Patent Description:
Pilots are located in a central cockpit where they are well positioned to observe objects that are directly in front of the cabin of the aircraft. Wings extend laterally from the cabin in both directions. Some commercial and some military aircraft have large wingspans, and so the wings on these aircraft laterally extend a great distance from the cabin and are thus positioned behind and out of the field of view of the cabin. Some commercial and some military planes have engines that hang below the wings of the aircraft. Pilots, positioned in the cabin, can have difficulty knowing the risk of collisions between the wingtips and/or engines and other objects external to the aircraft. A method or system for rendering and displaying a perspective view of the aircraft and surrounding structures from a vantage point outside of aircraft would assist a pilot in avoiding objects external to the aircraft.

<CIT> discloses a flight deck display system comprising a first source of host aircraft feature data and a second source of traffic data. A processor is coupled to the first and second sources and is configured to (a) receive host aircraft data; (<NUM>) receive traffic data; (<NUM>) filter traffic based on a predetermined set of separation criteria to identify viral traffic; (<NUM>) generate symbology graphically representative of vital traffic; (<NUM>) generate symbology graphically representative of the host aircraft; and (<NUM>) display the host aircraft and the vital traffic on an AMM display.

<CIT> discloses a system for a vehicle including a display, a navigation system determining a location of the vehicle, a database storing a map including locations of buildings on the map and a processor.

<CIT> discloses an obstacle detection system configured to generate and display a graphical user interface that includes an overhead image of an area in which a vehicle is positioned, a graphical representation of the vehicle, and graphical representations of one or more obstacles.

From a first aspect of the invention, a method for displaying rendered image data of a region of an airport taxiway as claimed in claim <NUM> is provided.

The method of the preceding paragraph can optionally include any one or more of the following features, configurations and/or additional components:
A further embodiment of the foregoing method, wherein obtaining data indicative of location(s) of dynamic object(s) can include retrieving data from an object detection system mounted to the aircraft, wherein the aircraft is a taxiing aircraft.

A further embodiment of any of the foregoing methods, wherein obtaining data indicative of location(s) of dynamic object(s) can include collecting Automatic Dependent Surveillance Broadcast (ADS-B) data from ADS-B equipped dynamic object(s), the ADS-B data being indicative of locations of the ADS-B equipped dynamic object(s).

A further embodiment of any of the foregoing methods can further include determining a hazard zone containing each of the dynamic object(s) within the region of the airport taxiway indicated by the obtained data. The symbol(s) identifying the dynamic object(s) can be indicative of the corresponding determined hazard zone containing the corresponding dynamic object.

A further embodiment of any of the foregoing methods, wherein the rendered image data can be rendered from a selectable perspective view.

A further embodiment of any of the foregoing methods, wherein the perspective view can be selected as a plan view perspective of the region of the airport taxiway.

A further embodiment of any of the foregoing methods, wherein the region of the airport taxiway can include locations within a predetermined distance of the aircraft, wherein the aircraft is a taxiing aircraft.

A further embodiment of any of the foregoing methods can further include receiving data indicative of a velocity and/or steering orientation of the aircraft, wherein the aircraft is a taxiing aircraft.

A further embodiment of any of the foregoing methods can further include calculating, based at least in part on the received data indicative of the velocity and/or steering orientation of the taxiing aircraft, a trajectory of the taxiing aircraft within the region of the airport taxiway. Any of the foregoing methods can further include mapping into the rendered image data a symbol indicative of the calculated trajectory of the taxiing aircraft.

A further embodiment of any of the foregoing methods can further include determining if the location(s) of the dynamic object(s) and/or static airport structure(s) within the region of the airport taxiway are within the calculated trajectory of the aircraft, wherein the aircraft is a taxiing aircraft.

A further embodiment of any of the foregoing methods can further include maintaining a master model of the airport taxiway.

A further embodiment of any of the foregoing methods can further include sharing data sets between the aircraft and the master model, wherein the aircraft is a taxiing aircraft.

A further embodiment of any of the foregoing methods can further include retrieving a destination location for the aircraft, wherein the aircraft is a taxiing aircraft. Any of the foregoing methods can further include calculating a route from a current location of the aircraft to the received destination location of the aircraft, the calculated route avoiding collision with the dynamic object(s) and/or static airport structure(s) external to the aircraft, wherein the aircraft is a taxiing aircraft. Any of the foregoing methods can further include mapping into the rendered image data at least a portion of the calculated route.

From a further aspect of the invention, a system as claimed in claim <NUM> is provided.

The system of the preceding paragraph can optionally include any one or more of the following features, configurations and/or additional components:
A further embodiment of the foregoing system can further include a Global Positioning System (GPS) mounted to the aircraft, wherein the aircraft is a taxiing aircraft. The one or more storage devices can be further encoded with instructions that, when executed by the one or more processors, cause the system to collect, from the GPS, data indicative of a location and orientation of the taxiing aircraft. The one or more storage devices can be further encoded with instructions that, when executed by the one or more processors, cause the system to map into the image data a symbol of the taxiing aircraft at the location and orientation indicated by the collected data indicative of the location and orientation of the taxiing aircraft.

A further embodiment of any of the foregoing systems, wherein the one or more storage devices are further encoded with instructions that, when executed by the one or more processors, cause the system to determine a hazard zone containing each of the dynamic object(s) obtained within the region of the airport taxiway. The symbol(s) identifying the dynamic object(s) can be indicative of the corresponding determined hazard zone containing the corresponding dynamic object.

Apparatus and associated methods relate to rendering an image of objects in a region of an airport taxiway. The image is rendered from data provided by multiple sources. Three-dimensional models of static airport structures located within the region of an airport taxiway are provided. Rendered image data of the region of the airport taxiway is formed based on the retrieved three-dimensional models of the static airport structures. Data indicative of locations of dynamic objects within the region of the airport taxiway is also provided. Symbols identifying the dynamic objects within the region of the airport taxiway are mapped into the rendered image data at the locations indicated by the provided data. The rendered image data is sent to a display device configured to display the rendered image data.

<FIG> are perspective and cockpit views, respectively, of objects in the surrounding environment of a taxiing aircraft. In <FIG>, taxiing aircraft <NUM> is navigating tarmac <NUM> of airport environment <NUM>. Airport environment <NUM> includes various permanently fixed structures and mobile objects that potentially could impact or be impacted by taxiing aircraft <NUM>. Fixed structures are static airport structures in that their locations are unchanging. These permanently fixed structures include, for example, gates <NUM>, concourses <NUM>, and bridge structure <NUM> supported by bridge piers <NUM>. Also depicted in airport environment <NUM> are mobile vehicles <NUM> and <NUM> that do not have permanently fixed locations. Mobile vehicles are dynamic objects in that their locations can change over time.

Taxiing aircraft <NUM> has various extremity features that could potentially impact these fixed structures <NUM>, <NUM>, <NUM> and <NUM> and/or mobile vehicles <NUM> and <NUM> external to taxiing aircraft <NUM>. Such extremity features include wingtips <NUM>, vertical stabilizer <NUM>, horizontal stabilizer <NUM>, nose <NUM> and engine nacelles <NUM>. These extremity features <NUM>, <NUM>, <NUM>, <NUM> and <NUM> approximately define the spatial extent of taxiing aircraft <NUM>. These extremity features <NUM>, <NUM>, <NUM>, <NUM> and <NUM> can be at risk of collision with objects external to taxiing aircraft <NUM>. To avoid such fixed structures <NUM>, <NUM>, <NUM> and <NUM> and dynamic objects <NUM> and <NUM>, the pilot of taxiing aircraft <NUM> must be continually aware of the precise locations of these structures and objects, relative to taxiing aircraft <NUM>.

In <FIG>, the fixed structures and dynamic objects that could potentially be impacted by taxiing aircraft <NUM>, which are depicted in <FIG>, are shown from the viewpoint of a pilot seated in the cockpit of taxiing aircraft <NUM>. The depicted view from the cockpit, as shown in <FIG>, is much more limited than the perspective view shown in <FIG>. Some of gates <NUM>, concourses <NUM>, and portions of bridge structure <NUM> supported by bridge piers <NUM> can be seen from the cockpit perspective, as can mobile vehicle <NUM>. Other gates, concourses, portions of the bridge structure and mobile vehicles, such as mobile vehicle <NUM>, cannot be seen from the cockpit perspective. Extremity features of taxiing aircraft <NUM>, such as wingtips <NUM>, vertical stabilizer <NUM>, horizontal stabilizer <NUM>, nose <NUM> and engine nacelles <NUM> (depicted in <FIG>) also are not visible from the cockpit perspective shown in <FIG>. Because extremity structures <NUM>, <NUM>, <NUM>, <NUM> and <NUM> cannot be seen by the pilot, it can be difficult for a pilot to gauge whether such extremity structures <NUM>, <NUM>, <NUM>, <NUM> and <NUM> are on a collision trajectory with one or more of the structures and objects external to taxiing aircraft <NUM>.

<FIG> are images rendered from a plan view perspective of the objects depicted in <FIG> in the surrounding environment of a taxiing aircraft. <FIG> depicts an imaged rendered from the plan view perspective that includes taxiing aircraft <NUM> and fixed structures <NUM>, <NUM>, <NUM>, <NUM> and <NUM>. A system for rendering and displaying a perspective view of aircraft taxi operation has retrieved three-dimensional models of fixed structures <NUM>, <NUM>, <NUM>, <NUM> and <NUM>, and rendered them and taxiing aircraft <NUM> at locations corresponding to each. Taxiing aircraft <NUM> is rendered navigating tarmac <NUM> just before passing under bridge structure <NUM>.

<FIG> shows static fixed airport objects <NUM>, <NUM>, <NUM>, <NUM> and <NUM> located and oriented with respect to a location and orientation of taxiing aircraft <NUM>. Such a rendered image, as depicted in <FIG>, can be displayed on a display device in the cockpit of taxiing aircraft <NUM>, so that a pilot of taxiing aircraft <NUM> can visualize any hazards surrounding taxiing aircraft <NUM> from a different, and perhaps better, perspective than the view limited by the cockpit windows. Static airport objects displayed in <FIG> include tarmac <NUM>, gates <NUM>, concourse <NUM>, bridge structure <NUM>, and supporting bridge piers <NUM>. Also displayed in the rendered image shown in <FIG> is a rendered version of taxiing aircraft <NUM>. By combining static airport objects <NUM>, <NUM>, <NUM>, <NUM> and <NUM> with rendered taxiing aircraft <NUM>, distances between extremity features of taxiing aircraft <NUM>, such as wingtips <NUM> of taxiing aircraft <NUM> and fixed objects <NUM>, <NUM>, <NUM>, <NUM> and <NUM> can be visualized. Axis <NUM> of taxiing aircraft <NUM> is also depicted so as to communicate an orientation of taxiing aircraft <NUM> with respect to fixed airport objects <NUM>, <NUM>, <NUM>, <NUM> and <NUM>.

The system for rendering and displaying a perspective view of aircraft taxi operation can retrieve the three dimensional models of fixed objects, such as tarmac <NUM>, gates <NUM>, concourse <NUM>, bridge structure <NUM>, and supporting bridge piers <NUM>, from a database. Then, such retrieved models can be rendered in various perspective manners. In some embodiments, the three dimensional models can be stored in a database at the location of airport environment <NUM> and transmitted to taxiing aircraft <NUM>, for example. In other embodiments, the three dimensional models can be stored in a database in an electronic bay of the taxiing aircraft <NUM>, for example. The system for rendering and displaying a perspective view of aircraft taxi operation can retrieve, from the database, a three-dimensional model of static airport structures located within a region of an airport taxiway. The system can then form rendered image data of the region of the airport taxiway, based on the retrieved three-dimensional model of the static airport structures. In some embodiments the three-dimensional models can be formed into rendered image data in any of various selectable perspectives, such as the plan-view perspective shown in <FIG>. The retrieved three-dimensional models of static airport structures are rendered from a perspective view from a vertical stabilizer position, or from a wingtip position.

<FIG> shows symbols indicative of objects detected by an object detection system mounted to taxiing aircraft <NUM>. An object detection system can be mounted on taxiing aircraft <NUM>, can detect objects external to taxiing aircraft <NUM>, and can calculate location and range of such external objects with respect to taxiing aircraft <NUM>. Various object detection systems have various capabilities. For example, some object detection systems determine a range to an object using triangulation of spatially-patterned light projected upon and reflected from the object, as disclosed by <CIT>, titled "A Method and System for Aircraft Taxi Strike Alerting," the entire disclosure of which is hereby incorporated by reference.

In some embodiments, the object detection system can generate a three-dimensional model of the detected objects. In some embodiments, the object detection system can generate data indicative of locations in three-dimensional space of detected portions of objects, such as, for example, the location of the nearest features and/or corner features of the objects to taxiing aircraft <NUM>. Such data and/or models can be used to render symbols and/or image data of the detected objects. Then, a system for rendering and displaying a perspective view of aircraft taxi operation can form, based on the generated three-dimensional model of the detected objects, rendered image data of the detected objects, for example. In some embodiments, the system for rendering and displaying a perspective view of aircraft taxi operation can form image symbols indicative of the locations of features of the detected objects that are nearest to taxiing aircraft <NUM>.

In the <FIG> depiction, such locations of the nearest features of the detected objects are indicated by image symbols <NUM>. Each of image symbols <NUM> depicts a nearest feature and/or a corner feature of the detected objects in the perspective selected, which in this depiction is the plan view perspective. In <FIG> an object detection system mounted to taxiing aircraft <NUM> has detected a number of objects external to taxiing aircraft <NUM>. The object detection system has generated data indicative of the three-dimensional location, relative to taxiing aircraft <NUM>, of each of the detected objects. The system for rendering and displaying a perspective view of aircraft taxi operation then forms, based on the generated data indicative of the three-dimensional locations, rendered image symbols <NUM> indicative of such three-dimensional locations, for example.

<FIG> shows symbols indicative of objects reported to taxiing aircraft <NUM> by an Automatic Dependent Surveillance Broadcast (ADS-B) system. ADS-B data from ADS-B equipped objects external to the taxiing aircraft is transmitted to taxiing aircraft <NUM> by ADS-B equipped objects external to taxiing aircraft <NUM>. The ADS-B data is indicative of locations of ADS-B equipped objects, such as ADS-B equipped mobile vehicles, for example. The ADS-B data can also be indicative of the type of object that is ADS-B equipped and/or an orientation and/or speed of the ADS-B equipped object. Three-dimensional models of the ADS-B equipped objects are used for image rendering of the ADS-B equipped objects reported to taxiing aircraft <NUM>. The system for rendering and displaying a perspective view of aircraft taxi operation can then form, based on the reported location and orientation, rendered images of the ADS-B equipped objects. <FIG> shows such rendered images of ADS-B equipped mobile vehicles <NUM> and <NUM>.

<FIG> shows a rendered image of the airport environment external to taxiing aircraft <NUM> that includes static airport structures <NUM>, <NUM>, <NUM>, <NUM> and <NUM>, symbols <NUM> indicative of objects detected by an object detection system, and objects <NUM> and <NUM> reported to taxiing aircraft <NUM> by an ADS-B system. The system for rendering and displaying a perspective view of aircraft taxi operation can retrieve three-dimensional models of static airport structures <NUM>, <NUM>, <NUM>, <NUM> and <NUM> located within a region of an airport taxiway from a database. Rendered image data of the region of the airport taxiway is formed, based on the retrieved three-dimensional models of static airport structures <NUM>, <NUM>, <NUM>, <NUM> and <NUM>.

Data indicative of locations of dynamic objects within the region of the airport taxiway is obtained by one or more methods. In the depicted embodiment, data is retrieved from an object detection system mounted to taxiing aircraft <NUM>. Circular symbols <NUM> indicating the nearest locations of these detected objects are mapped into the rendered image data. In the depicted embodiment, data is also collected from ADS-B equipped dynamic objects <NUM> and <NUM>. The ADS-B data can be indicative of locations of the ADS-B equipped dynamic objects <NUM> and <NUM>. Three-dimensional models corresponding to the reported ADS-B equipped dynamic objects <NUM> and <NUM> are then retrieved. In this way, these ADS-B equipped objects <NUM> and <NUM> are mapped into the rendered image data.

In some embodiments, gates <NUM> can be moveable, and could be equipped as ADS-B dynamic objects, or could otherwise transmit location and orientation information to taxiing aircraft <NUM>. Such ADS-B equipped gates can also report their positions and/or configurations to taxiing aircraft <NUM>. After all the dynamic objects have been mapped into the rendered image data, the rendered image data can be sent to a display device configured to display the rendered image data. Such a display device can be located in a cockpit so that a pilot of taxiing aircraft <NUM> can view the rendered image data. In some embodiments, a system for rendering and displaying a perspective view of aircraft taxi operation can be used by aircraft ground traffic controllers. In such an embodiment, the display device can be located in an aircraft control tower so that the aircraft ground traffic controllers can view the rendered image data.

<FIG> is an image of the structures and objects depicted in <FIG> in the surrounding environment of taxiing aircraft <NUM> rendered from a perspective view. In <FIG>, the fixed structures and dynamic objects shown in <FIG> are rendered again, but from a perspective above and behind the cockpit of taxiing aircraft <NUM>. <FIG> depicts a nose of taxiing aircraft <NUM> as taxiing aircraft <NUM> approaches passing beneath bridge structure <NUM>. Other static aircraft structures are also rendered, such as bridge piers <NUM> and gates <NUM>. Dynamic objects external to the aircraft, such as ADS-B equipped mobile vehicles <NUM> and <NUM>, are also rendered in <FIG>. Taxiing aircraft <NUM> is equipped with an object detection system. Cylindrical symbols <NUM>' indicate locations of nearest features of objects detected by the object detection system. Cylindrical symbols <NUM>' are the perspective equivalent symbols to circular symbols <NUM> depicted in the plan views shown in <FIG> and <FIG>. In some embodiments, the ability to render the airport environment from different vantage points can advantageously provide pilots and/or ground traffic controllers with the ability to render imagery from a vantage point that assists such personnel in their duties.

In <FIG>, ADS-B reporting mobile vehicle <NUM> is shown surrounded by hazard zone <NUM>. In some embodiments, ADS-B reporting vehicle <NUM> might not report an orientation of such vehicle. In such circumstances, taxiing aircraft <NUM> (depicted in <FIG>) can attempt to ascertain the orientation of ADS-B reporting vehicle <NUM> so as to be able to render ADS-B reporting vehicle faithfully. In other circumstances, taxiing aircraft <NUM> can simply render ADS-B reporting vehicle in a standard orientation. In either circumstance, the system for rendering and displaying a perspective view of aircraft taxi operation can show a hazard zone <NUM> that surrounds ADS-B reporting vehicle <NUM>. Hazard zone <NUM>, for example, can be indicative of a periphery representing a maximum extent of ADS-B reporting vehicle <NUM>. Hazard zone <NUM>, might, for example, be cylindrical as shown in <FIG>. The top surface T of cylindrical hazard zone <NUM> can be indicative of a maximum height of ADS-B reporting vehicle <NUM>. And radius r of cylindrical hazard zone <NUM> can be indicative of a maximum lateral extent of ADS-B reporting vehicle <NUM> from the location reported. Cylindrical walls W can be indicative of this maximum lateral extent of ADS-B reporting vehicle <NUM>.

<FIG> is block diagram of an embodiment of a system <NUM> for rendering and displaying a perspective view of aircraft taxi operation. In <FIG>, the system <NUM> for rendering and displaying a perspective view of aircraft taxi operation includes image data rendering system <NUM>, aircraft avionics <NUM>, ADS-B interface system <NUM>, and object detection system <NUM>. Image data rendering system <NUM> includes processor(s) <NUM>, input/output interface <NUM>, display device <NUM>, storage device(s) <NUM>, user input devices <NUM>, and user output devices <NUM>. Storage device(s) <NUM> has various storage or memory locations. Storage device(s) <NUM> includes program memory <NUM>, data memory <NUM>, and fixed-object database <NUM>. In some embodiments, the object database can include dynamic objects.

Image data rendering system <NUM> is in communication with aircraft avionics <NUM>, ADS-B interface system <NUM>, and object detection system <NUM> via input/output interface <NUM>. Aircraft avionics <NUM> can provide image data rendering system <NUM> with metrics indicative of a taxiing aircrafts location, orientation, speed, etc. ADS-B interface system <NUM> can transmit and/or receive ADS-B data to and/or from ADS-B equipped objects. Object detection system <NUM> can provide image data rendering system <NUM> with range, location, orientation and/or velocity data for objects external to the taxiing aircraft. Object detection system <NUM> can provide, for example, such data for dynamic objects such as other aircraft, aircraft towing vehicles, baggage carts, fuel vehicles, etc..

As illustrated in <FIG>, image data rendering system <NUM> includes processor(s) <NUM>, input/output interface <NUM>, display device <NUM>, storage device(s) <NUM>, user input devices <NUM>, and user output devices <NUM>. However, in certain examples, image data rendering system <NUM> can include more or fewer components. For instance, in examples where image data rendering system <NUM> is an avionics unit, image data rendering system <NUM> may not include user input devices <NUM> and/or user output devices <NUM>. In some examples, such as where image data rendering system <NUM> is a mobile or portable device such as a laptop computer, image data rendering system <NUM> may include additional components such as a battery that provides power to components of image data rendering system <NUM> during operation.

Processor(s) <NUM>, in one example, is configured to implement functionality and/or process instructions for execution within image data rendering system <NUM>. For instance, processor(s) <NUM> can be capable of processing instructions stored in storage device(s) <NUM>. Examples of processor(s) <NUM> can include any one or more of a microprocessor, a controller, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other equivalent discrete or integrated logic circuitry.

Input/output interface <NUM>, in some examples, includes a communications module. Input/output interface <NUM>, in one example, utilizes the communications module to communicate with external devices via one or more networks, such as one or more wireless or wired networks or both. The communications module can be a network interface card, such as an Ethernet card, an optical transceiver, a radio frequency transceiver, or any other type of device that can send and receive information. The communications module can be a network interface card, such as an Ethernet card, an optical transceiver, a radio frequency transceiver, or any other type of device that can send and receive information. Other examples of such network interfaces can include Bluetooth, <NUM>, <NUM>, and Wi-Fi radio computing devices as well as Universal Serial Bus (USB). In some embodiments, communication with the aircraft can be performed via a communications bus, such as, for example, an Aeronautical Radio, Incorporated (ARINC) standard communications protocol. In an exemplary embodiment, aircraft communication with the aircraft can be performed via a communications bus, such as, for example, a Controller Area Network (CAN) bus.

Display device <NUM> can be used to communicate information between image data rendering system <NUM> and a pilot of the taxiing aircraft. In some embodiments display device <NUM> can include a visual display and/or an audible system. The audible system can include a horn and or a speaker. The visual display can use any of CRT, LCD, Plasma, and/or OLED technologies, for example, including an Electronic Flight Bag (EFB) or Primary Flight Display (PFD).

Storage device(s) <NUM> can be configured to store information within image data rendering system <NUM> during operation. Storage device(s) <NUM>, in some examples, is described as computer-readable storage media. In some examples, a computer-readable storage medium can include a non-transitory medium. The term "non-transitory" can indicate that the storage medium is not embodied in a carrier wave or a propagated signal. In certain examples, a non-transitory storage medium can store data that can, over time, change (e.g., in RAM or cache). In some examples, storage device(s) <NUM> is a temporary memory, meaning that a primary purpose of storage device(s) <NUM> is not long-term storage. Storage device(s) <NUM>, in some examples, is described as volatile memory, meaning that storage device(s) <NUM> do not maintain stored contents when power to image data rendering system <NUM> is turned off. Examples of volatile memories can include random access memories (RAM), dynamic random access memories (DRAM), static random access memories (SRAM), and other forms of volatile memories. In some examples, storage device(s) <NUM> is used to store program instructions for execution by processor(s) <NUM>. Storage device(s) <NUM>, in one example, is used by software or applications running on image data rendering system <NUM> (e.g., a software program implementing long-range cloud conditions detection) to temporarily store information during program execution.

Storage device(s) <NUM>, in some examples, also include one or more computer-readable storage media. Storage device(s) <NUM> can be configured to store larger amounts of information than volatile memory. Storage device(s) <NUM> can further be configured for long-term storage of information. In some examples, storage device(s) <NUM> include non-volatile storage elements. Examples of such non-volatile storage elements can include magnetic hard discs, optical discs, flash memories, or forms of electrically programmable memories (EPROM) or electrically erasable and programmable (EEPROM) memories.

User input devices <NUM>, in some examples, are configured to receive input from a user. Examples of user input devices <NUM> can include a mouse, a keyboard, a microphone, a camera device, a presence-sensitive and/or touch-sensitive display, push buttons, arrow keys, or other type of device configured to receive input from a user. In some embodiments, input communication from the user can be performed via a communications bus, such as, for example, an Aeronautical Radio, Incorporated (ARINC) standard communications protocol. In an exemplary embodiment, user input communication from the user can be performed via a communications bus, such as, for example, a Controller Area Network (CAN) bus.

User output devices <NUM> can be configured to provide output to a user. Examples of user output devices <NUM> can include a display device, a sound card, a video graphics card, a speaker, a cathode ray tube (CRT) monitor, a liquid crystal display (LCD), a light emitting diode (LED) display, an organic light emitting diode (OLED) display, or other type of device for outputting information in a form understandable to users or machines. In some embodiments, output communication to the user can be performed via a communications bus, such as, for example, an Aeronautical Radio, Incorporated (ARINC) standard communications protocol. In an exemplary embodiment, output communication to the user can be performed via a communications bus, such as, for example, a Controller Area Network (CAN) bus.

In some embodiments, user output devices <NUM> can include a sound system, such as, for example, a speaker. In such embodiments, audible warnings and/or directions can be provided to a pilot. For example, in response to detecting objects in the path of the taxiing aircraft, commands and/or warnings such as "stop," "turn right," "turn left," and/or "slow" can be audibly provided to the pilot.

In some embodiments, a destination location of taxiing aircraft <NUM> can be entered and/or retrieved. A safe route through from a current location to a destination location can be charted. A safe route avoids all fixed airport structures and dynamic objects in airport environment <NUM>.

Claim 1:
A method for displaying rendered image data of a region of an airport taxiway, the method comprising:
retrieving three-dimensional model(s) of static airport structure(s) (<NUM>, <NUM>, <NUM>, <NUM>, <NUM>) located within a region of an airport taxiway;
forming, based on the retrieved three-dimensional model(s) of the static airport structure(s) (<NUM>, <NUM>, <NUM>, <NUM>, <NUM>), rendered image data of the region of the airport taxiway,
wherein the rendered image data is a perspective view of an aircraft (<NUM>) and the surrounding static airport structure(s) (<NUM>, <NUM>, <NUM>, <NUM>, <NUM>) rendered from a vantage point from a wingtip position or a vertical stabilizer position of the aircraft (<NUM>);
obtaining data indicative of location(s) of dynamic object(s) (<NUM>, <NUM>) within the region of the airport taxiway;
identifying the dynamic object(s) within the region of the airport taxiway indicated by the obtained data;
retrieving three-dimensional model(s) corresponding to the identified dynamic object(s),
mapping, into the rendered image data, symbol(s) (<NUM>; <NUM>') identifying the dynamic object(s) within the region of the airport taxiway at the location(s) indicated by the obtained data, wherein the symbol(s) identifying the dynamic object(s) are based on the retrieved three-dimensional model(s),
such that the three-dimensional model(s) corresponding to the dynamic object(s) are rendered into the rendered image data of the region of the airport taxiway from the vantage point from a wingtip position or a vertical stabilizer position of the aircraft (<NUM>); and
sending the rendered image data to a display device (<NUM>) configured to display the rendered image data,
the method further comprising determining an orientation of each of the dynamic object(s) within the region of the airport taxiway indicated by the obtained data,
wherein the symbols (<NUM>; <NUM>') identifying the dynamic object(s) are indicative of the corresponding determined orientations of the dynamic object(s).