U.S. patent application number 11/775414 was filed with the patent office on 2008-01-24 for high altitude parachute navigation flight computer.
Invention is credited to Daniel Preston.
Application Number | 20080021646 11/775414 |
Document ID | / |
Family ID | 34135237 |
Filed Date | 2008-01-24 |
United States Patent
Application |
20080021646 |
Kind Code |
A1 |
Preston; Daniel |
January 24, 2008 |
HIGH ALTITUDE PARACHUTE NAVIGATION FLIGHT COMPUTER
Abstract
A navigational computer design for high altitude and other
similar navigational needs includes a processor, which receives as
input signals from navigational and navigational related sensors
such as a GPS, compass, inertial measurement unit and sensors.
Processor utilizes the navigational information to provide a
display to the user indicating present navigational positional
information as well is providing a flight path to follow to the
target. The navigational computer includes a device that enables it
to operate in a peer-to-peer network with other similar
navigational computers such that during use, users may track one
another. Once on the ground, the navigational computer may be used
to continue navigation.
Inventors: |
Preston; Daniel; (Kew
Gardens, NY) |
Correspondence
Address: |
Bourque & Associates, P.A.
Suite 301
835 Hanover Street
Manchester
NH
03104
US
|
Family ID: |
34135237 |
Appl. No.: |
11/775414 |
Filed: |
July 10, 2007 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
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10914643 |
Aug 9, 2004 |
7302340 |
|
|
11775414 |
Jul 10, 2007 |
|
|
|
60493366 |
Aug 8, 2003 |
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Current U.S.
Class: |
701/469 |
Current CPC
Class: |
G01C 21/20 20130101;
G01C 23/00 20130101 |
Class at
Publication: |
701/213 |
International
Class: |
G01C 21/00 20060101
G01C021/00 |
Claims
1-9. (canceled)
10. A navigational computer for a flexible lifting wing aircraft,
comprising: a head mounted display device; a plurality of
navigational devices, each of said plurality of navigational
devices providing a navigational signal; a central processing unit,
responsive to said plurality of navigational signals, for
processing said plurality of navigational signals and for providing
navigational display information to said display device, said
navigational display information including at least look ahead
flight path information giving the user a flight path to navigate
to a desired destination; and a wireless network link, for
establishing communications with at least one other navigational
computer, for providing said navigational information to said at
least one other navigational computer, and for receiving and
displaying navigational information received from said at least one
other navigational computer.
11. The navigational computer as claimed in claim 10 further
including guidance algorithms to determine an autopilot flight path
and a graphical user interface displaying said direction to said
user.
12. The navigational computer as claimed in claim 11 wherein said
graphical user interface includes at least a two-dimensional
simulated, look-ahead flight path.
13. The navigational computer as claimed in claim 12 wherein said
simulated, look-ahead flight path includes a three-dimensional
simulated, look-ahead flight path.
Description
RELATED APPLICATION AND PRIORITY CLAIM
[0001] This application is a divisional of U.S. Pat. No. 10/914,643
filed on Aug. 9, 2004 which claims priority from U.S. provisional
patent application No. 60/493,366 filed Aug. 8, 2003 both
incorporated fully herein by reference.
FIELD OF THE INVENTION
[0002] The present invention relates to navigation computers and
more particularly, to a navigation computer for a parachute jump at
high altitude.
DISCUSSION OF RELATED ART
[0003] Navigation computers have long been used for parachute
jumps. The computer may provide the parachutist with information
regarding the status of the jump, such as altitude and distance to
target, as well as information required for the parachutist to
reach the target. For military purposes, high altitude/high opening
(HA/HO) jumps are used for insertion of elite troops into enemy or
friendly territory. In such a jump, troops leap from aircraft at
extremely high altitudes, above 30,000 ft, to reduce the chance of
aircraft detection or attack. The team requires oxygen and special
equipment for such a jump. The parachutes are opened shortly after
jumping, and the team performs a series of navigational turns to
remain on a proper course to arrive on target. Given the
significant flight times from the high altitude, a number of
navigational changes must be made to arrive as close as possible to
the target. Currently, teams have little ability to navigate to a
target unless it can be seen upon exit from the aircraft or during
descent.
[0004] Furthermore, the navigational changes, including changes in
altitude, must be coordinated between members of the team. During
such jumps, the team must stay together as much as possible. It is
desirable for the team to fly together in a close formation. During
their dissent, however, the team must stay far enough apart so as
to avoid a collision. The team must make complicated maneuvers to
control speed, direction, and member spacing, and to arrive at the
desired target site.
[0005] While a navigational computer could aid jumpers in HA/HO
jumps, known navigation computers are inappropriate for such
conditions. Given the equipment carried by the troops, and the need
to control the parachute, operation of one or more buttons or
controls of a navigation computer is difficult since the prior art
devices were generally worn on the stomach of the jumper. At high
altitude, think gloves necessary are necessary because temperatures
can reach -58 F. Unfortunately, these thick gloves make operating
buttons problematic and viewing a belly-mounted device is
problematic due to required oxygen masks. Additionally, jumpers
often carry cargo that is attached off a tether to their chest
harness. The teathers can interfere with a belly mounted unit.
Furthermore, known navigational computers cannot operate at the
extreme temperatures or altitudes of HA/HO jumps. Also, known
navigational computers do not allow for coordinated operations
between members of a jump team. Finally, the navigational computer
only operates while the jumper is descending. It becomes useless,
and is simply excess weight, once the jumper is on the ground.
[0006] Accordingly, what is needed is a system and makes it
possible to navigate in close formation and at high altitude
precisely during zero or near-zero visibility situations (e.g.,
adverse weather conditions such as cloud cover, rain, snow, fog,
and darkness), thereby greatly reducing the possibility of
detection. What is also needed is a system and method that adds
peer-to-peer networking capability between such individual units in
systems, thereby creating a system whereby individual team members
may see each others location throughout flight and after
landing.
SUMMARY OF THE INVENTION
[0007] It is important to note that the present invention is not
intended to be limited to a device or method which must satisfy one
or more of any stated or implied objects or features of the
invention. It is also important to note that the present invention
is not limited to the preferred, exemplary, or primary
embodiment(s) described herein. Modifications and substitutions by
one of ordinary skill in the art are considered to be within the
scope of the present invention, which is not to be limited except
by the following claims.
BRIEF DESCRIPTION OF THE DRAWINGS
[0008] These and other features and advantages of the present
invention will be better understood by reading the following
detailed description, taken together with the drawings wherein:
[0009] FIG. 1 is an oblique view of a navigational computer
according to an embodiment of the present invention attached to a
jumping harness;
[0010] FIG. 2 is an oblique view of a navigational computer
according to an embodiment of the present invention without the
cover;
[0011] FIG. 3 is a front view of a display of a navigational
computer according to an embodiment of the present invention;
[0012] FIG. 4A is a front view of a display of a navigational
computer having a satellite image according to one embodiment of
the present invention; and
[0013] FIG. 4B is a front view of a display of a navigational
computer having a compassed based image according to another
embodiment of the present invention.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0014] The present invention features a navigation computer system
that is particularly useful for HA/HO jumps, although this is not a
limitation of use of the present invention. As illustrated in FIG.
1, the navigational computer 10 is preferably small enough such
that it may be attached to the helmet 331 of the parachutist 30.
This embodiment is preferably since it minimizes the amount of
wires/cables. Alternatively, the navigational computer 10 may be
mounted anywhere else on the parachutist 30 such as, but not
limited to, the jumping harness 20 or leg 332 of the parachutist 30
or on the jumping harness 20. An attachment mechanism (such as, but
not limited to, a hooks-and-loop strap or pocket), allows
adjustable positioning of the navigational computer 10 to the
jumping harness 20 or any part of the jumpers jumpsuit that is
comfortable and out of the way of critical handles of the parachute
system.
[0015] The navigational computer 10 has a display, as discussed
more fully below, with all necessary information to maneuver and
reach the target 3. The display receives a signal from the
navigational computer 10. The jumper does not need to change any
controls while in flight in order to operate the navigational
computer 10. Other configurations of the navigational computer 10
are possible. For example, a head mounted display 40 is preferably
used for display purposes. Thus, a different mounting system could
be used with such a display. An exemplary heads up display, also
termed a head mounted display (HMD), that may be used with the
present invention is a display based on the SO-35 Land Warrior head
mounted display developed by Rockwell Collins and Kaiser
Electrode-Optics.
[0016] The navigational computer 10 receives positional information
50, such as GPS information, from an orbiting satellite or other
similar device 60. The navigational computer 10 is programmed to
perform advanced auto-pilot guidance, automatically scaling maps
and satellite imagery, way point tracking, team member tracking,
alternative target designations, cone of acceptability based on the
wind data, as well is the ability to transition to advanced
ground-based functions after landing.
[0017] Additional features that may be performed by the
navigational computer 10 include dynamically created, wireless,
self-healing, ad-hoc mesh networks for the automatic creation of
peer-to-peer linking of multiple team members. The peer-to-peer
linking allows implementation of key features to the GUI (graphical
user interface) such as allowing team members to see each other's
location throughout flight and after landing. The peer-to-peer
linking also enables a single base station computer (such as a
laptop) to simultaneously perform and upload Mission planning on
multiple systems and to provide real-time tracking of the telemetry
of each team member.
[0018] The peer-to-peer network typically has a range of
approximately 60 miles between units using 1 watt, spread spectrum
900 mHz transceivers. The network will be dynamically created,
wireless and self-healing. The network will provide very quick
network discovery and synchronization, time domain multiplexing to
avoid network collisions, package based communication with 32 bit
CRC checks some and allow up to 240 unique transmitters and an
infinite number of receivers. Other protocols may be used.
[0019] The navigational computer 10, FIG. 2, includes a number of
functional elements including a processor or central processing
unit 52. The central processing unit (CPU) 52 includes necessary
components such as random access memory, EEPROM, and optional
compact Flash card. Of course, other components could be included
in the computer. The computer includes appropriate software to
perform the functions set forth below.
[0020] The central processing unit 52 of the navigational computer
10 receives as input, information from various elements including,
but not limited to, a GPS receiver 60, a compass 54 and/or inertial
measurement unit (IMU) 56 (comprising generally of three
accelerometers, three rate gyros, and three magnetometers) and one
or more sensors 58 such as a pressure sensor. An RF transceiver 62
is also provided for the peer-to-peer networking. A display 40 is
also provided. In addition, the central processing unit 52 may
provide an alert 64 such as a flashing light or audible alarm based
on flight conditions such as being off target or venturing to close
to a team member during descent.
[0021] According to an embodiment of the invention, the
navigational computer 10 includes an RF transceiver 62 for
communications between other units in the air or on the ground.
Multiple navigational computers 10, each with an RF transceiver 62,
are linked in a peer-to-peer network. In this manner, information
can be shared between computers. For example, the location of other
jumpers in the team can be automatically transmitted over the
network to the navigational computer. Distances and locations of
jumpers can be included as blips on the compass section of the
display. Thus, the team may control flight paths for coordinated
operation. Furthermore, communications mechanisms, such as text or
voice, can be used over the network to allow coordinated
efforts.
[0022] With the RF transceiver 62 and network 68, the navigational
computer 10 may also be used for coordination of team operations on
the ground. Thus, the navigational computer of the present
invention has ongoing utility in the mission after completion of
the flight. The preferred embodiment includes a 900 mhz or 1.3 ghz,
1 watt spread spectrum rf transceiver running a masterless TDMA
peer-to-peer protocol, although other protocols and
frequency/powers may be used. Once on the ground, the system's
wireless peer-to-peer network enables the units to transition to a
useful ground function. The systems will function as an advanced
ground based GPS system enabling team members to visualize each
other's position on the display and communicate. The use of true
peer-to-peer vs. various master slave-networking protocols ensures
the network isn't vulnerable to failing upon losing any of the
units.
[0023] FIG. 3 illustrates one embodiment of the components of the
navigational computer 10 in accordance with the present invention.
The navigational computer 10 includes a head mounted or other
display 40 which can operate at the temperatures and altitudes for
HA/HO jumps. It also includes a number of circuit boards 121, 122,
123, 124 with the necessary processing hardware to perform the
navigational operations described herein.
[0024] According to one embodiment of the invention, the
navigational computer 10 includes a computer having a central
processing unit (CPU), random access memory, EEPROM, and optional
compact Flash card. Of course, other components could be included
in the computer, or components could be placed on different circuit
boards. The computer includes appropriate software to perform the
functions set forth below. Furthermore, the navigational computer
10 includes a GPS receiver, a compass or optional inertial
measurement unit, and a pressure sensor.
[0025] The navigational computer 10 is powered by a DC battery pack
66 which can provide hours of capacity at the operating
temperatures and altitudes of the system. The system components are
selected to operate at temperatures ranging from approximately
-50.degree. C. to approximately +85.degree. C., and at altitudes up
to approximately 35,000 feet. Thus, the navigational computer will
operate in the extreme conditions of HA/HO jumps.
[0026] According to an embodiment of the invention, the entire unit
is approximate 4.25 inches tall, 6 inches wide, and 2 inches deep.
Of course, any other dimensions could be used. In the preferred
embodiment, the entire unit is small enough to allow it to be head
mounted. The navigational computer 10 also includes inputs and
outputs for programming, providing data, or retrieving data
relative to the mission.
[0027] FIG. 4 illustrates an embodiment of a display 110 of the
navigational computer 10. The display 110, FIG. 4A, preferably
includes a first window 109 displaying a map 111 or the like
(preferably a satellite map). The use of a satellite map 111
provides the user with much more information regarding his/her
exact position 113 as well as the terrain. Additionally, the
satellite map 111 greatly enhances the user's ability to make
decisions in the event a different landing spot or flight path is
needed once the jump has begun by providing the user with valuable
information of the terrain. The satellite map 111 may also show the
position of other team members 115.
[0028] According to the preferred embodiment of the present
invention, the display 110 is self-centering such that the user
does not need to orientate the display 110 and the display 110 is
always pointed in the correct direction relative to the user's
flight path or even orientation of the user's head. The
self-centering feature greatly reduces the likelihood of the
parachutist becoming disorientated during the descent.
[0029] The display 110 preferably includes a second window 107
showing at least a partial navigational "roadmap", flight path, or
look-ahead path 310. The navigational "roadmap" 310 utilizes look
ahead navigational capabilities to indicate to the jumper his or
her travel path 310 given the current direction of travel and also
providing a "path" 310 on which the jumper may "steer" to navigate
to the proper target location 330. This feature allows the user to
see his/her exact, current location 320 as well as see and
anticipate any turns in advance, greatly reducing user fatigue and
stress during a descent. Rather than simply providing immediate
instructions (e.g., turn 30 degrees now), the look-ahead flight
path 310 allows the user 320 to see not only where he/she is, but
also where he/she is going. The feature looks similar to a
driving-type video game where a player must steer right or left to
keep their car in the center of the road, with a slight amount of
the road visible in the distance. As parafoils basically have a set
glider ratio (which can be varied not greatly), the autopilot
graphical highway need not be truly three-dimensional but rather
two-dimensional, providing look ahead for only right and left
required inputs.
[0030] Because the user 320 can see and anticipate the flight path
310, the user 320 need only control the parachute to line up the
arrows or follow the "highway" 310. Consequently, the overall
accuracy of the landing is increased and stress of the user
reduced. This feature is also particularly useful when used with a
satellite map 111 as discussed above. Although shown in two
different windows 107, 109, the roadmap 310 may be overlaid on the
satellite map 111. It should be noted, however, that the look-ahead
feature may also be used with a standard compass-based system as
shown in FIG. 4B.
[0031] As this product is intended for use by many different
military divisions, the software will allow minor customization of
the GUI of the display 110 to best meet the needs of different
users. For example, mission planning can set the exact features and
look of the GUI from a menu of various options. In addition to the
self scaling map, more skillful operators will likely choose to
have additional information displayed in a third window 105, such
as, but not limited to, altitude, waypoint tracking and autopilot
highway, glider ratio, ETA, heading and bearing to target, and team
member locations. A lower skill jumper may opt to have the minimum
required information displayed so as to reduce the likelihood of
confusion.
[0032] The display 110 includes all of the necessary information
for proper completion of the jump at one time. According to one
embodiment, a self-scaling and orienting map is displayed along
with the altitude, a superimposed trace of ones flight path, and an
autopilot highway.
[0033] Referring specifically to FIG. 4B, the display 110 may also
include status information on the flight, such as current altitude
122 and overshoot/undershoot 134, i.e., a determination of the
landing location relative to the target location (how many feet
long or short you would land if flying straight line to target at
current glide ratio). Other information may also be provided in
various areas 135 of the display, such as glide ratio, estimated
time to landing, heading and bearing to target.
[0034] The navigational computer 10 is programmed to determine the
information to be displayed. In this regard, the target location is
programmed into the computer. The GPS system is used to determine
the current location of the jumper. The GPS system and/or the
pressure sensor may also be used to determine the altitude of the
jumper (algorithms are included to calibrate the barometric sensor
off the GPS when the accuracy is high enough, when the dilution of
precision of the GPS drops due to too few satellites in view the
system switched to barometric altitude). Additionally, the
navigational computer 10 includes a compass/inertial navigation
sensor, which can be used to backup the GPS system or to provide
information in the event of loss of or spoofing of the GPS signal.
Based upon the position and altitude over time, as determined by
the GPS system, pressure sensor, and/or the inertial navigation
sensor, the computer calculates the current heading, bearing to
target, glide ratio, velocity (in various directions), speed over
ground, course over ground, estimated time to target, and target
overshoot or undershoot. This information is feed in to the
guidance algorithms to continuously calculate an auto pilot flight
path to be displayed by the GUI and is displayed to the jumper for
appropriate flight control. The system can optionally be provided
with motors (not shown) to control the flight of the parachutist
automatically. This embodiment may be used, for example, as a
backup in the event that the parachutist is unable to control the
parachute (e.g., due to injury or unconsciousness).
[0035] The system may also be used for data logging. A compact
Flash memory may be used to store the calculated information for
future review of the mission. Additionally other sensors may be
included and datalogged. Constructed units have an 8 channel 16 bit
a/d converter, wherein channel 1 is being used by the barometric
pressure sensor, leaving 7 channels open for connection to other
desired sensors, i.e. chemical weapons sensors and the like.
Third-party sensors can be integrated with the navigational
computer. Discrete messages could be communicated to and from the
navigational computer and these messages can then be transmitted to
either the entire network or to individual units in the network.
The protocol for this communication may be customized, field
upgraded, and encrypted.
[0036] According to one embodiment of the invention, calculations
are performed using double precision arithmetic. Distance and
azimuth are calculated using inverse. The default coordinate system
is WGS-84. Of course, other processes, datums, and spheroids may be
used. As mentioned above, the present invention is not intended to
be limited to a device or method which must satisfy one or more of
any stated or implied objects or features of the invention and
should not be limited to the preferred, exemplary, or primary
embodiment(s) described herein. Modifications and substitutions by
one of ordinary skill in the art are considered to be within the
scope of the present invention, which is not to be limited except
by the following claims.
* * * * *