Patent Description:
Embodiments of the subject matter described herein relate generally to flight deck systems. More particularly, embodiments of the subject matter relate to the generation of flight plans using flight deck systems.

The current computer-controlled navigation systems do not provide a means to automatically generate a flight plan or an offset flight plan from a data set, requiring a pilot to enter each waypoint manually. Examples of a data set are: state or country boundaries, other geographical boundaries such as rivers, mountain contours or data for other search and rescue criteria, etc. It can be a challenging and tedious task to manually construct a flight plan that aligns precisely with the various boundaries to perform monitoring or searching.

A search and rescue mission might be along a river or in a mountainous area where an existing type of search pattern would not produce the needed coverage. Country and state boundaries may need monitoring, and manually constructing a flight plan to monitor the boundaries can be tedious.

<CIT> discloses a method and system to generate a flight path along a boundary line, a sequence of waypoints being generated based on pattern points defining the boundary line (e.g. coastline).

Hence, it is desirable to provide systems and methods for automatically constructing a flight plan. Furthermore, other desirable features and characteristics of the present invention will become apparent from the subsequent detailed description and the appended claims, taken in conjunction with the accompanying drawings and the foregoing technical field and background.

A processor-implemented system for automatically constructing a flight plan for an aerial vehicle that aligns with a boundary line using information from a geographical database is provided according to claim <NUM>.

A processor-implemented method in flight deck equipment for automatically constructing a flight plan for an aerial vehicle that aligns with a boundary line using information from a geographical database is provided according to claim <NUM>.

The subject matter described herein discloses apparatus, systems, techniques and articles for automatically constructing a flight plan for an aerial vehicle that aligns with a boundary line using information from a geographical database. <FIG> is a diagram depicting an example map of area <NUM> around which an aerial vehicle (e.g., airplane, UAV, drone, helicopter, or other aerial vehicle) is to fly. The area <NUM> includes a boundary <NUM> that extends through the area <NUM>. The boundary <NUM> may be a natural boundary, such as a river or mountain contours, or a governmental boundary, such as a city, county, state or country boundary. The subject matter described herein discloses apparatus, systems, techniques and articles for automatically constructing a flight plan, using geographical database information, for an aerial vehicle to traverse a flight path <NUM> to follow the boundary <NUM>. The constructed flight plan identifies a starting location B1W01 for the aerial vehicle and an ending location T002 for the flight path <NUM>, a plurality of waypoints B1W02 to B1W14 in a forward direction between the starting location B1W01 and the ending location T002 on the flight path <NUM>, a wraparound waypoint B 1W15 at the end of the flight path <NUM> for use by the aerial vehicle to complete a turn to travel back along the flight path <NUM> in a reverse direction, and a wraparound waypoint T001 at the beginning of the flight path <NUM> for use by the aerial vehicle to complete a turn to travel back along the flight path <NUM> in a forward direction. In this example, the flight path <NUM> does not fall on the boundary <NUM>, but is laterally offset from the boundary <NUM> by a specified distance, for example, to ensure that the flight path <NUM> is well within the boundary (e.g., a governmental boundary) by applying a lateral offset of the specified distance to the path.

In this example, the flight path is flown with a course reversal at each end of the route/track <NUM> to allow for the performance of monitoring or patrolling services. Course reversal can be initiated at either end of the route <NUM> or in between waypoints. Additionally, the pilot may choose a LEFT or RIGHT turn at any time while flying to initiate a course reversal.

<FIG> is a block diagram of an example system <NUM> for automatically constructing a flight plan, using geographical database information, for an aerial vehicle to traverse a flight path to follow a boundary. The example system includes flight deck equipment, such as a flight management system <NUM> for automatically generating a boundary flight plan <NUM>, an electronic display system <NUM> for use by flight crew to provide input for the automatic generation of the boundary flight plan, and a geographical database <NUM> containing potential waypoints along a boundary for consideration when constructing the boundary flight plan <NUM>.

The flight deck equipment <NUM> has a controller. The controller in this example implements an automatic flight plan generation module <NUM> that is configured to automatically select a set of geo coordinate waypoints along a boundary line using waypoints from the geographical database <NUM> responsive to flight crew input from the electronic display system <NUM>.

The controller <NUM> includes at least one processor and a non-transitory computer-readable storage device or media encoded with programming instructions for configuring the controller. The processor may be any custom-made or commercially available processor, a central processing unit (CPU), a graphics processing unit (GPU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), an auxiliary processor among several processors associated with the controller, a semiconductor-based microprocessor (in the form of a microchip or chip set), any combination thereof, or generally any device for executing instructions.

The computer readable storage device or media may include volatile and nonvolatile storage in read-only memory (ROM), random-access memory (RAM), and keep-alive memory (KAM), for example. KAM is a persistent or non-volatile memory that may be used to store various operating variables while the processor is powered down. The computer-readable storage device or media may be implemented using any of a number of known memory devices such as PROMs (programmable read-only memory), EPROMs (electrically PROM), EEPROMs (electrically erasable PROM), flash memory, or any other electric, magnetic, optical, or combination memory devices capable of storing data, some of which represent executable programming instructions, used by the controller.

The controller <NUM> is configured to refine the set of geo coordinate waypoints by computing a turn initiation distance (TID) and a turn completion distance (TCD) for every waypoint. The controller <NUM> is further configured to refine the set of geo coordinate waypoints, for each waypoint in the set of geo coordinate waypoints, when the sum of the TID for the particular waypoint and the TCD for the prior waypoint in the set of geo coordinate waypoints is greater than a distance between the prior waypoint and the particular waypoint, by removing the particular waypoint from the set of geo coordinate waypoints, connecting the prior waypoint to the next waypoint in the set of geo coordinate waypoints, and re-computing the course and distance between the prior waypoint to the next waypoint.

The controller <NUM> is further configured to refine the refined set of geo coordinate waypoints by computing a course change at every waypoint from the refined set of geo coordinate waypoints, retaining a waypoint from the refined set of geo coordinate waypoints when the course change at the waypoint is greater than a predetermined amount (e.g., three (<NUM>) degrees), and removing a waypoint from the refined set of geo coordinate waypoints when the course change at the waypoint is not greater than the predetermined amount.

The controller <NUM> is configured to generate a set of courses and distances between waypoints through computing, for each set of two consecutive waypoints in the further refined set of geo coordinate waypoints, the course and distance between the two consecutive waypoints. The controller <NUM> is configured to construct the flight plan based on the waypoints in the further refined set of geo coordinate waypoints and the set of courses and distances between waypoints to produce a flight plan that is flown by the aerial vehicle along a flight path that traverses the boundary, or a portion thereof.

To produce an offset flight path along a boundary, the controller <NUM> is further configured to construct a set of offset flight plan waypoints from the further refined set of geo coordinate waypoints when a lateral offset distance is requested for the waypoints by projecting each waypoint from the further refined set of geo coordinate waypoints by the lateral offset distance at a waypoint bisector for the waypoint.

The controller <NUM> is configured to refine the set of offset flight plan waypoints by computing the TID and TCD at every offset waypoint transition. The controller <NUM> is further configured to refine the set of offset flight plan waypoints, when the sum of the TID for a particular waypoint and the TCD for the prior waypoint is greater than a distance between the prior waypoint and the particular waypoint, by removing the particular waypoint and connecting the prior waypoint to the next waypoint.

The controller <NUM> is further configured to generate a set of courses and distances between offset waypoints through computing, for each set of two consecutive waypoints in the refined set of offset waypoints, the course and distance between the two consecutive waypoints. The controller <NUM> is further configured to construct the flight plan using the waypoints in the further refined set of offset flight plan waypoints and the set of courses and distances between offset waypoints.

The controller <NUM> in some examples is further configured to adjust the boundary flight plan and/or offset flight plan based on addition flight planning factors such as weather, NOTAMS, Airspace restrictions, terrain in the anticipated flight path, and others. For example, the controller <NUM> is further configured to adjust the construction of the flight path laterally and vertically by considering weather data inputs. The controller <NUM> is further configured to adjust the construction of the flight path laterally and vertically by considering Terrain database inputs. The controller <NUM> is further configured to adjust the construction of the flight path laterally and vertically by considering Airspace restrictions. The controller <NUM> is further configured to adjust the construction of the flight path laterally and vertically by considering NOTAM inputs.

The flight crew input received via the electronic display system (e.g., by graphically selecting it on the Display or manually entering it on MCDU or equivalent device) may include (i) flight crew selection of an origin point, a destination point, and the identity of a boundary line along which the aerial vehicle is to fly; (ii) flight crew selection of the identity of a boundary line along which the aerial vehicle is to fly and a distance; or (iii) simply flight crew selection of the identity of a boundary line along which the aerial vehicle is to fly.

When the flight crew input comprises flight crew selection of an origin point, a destination point, and the identity of a boundary line along which the aerial vehicle is to fly, to automatically select a set of geo coordinate waypoints, the controller <NUM> is configured to automatically select a boundary segment from the identified boundary line between the origin point and the destination point, and construct a flight plan with a course reversal along the boundary segment using waypoints from the geographical database that are along the boundary segment and between the origin point and the destination point.

When the flight crew input comprises flight crew selection of the identity of a boundary line along which the aerial vehicle is to fly and a distance, to automatically select a set of geo coordinate waypoints, the controller <NUM> is configured to automatically select the current position of the aerial vehicle as the origin, and construct a flight plan with a course reversal along the boundary line from the origin point for the specified distance using waypoints from the geographical database that are along the boundary line for the specified distance.

When the flight crew input comprises flight crew selection of the identity of a boundary line along which the aerial vehicle is to fly, to automatically select a set of geo coordinate waypoints, the controller <NUM> is configured to automatically construct a flight plan with a course reversal along the complete length of the boundary line using waypoints from the geographical database that are along the boundary line.

<FIG> is a process flow chart depicting an example process <NUM> in flight deck equipment for automatically generating a boundary flight plan. In the example process <NUM>, flight deck equipment (e.g., the FMS) is provided with geographical (geo) coordinate waypoints from a geographical information database (operation <NUM>). In one example, the provision is done as a result of pilot or flight crew member selection of a boundary line, river, mountain contour, or other search criteria from geographical database segments that are displayed on a navigational display.

In the example process <NUM>, the flight deck equipment (e.g., the FMS) parses through and performs the operations that follow this operation for each received geo coordinate waypoint (operation <NUM>). To do this the flight deck equipment (e.g., the FMS) receives the set of geo coordinate waypoints and processes it using the operations that follow this operation to automatically construct a flight plan to perform navigation over the coordinate waypoints chosen during the following operations.

The example process <NUM> includes refining the set of geo coordinate waypoints by applying a first filtering algorithm for the entire set of waypoints. The first filtering algorithm includes computing transition data, Turn initiation distance (TID) and Turn completion distance (TCD), at every waypoint transition (operation <NUM>). The first filtering algorithm also includes determining if the sum of the TID for a current processed waypoint and the TCD of the prior processed waypoint is greater than the distance between the prior waypoint and the current waypoint (decision <NUM>).

If the sum of the TID for a current processed waypoint and the TCD of the prior processed waypoint is greater than the distance between the prior waypoint and the current waypoint (yes at decision <NUM>), then the process <NUM> includes removing this current waypoint from the set, connecting the prior waypoint to the next waypoint in the set, re-computing the course and distance between these newly connected waypoints (operation <NUM>) and performing operation <NUM> using the next waypoint in the set of waypoints. If the sum of the TID for a current processed waypoint and the TCD of the prior processed waypoint is not greater than the distance between the prior waypoint and the current waypoint (no at decision <NUM>), then the process <NUM> includes performing operation <NUM> using the next waypoint in the set of waypoints.

When all waypoints in the set have been processed (when the first filtering algorithm is complete), the example process <NUM> includes refining the filtered set of geo coordinate waypoints by applying a second filtering algorithm for the entire set of filtered waypoints. The second filtering algorithm includes computing the course change at every waypoint for the filtered series of waypoints (operation <NUM>) and determining for each waypoint whether the course change is greater than <NUM> degrees (decision <NUM>).

If the course change at a waypoint is not greater than <NUM> degrees (no at decision <NUM>), then the example process <NUM> includes discarding the waypoint (operation <NUM>). If the course change at a waypoint is greater than <NUM> degrees (yes at decision <NUM>), then the example process <NUM> includes retaining that waypoint to create a more-refined list of waypoints (operation <NUM>). The example process <NUM> includes repeating operation <NUM> using the next waypoint until all waypoints have been processed. The more-refined list of waypoints are used in the boundary flight plan.

<FIG> is a process flow chart depicting an example process <NUM> in the flight deck equipment for automatically generating an offset flight plan from the boundary flight plan. The example process <NUM> includes determining if an offset distance is requested for the waypoints (decision <NUM>). If an offset distance is requested (yes at decision <NUM>), then the lateral offset distance is applied to the waypoints in the boundary flight plan to project the waypoints at each waypoint bisector by the lateral offset distance (operation <NUM>). If an offset distance is not requested (no at decision <NUM>), then the boundary flight plan is used.

The example process <NUM> includes refining the set of offset waypoints by applying a third filtering algorithm for the entire set of waypoints. The third filtering algorithm includes computing transition data, Turn initiation distance (TID) and Turn completion distance (TCD), at every waypoint transition (operation <NUM>). The third filtering algorithm also includes determining if the sum of the TID for a current processed waypoint and the TCD of the prior processed waypoint is greater than the distance between the prior waypoint and the current waypoint (decision <NUM>).

If the sum of the TID for a current processed waypoint and the TCD of the prior processed waypoint is greater than the distance between the prior waypoint and the current waypoint (yes at decision <NUM>), then the process <NUM> includes removing this current waypoint from the set, connecting the prior waypoint to the next waypoint in the set, re-computing the course and distance between these newly connected waypoints (operation <NUM>), and performing operation <NUM> using the next waypoint in the set of waypoints. If the sum of the TID for a current processed waypoint and the TCD of the prior processed waypoint is not greater than the distance between the prior waypoint and the current waypoint (no at decision <NUM>), then the process <NUM> includes performing operation <NUM> using the next waypoint in the set of waypoints.

Removing the current waypoint from the set, connecting the prior waypoint to the next waypoint in the set, and re-computing the course and distance between these newly connected waypoints (operation <NUM>) results in a refined series of waypoints (<NUM>).

The refined series of waypoints (<NUM>) are used in the offset flight plan and can be used for navigation to perform boundary flying, searching, and other tasks (operation <NUM>). The offset flight plan is automatically constructed and can be used to perform boundary monitoring, flying through rivers, mountain contours, search criteria, and others.

<FIG> is a process flow chart depicting an example process <NUM> in flight deck equipment for automatically generating a boundary flight plan.

The example process <NUM> includes automatically selecting a set of geographical (geo) coordinate waypoints along a boundary line using waypoints from the geographical database responsive to flight crew input (operation <NUM>).

The example process <NUM> includes refining the set of geo coordinate waypoints using a calculated turn initiation distance (TID) and a turn completion distance (TCD) for every waypoint (operation <NUM>). Refining the set of geo coordinate waypoints includes computing a turn initiation distance (TID) and a turn completion distance (TCD) for every waypoint (operation <NUM>) and for each waypoint in the set of geo coordinate waypoints, when the sum of the TID for the particular waypoint and the TCD for the prior waypoint in the set of geo coordinate waypoints is greater than a distance between the prior waypoint and the particular waypoint, removing the particular waypoint from the set of geo coordinate waypoints, connecting the prior waypoint to the next waypoint in the set of geo coordinate waypoints, and re-computing the course and distance between the prior waypoint to the next waypoint (operation <NUM>).

The example process <NUM> includes further refining the refined set of geo coordinate waypoints based on the course change between waypoints (operation <NUM>). Further refining the refined set of geo coordinate waypoints based on the course change between waypoints includes computing a course change at every waypoint from the refined set of geo coordinate waypoints, and preferably retaining a waypoint from the refined set of geo coordinate waypoints when the course change at the waypoint is greater than a predetermined amount, and removing a waypoint from the refined set of geo coordinate waypoints when the course change at the waypoint is not greater than the predetermined amount. The predetermined amount may be <NUM> degrees.

The example process <NUM> includes generating a set of courses and distances between waypoints through computing, for each set of two consecutive waypoints in the further refined set of geo coordinate waypoints, the course and distance between the two consecutive waypoints (operation <NUM>).

The example process <NUM> includes constructing the flight plan based on the waypoints in the further refined set of geo coordinate waypoints and the set of courses and distances between waypoints (operation <NUM>). The flight plan is flown by the aerial vehicle.

<FIG> is a process flow chart depicting an example process <NUM> in flight deck equipment for automatically generating an offset flight plan from a boundary flight plan. The example process <NUM> includes constructing a set of offset flight plan waypoints from the further refined set of geo coordinate waypoints when a lateral offset distance is requested for the waypoints by projecting each waypoint from the further refined set of geo coordinate waypoints by the lateral offset distance at a waypoint bisector for the waypoint (operation <NUM>).

The example process <NUM> includes refining the set of offset flight plan waypoints (operation <NUM>). Refining the set of offset flight plan waypoints includes computing the TID and TCD at every offset waypoint transition (decision <NUM>) and when the sum of the TID for a particular waypoint and the TCD for the prior waypoint is greater than a distance between the prior waypoint and the particular waypoint, removing the particular waypoint, connecting the prior waypoint to the next waypoint (operation <NUM>).

The example process <NUM> includes generating a set of courses and distances between offset waypoints through computing, for each set of two consecutive waypoints in the refined set of offset waypoints, the course and distance between the two consecutive waypoints (operation <NUM>).

The example process <NUM> includes constructing the flight plan using the waypoints in the further refined set of offset flight plan waypoints and the set of courses and distances between offset waypoints (decision <NUM>). The flight plan with the offset waypoints is flown by the aerial vehicle.

Described herein are apparatus, systems, techniques and articles for automatically constructing a flight plan for an aerial vehicle that aligns with a boundary line using information from a geographical database. In one embodiment, a processor-implemented system for automatically constructing a flight plan for an aerial vehicle that aligns with a boundary line using information from a geographical database is provided. The system has a controller comprising one or more processors configured by programming instructions on non-transitory computer readable media. The controller is configured to: automatically select a set of geographical (geo) coordinate waypoints along a boundary line using waypoints from the geographical database responsive to flight crew input; refine the set of geo coordinate waypoints using a calculated turn initiation distance (TID) and a turn completion distance (TCD) for every waypoint; further refine the refined set of geo coordinate waypoints based on the course change between waypoints; generate a set of courses and distances between waypoints through computing, for each set of two consecutive waypoints in the further refined set of geo coordinate waypoints, the course and distance between the two consecutive waypoints; and construct the flight plan based on the waypoints in the further refined set of geo coordinate waypoints and the set of courses and distances between waypoints. The flight plan is flown by the aerial vehicle.

These aspects and other embodiments may include one or more of the following features. The flight crew input may comprise flight crew selection of an origin point, a destination point, and the identity of a boundary line along which the aerial vehicle is to fly; and to automatically select a set of geo coordinate waypoints, the controller may be configured to automatically select a boundary segment from the identified boundary line between the origin point and the destination point, and construct a flight plan along the boundary segment using waypoints from the geographical database that are along the boundary segment and between the origin point and the destination point. The flight crew input may comprise the identity of a boundary line along which the aerial vehicle is to fly and a distance; and to automatically select a set of geo coordinate waypoints, the controller may be configured to automatically select the current position of the aerial vehicle as the origin, and construct a flight plan along the boundary line from the origin point for the specified distance using waypoints from the geographical database that are along the boundary line for the specified distance. The flight crew input may comprise flight crew selection of the identity of a boundary line along which the aerial vehicle is to fly; and to automatically select a set of geo coordinate waypoints, the controller may be configured to automatically construct a flight plan along the complete length of the boundary line using waypoints from the geographical database that are along the boundary line. To refine the set of geo coordinate waypoints using a calculated turn initiation distance (TID) and a turn completion distance (TCD) for every waypoint, the controller is configured to refine the set of geo coordinate waypoints by: computing a turn initiation distance (TID) and a turn completion distance (TCD) for every waypoint; and for each waypoint in the set of geo coordinate waypoints, when the sum of the TID for the particular waypoint and the TCD for the prior waypoint in the set of geo coordinate waypoints is greater than a distance between the prior waypoint and the particular waypoint, removing the particular waypoint from the set of geo coordinate waypoints, connecting the prior waypoint to the next waypoint in the set of geo coordinate waypoints, and re-computing the course and distance between the prior waypoint to the next waypoint. The predetermined amount may be <NUM> degrees. The controller may be further configured to construct a set of offset flight plan waypoints from the further refined set of geo coordinate waypoints when a lateral offset distance is requested for the waypoints by projecting each waypoint from the further refined set of geo coordinate waypoints by the lateral offset distance at a waypoint bisector for the waypoint. The controller may be further configured to refine the set of offset flight plan waypoints by: computing the TID and TCD at every offset waypoint transition; and when the sum of the TID for a particular waypoint and the TCD for the prior waypoint is greater than a distance between the prior waypoint and the particular waypoint, removing the particular waypoint, and connecting the prior waypoint to the next waypoint. The controller may be further configured to generate a set of courses and distances between offset waypoints through computing, for each set of two consecutive waypoints in the refined set of offset waypoints, the course and distance between the two consecutive waypoints. The controller may be further configured to construct the flight plan using the waypoints in the further refined set of offset flight plan waypoints and the set of courses and distances between offset waypoints. The controller is further configured to further refine the refined set of geo coordinate waypoints based on the course change between waypoints by computing a course change at every waypoint from the refined set of geo coordinate waypoints, an preferably retaining a waypoint from the refined set of geo coordinate waypoints when the course change at the waypoint is greater than a predetermined amount, and removing a waypoint from the refined set of geo coordinate waypoints when the course change at the waypoint is not greater than the predetermined amount. The controller may be further configured to apply a course reversal at the end of the boundary flight path and ensure that the aerial vehicle does not cross boundary lines. The controller may be further configured to apply a course reversal at a point other than an end point on the flight path along the boundary flight path. The controller may be further configured to adjust the construction of the flight path laterally and vertically by considering weather data inputs. The controller may be further configured to adjust the construction of the flight path laterally and vertically by considering Terrain database inputs. The controller may be further configured to adjust the construction of the flight path laterally and vertically by considering Airspace restrictions. The controller may be further configured to adjust the construction of the flight path laterally and vertically by considering NOTAM inputs.

In another embodiment, a processor-implemented method in flight deck equipment for automatically constructing a flight plan for an aerial vehicle that aligns with a boundary line using information from a geographical database is provided. The method comprises: automatically selecting a set of geographical (geo) coordinate waypoints along a boundary line using waypoints from the geographical database responsive to flight crew input; refining the set of geo coordinate waypoints using a calculated turn initiation distance (TID) and a turn completion distance (TCD) for every waypoint; further refining the refined set of geo coordinate waypoints based on the course change between waypoints; generating a set of courses and distances between waypoints through computing, for each set of two consecutive waypoints in the further refined set of geo coordinate waypoints, the course and distance between the two consecutive waypoints; and constructing the flight plan based on the waypoints in the further refined set of geo coordinate waypoints and the set of courses and distances between waypoints. The flight plan is flown by the aerial vehicle.

These aspects and other embodiments may include one or more of the following features. The flight crew input may comprise flight crew selection of an origin point, a destination point, and the identity of a boundary line along which the aerial vehicle is to fly; and automatically selecting a set of geo coordinate waypoints may comprise automatically selecting a boundary segment from the identified boundary line between the origin point and the destination point, and constructing a flight plan along the boundary segment using waypoints from the geographical database that are along the boundary segment and between the origin point and the destination point. The flight crew input may comprise the identity of a boundary line along which the aerial vehicle is to fly and a distance; and automatically selecting a set of geo coordinate waypoints may comprise automatically selecting the current position of the aerial vehicle as the origin, and constructing a flight plan along the boundary line from the origin point for the specified distance using waypoints from the geographical database that are along the boundary line for the specified distance. The flight crew input may comprise flight crew selection of the identity of a boundary line along which the aerial vehicle is to fly; and automatically selecting a set of geo coordinate waypoints may comprise automatically constructing a flight plan along the complete length of the boundary line using waypoints from the geographical database that are along the boundary line. The refining the set of geo coordinate waypoints using a calculated turn initiation distance (TID) and a turn completion distance (TCD) for every waypoint comprises refining the set of geo coordinate waypoints by: computing a turn initiation distance (TID) and a turn completion distance (TCD) for every waypoint; and for each waypoint in the set of geo coordinate waypoints, when the sum of the TID for the particular waypoint and the TCD for the prior waypoint in the set of geo coordinate waypoints is greater than a distance between the prior waypoint and the particular waypoint, removing the particular waypoint from the set of geo coordinate waypoints, connecting the prior waypoint to the next waypoint in the set of geo coordinate waypoints, and re-computing the course and distance between the prior waypoint to the next waypoint. The predetermined amount is <NUM> degrees. The method may further comprise constructing a set of offset flight plan waypoints from the further refined set of geo coordinate waypoints when a lateral offset distance is requested for the waypoints by projecting each waypoint from the further refined set of geo coordinate waypoints by the lateral offset distance at a waypoint bisector for the waypoint. The method may further comprise refining the set of offset flight plan waypoints by: computing the TID and TCD at every offset waypoint transition; and when the sum of the TID for a particular waypoint and the TCD for the prior waypoint is greater than a distance between the prior waypoint and the particular waypoint, removing the particular waypoint, and connecting the prior waypoint to the next waypoint. The method may further comprise generating a set of courses and distances between offset waypoints through computing, for each set of two consecutive waypoints in the refined set of offset waypoints, the course and distance between the two consecutive waypoints. The method may further comprise constructing the flight plan using the waypoints in the further refined set of offset flight plan waypoints and the set of courses and distances between offset waypoints. The method further comprises further refining the refined set of geo coordinate waypoints based on the course change between waypoints by computing a course change at every waypoint from the refined set of geo coordinate waypoints, and preferably retaining a waypoint from the refined set of geo coordinate waypoints when the course change at the waypoint is greater than a predetermined amount, and removing a waypoint from the refined set of geo coordinate waypoints when the course change at the waypoint is not greater than the predetermined amount. The method may further comprise applying a course reversal at the end of the boundary flight path and ensuring that the aerial vehicle does not cross boundary lines. The method may further comprise applying a course reversal at a point other than an end point on the flight path along the boundary flight path. The method may further comprise adjusting the construction of the flight path laterally and vertically by considering weather data inputs. The method may further comprise adjusting the construction of the flight path laterally and vertically by considering Terrain database inputs. The method may further comprise adjusting the construction of the flight path laterally and vertically by considering Airspace restrictions. The method may further comprise adjusting the construction of the flight path laterally and vertically by considering NOTAM inputs.

In another embodiment, non-transitory computer readable media encoded with programming instructions configurable to cause a processor in flight deck equipment to perform a method is provided. The method comprises automatically selecting a set of geographical (geo) coordinate waypoints along a boundary line using waypoints from the geographical database responsive to flight crew input; refining the set of geo coordinate waypoints using a calculated turn initiation distance (TID) and a turn completion distance (TCD) for every waypoint; further refining the refined set of geo coordinate waypoints based on the course change between waypoints; generating a set of courses and distances between waypoints through computing, for each set of two consecutive waypoints in the further refined set of geo coordinate waypoints, the course and distance between the two consecutive waypoints; and constructing the flight plan based on the waypoints in the further refined set of geo coordinate waypoints and the set of courses and distances between waypoints. The flight plan is flown by the aerial vehicle.

In another embodiment, a processor-implemented system for automatically constructing a flight plan for an aerial vehicle that aligns with a boundary line using information from a geographical database is provided. The system is configured to identify a set of geo coordinate waypoints by: responsive to receiving flight crew selection of an origin point, a destination point, and the identity of a boundary line along which the aerial vehicle is to fly, automatically selecting a boundary segment from the identified boundary line between the origin point and the destination point, and constructing a flight plan along the boundary segment using waypoints from the geographical database that are along the boundary segment and between the origin point and the destination point; responsive to receiving flight crew selection of the identity of a boundary line along which the aerial vehicle is to fly and a distance, automatically selecting the current position as the origin, and constructing a flight plan along the boundary line from the origin point for the specified distance using waypoints from the geographical database that are along the boundary line for the specified distance; and responsive to receiving flight crew selection of the identity of a boundary line along which the aerial vehicle is to fly, automatically constructing a flight plan along the complete length of the boundary line using waypoints from the geographical database that are along the boundary line. The system is further configured to refine the set of geo coordinate waypoints by: computing a turn initiation distance (TID) and a turn completion distance (TCD) for every waypoint; and when the sum of the TID for a particular waypoint and the TCD for the prior waypoint is greater than a distance between the prior waypoint and the particular waypoint, removing the particular waypoint, connecting the prior waypoint to the next waypoint, and re-computing the course and distance between the prior waypoint to the next waypoint. The system is further configured to further refine the refined set of geo coordinate waypoints by computing a course change at every waypoint from the refined set of geo coordinate waypoints, retaining a waypoint from the refined set of geo coordinate waypoints when the course change at the waypoint is greater than <NUM> degrees, and removing a waypoint from the refined set of geo coordinate waypoints when the course change at the waypoint is not greater than <NUM> degrees; compute, for each waypoint in the further refined set of geo coordinate waypoints, the course and distance between a prior waypoint and a next waypoint; construct a set of offset flight plan waypoints from the further refined set of geo coordinate waypoints when a lateral offset distance is requested for the waypoints by projecting each waypoint from the further refined set of geo coordinate waypoints by the lateral offset distance at a waypoint bisector for the waypoint; and refine the set of offset flight plan waypoints by: computing the TID and TCD at every offset waypoint transition; and when the sum of the TID for a particular waypoint and the TCD for the prior waypoint is greater than a distance between the prior waypoint and the particular waypoint, removing the particular waypoint, connecting the prior waypoint to the next waypoint, and re-computing the course and distance between the prior waypoint to the next waypoint.

Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention as defined by the appended claims.

Claim 1:
A processor-implemented system (<NUM>) for automatically constructing a flight plan (<NUM>, <NUM>) for an aerial vehicle that aligns with a boundary line (<NUM>) using information from a geographical database (<NUM>) the system having a controller (<NUM>) comprising one or more processors configured by programming instructions on non-transitory computer readable media, the controller configured to:
automatically select (<NUM>) a set of geographical, geo, coordinate waypoints along the boundary line (<NUM>) using waypoints from the geographical database (<NUM>) responsive to flight crew input;
refine (<NUM>) the set of geo coordinate waypoints using a calculated turn initiation distance, TID, and a turn completion distance, TCD, for every waypoint;
further refine (<NUM>) the refined set of geo coordinate waypoints based on the course change between waypoints;
generate (<NUM>) a set of courses and distances between waypoints through computing, for each set of two consecutive waypoints in the further refined set of geo coordinate waypoints, the course and distance between the two consecutive waypoints; and
construct (<NUM>) the flight plan based on the waypoints in the further refined set of geo coordinate waypoints and the set of courses and distances between waypoints;
wherein the flight plan (<NUM>, <NUM>) is flown by the aerial vehicle;
wherein to refine (<NUM>) the set of geo coordinate waypoints using the calculated turn initiation distance, TID, and the turn completion distance, TCD, for every waypoint, the controller (<NUM>) is configured to refine (<NUM>) the set of geo coordinate waypoints by:
computing (<NUM>) the turn initiation distance, TID, and the turn completion distance, TCD, for every waypoint; and
for each waypoint in the set of geo coordinate waypoints, when the sum of the TID for the particular waypoint and the TCD for the prior waypoint in the set of geo coordinate waypoints is greater than a distance between the prior waypoint and the particular waypoint, removing (<NUM>) the particular waypoint from the set of geo coordinate waypoints, connecting the prior waypoint to the next waypoint in the set of geo coordinate waypoints, and re-computing (<NUM>) the course and distance between the prior waypoint to the next waypoint.