Flight control system with synthetic inertial localizer deviation and method of use

• US 10,175,694 B2
• Filed: 11/01/2016
• Issued: 01/08/2019
• Est. Priority Date: 11/01/2016
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: McLees, Robert E., Freeman, Robert Erik, Panyakeow, Prachya
• Primary Examiner(s): Lang, Michael D
• Application Number:
  US15/340,318
• Publication Number:
  US 20180120849A1
• Time in Patent Office: 798 Days
• CPC Class Codes: B64D 45/04 Landing aids; Safety measures to prevent collision with earth's surface
• CPC Class Codes: G01C 21/1652 with ranging devices, e.g. LIDAR or RADAR
• CPC Class Codes: G01C 23/005 Flight directors indicating arrangements specially adapted for rotary gyroscopes G01C19/32
• CPC Class Codes: G05D 1/0202 specially adapted to aircraft
• CPC Class Codes: G08G 5/02 Automatic approach or landing aids, i.e. systems in which flight data of incoming planes are processed to provide landing data landing aids fitted in or to aircraft B64D45/04; visual or acoustic landing aids B64F1/18

Abstract

A flight control module for computing localizer deviation during landing of an aircraft is provided. The flight control module includes a communication interface and a processor. The communication interface is configured to receive inertial data for the aircraft. The processor is coupled to the communication interface and is configured to compute an inertial localizer deviation based on the inertial data.

Claims

1. A flight control module for computing localizer deviation during landing of an aircraft, comprising:

a communication interface configured to receive;

first and second localizer deviation signals indicative of respective localizer deviations computed based on a localizer transmission received by said aircraft, and

inertial data for said aircraft;

a processor coupled to said communication interface and configured to compute an inertial localizer deviation based on the inertial data; and

a single selection fault detection (SSFD) module configured to select one localizer deviation from among the respective localizer deviations and the inertial localizer deviation for use in controlling an automated landing system of said aircraft.

2. The flight control module of claim 1, wherein said SSFD module comprises a mid-value selector configured to select a middle value from among the respective localizer deviations and the inertial localizer deviation.

3. The flight control module of claim 1, wherein said processor comprises a complementary filter configured to generate a filtered localizer deviation based on a localizer deviation signal received through said communication interface and the inertial data, including a cross-runway acceleration.

4. The flight control module of claim 3, wherein said communication interface is configured to be coupled to an inertial reference unit (IRU) through a communication bus, the IRU comprising a ground speed sensor, a track angle sensor, and an aircraft heading sensor, and wherein the inertial data includes a ground speed, a track angle, and an aircraft heading.

5. The flight control module of claim 4, wherein said communication interface is further configured to receive a magnetic runway heading, and wherein said processor is further configured to compute an adjusted runway heading based on the magnetic runway heading, the ground speed, and a localizer deviation rate computed by said complementary filter.

6. The flight control module of claim 5, wherein said processor is further configured to:

compute an inertial cross-runway velocity at the IRU based on the ground speed, the track angle, and the adjusted runway heading; and

apply a correction to the inertial localizer deviation, the correction computed based on the adjusted runway heading, the aircraft heading, and a distance between the IRU and a guidance control point of said aircraft.

7. A flight control system for landing an aircraft, said flight control system comprising:

a communication bus;

first and second multi-mode receivers (MMRs) coupled to said communication bus and configured to;

compute first and second localizer deviations, respectively, based on received localizer signals, and

transmit first and second localizer deviation signals, respectively, indicative of the first and second localizer deviations onto said communication bus; and

a flight control module coupled to said communication bus and configured to;

receive inertial data for the aircraft and the first and second localizer deviation signals over said communication bus,

compute an inertial localizer deviation based on the inertial data,

select one localizer deviation from among the first and second localizer deviations and the inertial localizer deviation, and

transmit the one localizer deviation to an automated landing system for said aircraft.

8. The flight control system of claim 7 further comprising an actuator control module coupled to said automated landing system through a second communication bus, said actuator control module communicably coupled to a flight control actuator, said automated landing system configured to instruct said actuator control module according to the one localizer deviation.

9. The flight control system of claim 7, wherein the flight control module is further configured to initialize an inertial localizer deviation computation when an altitude of said aircraft falls below a predetermined altitude.

10. The flight control system of claim 9 further comprising a radar altimeter configured to detect an altitude of said aircraft, said radar altimeter coupled to said communication bus, wherein said flight control module is further configured to initiate integration of the inertial data when the altitude falls below a predetermined threshold.

11. The flight control system of claim 10, wherein said flight control module is further configured to compute the inertial localizer deviation when the altitude falls below the predetermined threshold of 200 feet.

12. The flight control system of claim 10, wherein said flight control module is further configured to select a mid-value from among the first and second localizer deviations and the inertial localizer deviation as the one localizer deviation for transmission to said automated landing system.

13. The flight control system of claim 10, wherein said flight control module is further configured to initialize computation of the inertial localizer deviation based on the first and second localizer deviation signals when said aircraft descends below 200 feet in altitude, wherein the first and second localizer deviation signals are complementary-filtered prior to initialization.

14. The flight control system of claim 7, wherein the flight control module further comprises a complementary filter configured to filter a selected localizer deviation signal based on inertial data including cross-runway acceleration.

15. The flight control system of claim 7, wherein the flight control module is further configured to translate the inertial localizer deviation to a guidance control point (GCP) for the aircraft.

16. A method of detecting a localizer deviation for an aircraft during landing, said method comprising:

receiving instrument landing system (ILS) localizer signals;

computing, by first and second multi-mode receivers (MMRs), respective MMR localizer deviations based on the ILS localizer signals;

filtering the respective MMR localizer deviations;

initializing an inertial localizer deviation computation, the initializing comprising latching a filtered MMR localizer deviation upon an altitude of the aircraft falling below a predetermined threshold;

integrating inertial data, generated by an inertial reference unit (IRU) for the aircraft, from the filtered MMR localizer deviation to generate an inertial localizer deviation at the IRU; and

translating the inertial localizer deviation at the IRU to a guidance control point (GCP).

17. The method of claim 16, wherein filtering the respective MMR localizer deviations comprises blending a cross-runway acceleration measured by the IRU, with the respective MMR localizer deviations using a complementary filter.

18. The method of claim 16, wherein integrating the inertial data generated by the IRU comprises:

computing inertial cross-runway velocity based on ground speed and track angle measured by the IRU, and a runway heading; and

integrating the inertial cross-runway velocity from the filtered MMR localizer deviation to generate the inertial localizer deviation at the IRU.

19. The method of claim 18, wherein integrating the inertial data generated by the IRU further comprises:

computing an error correction for runway heading based on the ground speed, the track angle, and a localizer deviation rate, the localizer deviation rate computed based on the respective MMR localizer deviations; and

applying the error correction to a magnetic runway heading to generate an adjusted runway heading for use in computing the inertial cross-runway velocity and in translating the inertial localizer deviation at the IRU to the GCP.

20. The method of claim 16, wherein translating the inertial localizer deviation at the IRU to the GCP comprises:

computing a cross-runway position difference between the IRU and the GCP based on an aircraft heading measured by the IRU and a runway heading; and

adding the cross-runway position difference to the inertial localizer deviation at the IRU to generate an inertial localizer deviation at the GCP.