while the GPS position data is not available. 21. The enhanced vision system of claim 7, wherein the system is further operable to: add, in response to the position data calculated by correlating the altitude with a digital terrain elevation map being unavailable, the offset for the position data calculated by correlating the altitude with a digital terrain elevation map to the GPS position data. 22. The enhanced vision system of claim 21, wherein the system is further operable to diminish the offset for the position data calculated by correlating the altitude with a digital terrain elevation map over time while the position data calculated by correlating the altitude with a digital terrain elevation map is not available. 23. The program product of claim 13, wherein the aerial vehicle is further configured to: add, in response to the GPS position data being not available, the offset for the GPS position data to the position data calculated by correlating the altitude with a digital terrain elevation map. 24. The program product of claim 23, wherein the aerial vehicle is further configured to diminish the offset for the GPS position data over time while the GPS position data is not available. 25. The program product of claim 13, wherein the aerial vehicle is further configured to: add, in response to the position data calculated by correlating the altitude with a digital terrain elevation map being unavailable, the offset for the position data calculated by correlating the altitude with a digital terrain elevation map to the GPS position data. 26. The program product of claim 25, wherein the aerial vehicle is further configured to diminish the offset for the position data calculated by correlating the altitude with a digital terrain elevation map over time while the position data calculated by correlating the altitude with a digital terrain elevation map is not available.
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