Method for planning the velocity of a craft along a route

1. A method implemented in a computer system for planning the velocity of a craft along a predetermined route, the method comprising:

obtaining data representative of mission demands via processor;

obtaining data representative of dynamic limitations of the craft;

obtaining data representative of a predetermined route;

obtaining data representative of a dynamic situation picture;

transforming said mission demand data, dynamic limitation data, route data and dynamic situation data into a time-distance domain, wherein the dynamic situation data comprises data on objects intersecting the predetermined route;

creating a distance envelope in said time-distance domain;

determining a distance profile in the time-distance domain which stays within the distance envelope;

determining a velocity profile from a time derivative of the distance profile, wherein determining the velocity profile comprises creating a time-distance curve that avoids the objects intersecting the predetermined route; and

directing the craft along the predetermined route according to the velocity profile,

wherein creating a distance envelope comprises creating of an upper limitation curve in the time-distance domain, and creating of a lower limitation curve in the time-distance domain,

wherein creating an upper limitation curve comprises creating a time-distance curve corresponding to a case where the craft initially travels at maximum speed and switches to minimum speed at a latest moment to arrive at a finish point at an earliest permitted arrival time, and

wherein creating a lower limitation curve comprises creating a time-distance curve corresponding to a case where the craft initially travels at a minimum speed and at a latest moment switches to a maximum speed to arrive at a finish point at a latest permitted arrival time.

2. The method according to claim 1 , wherein the data on objects intersecting the predetermined route, includes course and estimated velocity and velocity variations and velocity uncertainty.

3. The method according to claim 1 , further comprising:

creating a threat envelope.

4. The method according to claim 3 , wherein said determining a velocity profile comprises creating a time-distance curve representative of said velocity profile and that does not cross an area defined by the threat envelope.

5. The method according to claim 4 , wherein said threat envelope is created by creating an upper and a lower limitation curve for a threat object.

6. The method according to claim 1 , further comprising:

obtaining data representative of mission demands, including mission time constraints;

obtaining data representative of dynamic limitations of the craft, including a maximal velocity, a minimal velocity, and a maximal velocity during sharp turns;

obtaining data representative of a predetermined route, including a starting point, and an arrival point;

obtaining data representative of a dynamic situation picture, including estimates of positions of threat crafts, uncertainties of positions of threat crafts, estimates of velocities for said threat crafts, uncertainties of velocities for said threat crafts, and timestamps of said positions for threat crafts;

transforming said mission demand data, dynamic limitation data, route data and dynamic situation data into the time-distance domain;

creating a distance envelope in said time-distance domain;

determining a distance profile in the time-distance domain which stays within the distance envelope; and

determining a velocity profile from the time derivative of the distance profile.

7. The method according to claim 6 , wherein the mission time constraints comprise a required time of departure and a required time of arrival and possible associated time windows.

8. The method according to claim 6 , wherein said data representative of dynamic limitations of the craft also includes a maximal cruising velocity and a minimal cruising velocity.

9. The method of claim 7 , wherein said data representative of a predetermined route also includes a number of waypoints describing the route.

10. A system for planning the velocity of a craft along a predetermined route according to the method of claim 1 .

11. A computer software product executable on a data processing device, comprising:

computer program instructions for implementing in a computer system a method for planning the velocity of a craft along a predetermined route, the method comprising:

obtaining data representative of mission demands;

obtaining data representative of dynamic limitations of the craft;

obtaining data representative of a predetermined route;

obtaining data representative of a dynamic situation picture;

transforming said mission demand data, dynamic limitation data, route data and dynamic situation data into a time-distance domain, wherein the dynamic situation data comprises data on objects intersecting the predetermined route;

creating a distance envelope in said time-distance domain;

determining a distance profile in the time-distance domain which stays within the distance envelope;

determining a velocity profile from a time derivative of the distance profile, wherein determining the velocity profile comprises creating a time-distance curve that avoids the objects intersecting the predetermined route; and

directing the craft along the predetermined route according to the velocity profile,

wherein creating a distance envelope comprises creating of an upper limitation curve in the time-distance domain, and creating of a lower limitation curve in the time-distance domain,

wherein creating an upper limitation curve comprises creating a time-distance curve corresponding to a case where the craft initially travels at maximum speed and switches to minimum speed at a latest moment to arrive at a finish point at an earliest permitted arrival time, and

wherein creating a lower limitation curve comprises creating a time-distance curve corresponding to a case where the craft initially travels at a minimum speed and at a latest moment switches to a maximum speed to arrive at a finish point at a latest permitted arrival time.