Air vehicle navigation systems and methods using a common runtime aircraft intent data structure

• US 10,223,921 B2
• Filed: 08/30/2016
• Issued: 03/05/2019
• Est. Priority Date: 08/31/2015
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Navarro Felix, Francisco A., Masaveu, Carlos Querejeta, Sanchez, Jesus Cuadrado, Viviani, Gary
• Primary Examiner(s): Patton, Spencer D
• Application Number:
  US15/251,721
• Publication Number:
  US 20170061804A1
• Time in Patent Office: 917 Days
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0202 specially adapted to aircraft
• CPC Class Codes: G08G 5/003 Flight plan management
• CPC Class Codes: G08G 5/0034 Assembly of a flight plan
• CPC Class Codes: G08G 5/0039 Modification of a flight plan
• CPC Class Codes: G08G 5/0047 Navigation or guidance aids for a single aircraft details of equipment G08G5/0017

Abstract

Example air vehicle navigation systems and methods are described herein that utilize a Common Runtime Aircraft Intent Data Structure (CRAIDS). An example method includes determining an initial condition of a flight of an air vehicle, determining a flight constraint, determining, using a common runtime aircraft intent data structure (CRAIDS), an aircraft trajectory based on the initial condition and the flight constraint, and performing the determined aircraft trajectory during the flight of the air vehicle.

Claims

1. A method comprising:

determining an initial condition of a flight of an air vehicle;

determining a flight constraint;

determining, using a common runtime aircraft intent data structure (CRAIDS), an aircraft trajectory based on the initial condition and the flight constraint, wherein using the CRAIDS includes;

determining a number of degrees of freedom of the air vehicle;

determining a trajectory thread for each of the degrees of freedom, wherein each of the trajectory threads includes a series of instruction nodes including instructions that define how to fly the air vehicle according to the corresponding degree of freedom, and wherein each of the trajectory threads defines a branch of a hierarchical tree, the hierarchical tree including a root node defining the aircraft trajectory, the branches defined by each of the trajectory threads directly derived from the root node, such that each of the branches defines the aircraft trajectory according to a different one of the degrees of freedom;

determining, for each of the trajectory threads, the instructions of the corresponding trajectory thread that satisfy the flight constraint;

determining validity of each of the instructions of each of the trajectory threads;

establishing a trigger node including a trigger associated with each of the instruction nodes in each of the trajectory threads, wherein each of the triggers determines an end of validity of the associated instruction and a start of validity of a subsequent instruction within the corresponding trajectory thread; and

sequencing the instructions and the associated triggers in each of the trajectory threads to fly the air vehicle according to the instructions; and

performing the determined aircraft trajectory during the flight of the air vehicle.

2. The method of claim 1, wherein determining the validity of each of the instructions includes at least one of a period of time, a value or range of values concerning a flight variable, or a validity of another instruction of either the same or another one of the trajectory threads.

3. The method of claim 1, wherein performing the determined aircraft trajectory includes:

determining a set of operations to be performed by the air vehicle based on the determined aircraft trajectory; and

commanding the air vehicle to execute the set of operations.

4. The method of claim 1, further including verifying aircraft intent description language (AIDL) syntax of the instructions of at least one of the trajectory threads of the determined aircraft trajectory.

5. The method of claim 1, wherein at least one of the instruction nodes of at least one of the trajectory threads is a composite node, the composite node including a set of instruction nodes with associated trigger nodes, wherein:

fulfillment of a condition associated with a trigger in the trajectory thread that precedes the composite node starts the validity of a first instruction of the composite node; and

fulfillment of a condition of a trigger in the composite node that is associated with a last instruction in the composite node starts the validity of an instruction in the trajectory thread that follows the composite node.

6. The method of claim 1, wherein at least one of the trajectory threads includes instructions to define motion of the air vehicle in a vertical plane.

7. The method of claim 1, wherein at least one of the trajectory threads includes instructions to define motion of the air vehicle in a horizontal plane.

8. The method of claim 1, wherein at least one of the trajectory threads includes instructions to define maneuvers of the air vehicle at each stage of the flight.

9. The method of claim 1, wherein at least one of the trajectory threads includes instructions to define a speed and an acceleration of the air vehicle.

10. The method of claim 1, wherein activation of one of the triggers establishes an end of validity of the associated instruction and a start of validity of an instruction in a trajectory thread following the activated trigger.

11. The method of claim 10, wherein activation of the trigger is subjected to a fulfillment of a condition specified by the trigger and/or to the activation of another trigger associated with another instruction in the same trajectory thread or another trajectory thread.

12. A method comprising:

determining an initial condition of a flight of an air vehicle;

determining a flight constraint;

determining using a common runtime aircraft intent data structure (CRAIDS), an aircraft trajectory based on the initial condition and the flight constraint, wherein using the CRAIDS includes;

determining a number of degrees of freedom of the air vehicle;

determining a trajectory thread for each of the degrees of freedom, wherein each of the trajectory threads includes a series of instruction nodes including instructions that define how to fly the air vehicle according to the corresponding degree of freedom;

determining, for each of the trajectory threads, the instructions of the corresponding trajectory thread that satisfy the flight constraint;

determining validity of each of the instructions of each of the trajectory threads;

establishing a trigger node including a trigger associated with each of the instruction nodes in each of the trajectory threads, wherein each of the triggers determines an end of validity of the associated instruction and a start of validity of a subsequent instruction within the corresponding trajectory thread; and

sequencing the instructions and the associated triggers in each of the trajectory threads to fly the air vehicle according to the instructions; and

performing the determined aircraft trajectory during the flight of the air vehicle, wherein performing the determined aircraft trajectory includes;

determining a set of operations to be performed by the air vehicle based on the determined aircraft trajectory, wherein determining the set of operations includes;

updating a state vector of the air vehicle;

assessing, based on the state vector, which of the instructions in each of the trajectory threads are still valid by evaluating the triggers and conditions in each of the trajectory threads; and

determining operations to be performed so that, when executed by the air vehicle, the air vehicle flies according to the instructions that are still valid; and

commanding the air vehicle to execute the set of operations.

13. The method of claim 12, wherein determining the set of operations further includes:

obtaining the initial condition of the flight of the air vehicle;

determining a first operation of the set of operations, wherein the first operation includes first instructions in each of the trajectory threads and effects associated with the first instructions;

updating the state vector of the air vehicle while the first operation is performed, wherein the state vector includes a flight related variable;

assessing, based on the state vector, which of the instructions in each of the trajectory threads are still valid;

determining a next operation of the set of operations, wherein the next operation includes the instructions that are valid at a given stage of the aircraft trajectory and the effects associated with the valid instructions; and

completing the determined aircraft trajectory when none of the instructions associated with the trajectory threads are still valid.

14. A method comprising:

determining an initial condition of a flight of an air vehicle;

determining a flight constraint;

determining, using a common runtime aircraft intent data structure (CRAIDS), an aircraft trajectory based on the initial condition and the flight constraint, wherein using the CRAIDS includes;

determining a number of degrees of freedom of the air vehicle;

determining a trajectory thread for each of the degrees of freedom,

wherein each of the trajectory threads includes a series of instruction nodes including instructions that define how to fly the air vehicle according to the corresponding degree of freedom;

determining, for each of the trajectory threads, the instructions of the corresponding trajectory thread that satisfy the flight constraint;

determining validity of each of the instructions of each of the trajectory threads;

establishing a trigger node including a trigger associated with each of the instruction nodes in each of the trajectory threads, wherein each of the triggers determines an end of validity of the associated instruction and a start of validity of a subsequent instruction within the corresponding trajectory thread, and wherein at least one of the instruction nodes of at least one of the trajectory threads is a conditional composite node, the conditional composite node including at least two sets of instruction nodes with associated trigger nodes, wherein;

a. start of validity of either set of instruction nodes of the conditional composite node is subjected to fulfillment of a condition of the conditional composite node;

b. the fulfillment of the condition associated with a trigger in the trajectory thread that precedes the conditional composite node starts the assessment of the condition of the conditional composite node; and

c. the fulfillment of the condition of a trigger in the conditional composite node that associated with the last instruction in either set of instructions of the conditional composite node starts the validity of an instruction in the trajectory thread that follows the conditional composite node; and

sequencing the instructions and the associated triggers in each of the trajectory threads to fly the air vehicle according to the instructions; and

performing the determined aircraft trajectory during the flight of the air vehicle.

15. A method comprising:

determining an initial condition of a flight of an air vehicle;

determining a flight constraint;

determining, using a common runtime aircraft intent data structure (CRAIDS), an aircraft trajectory based on the initial condition and the flight constraint wherein using the CRAIDS includes;

determining a number of degrees of freedom of the air vehicle;

determining a trajectory thread for each of the degrees of freedom, wherein each of the trajectory threads includes a series of instruction nodes including instructions that define how to fly the air vehicle according to the corresponding degree of freedom;

determining, for each of the trajectory threads, the instructions of the corresponding trajectory thread that satisfy the flight constraint;

determining validity of each of the instructions of each of the trajectory threads;

establishing a trigger node including a trigger associated with each of the instruction nodes in each of the trajectory threads, wherein each of the triggers determines an end of validity of the associated instruction and a start of validity of a subsequent instruction within the corresponding trajectory thread, and wherein at least one of the instruction nodes of at least one of the trajectory threads is a loop node, the loop node including a set of instruction nodes with associated trigger nodes, wherein;

a. fulfillment of the condition associated with a trigger in the trajectory thread that precedes the loop node starts the assessment of a main condition of the loop node;

b. start of validity of a first instruction of the set of instructions including the loop node is subjected to the fulfillment of the main condition of the loop node;

c. if the main condition of the loop node is not fulfilled, the validity of the loop node ends and starts the validity of an instruction in the trajectory thread that follows the loop node; and

d. fulfillment of the condition of a trigger node that is associated with the last instruction node in the set of instruction nodes starts the assessment of the main condition of the loop node; and

sequencing the instructions and the associated triggers in each of the trajectory threads to fly the air vehicle according to the instructions; and

performing the determined aircraft trajectory during the flight of the air vehicle.

16. A method comprising:

determining an initial condition of a flight of an air vehicle;

determining a flight constraint;

determining, using a common runtime aircraft intent data structure (CRAIDS), an aircraft trajectory based on the initial condition and the flight constraint, wherein using the CRAIDS includes;

determining a number of degrees of freedom of the air vehicle;

determining a trajectory thread for each of the degrees of freedom, wherein each of the trajectory threads includes a series of instruction nodes including instructions that define how to fly the air vehicle according to the corresponding degree of freedom;

determining, for each of the trajectory threads, the instructions of the corresponding trajectory thread that satisfy the flight constraint;

determining validity of each of the instructions of each of the trajectory threads;

establishing a trigger node including a trigger associated with each of the instruction nodes in each of the trajectory threads, wherein each of the triggers determines an end of validity of the associated instruction and a start of validity of a subsequent instruction within the corresponding trajectory thread, and wherein deletion of one of the instruction nodes deletes all sets of instructions included in the deleted instruction node; and

sequencing the instructions and the associated triggers in each of the trajectory threads to fly the air vehicle according to the instructions; and

performing the determined aircraft trajectory during the flight of the air vehicle.

17. A computer readable storage medium comprising instructions that, when executed, cause a machine to at least:

determine an initial condition of a flight of an air vehicle;

determine a flight constraint;

determine, using a common runtime aircraft intent data structure (CRAIDS), an aircraft trajectory based on the initial condition and the flight constraint, wherein, to use the CRAIDS, the instructions cause the machine to at least;

determine a number of degrees of freedom of the air vehicle;

determine a trajectory thread for each of the degrees of freedom, wherein each of the trajectory threads includes a series of instruction nodes including instructions that define how to fly the air vehicle according to the corresponding degree of freedom, and wherein each of the trajectory threads defines a branch of a hierarchical tree, the hierarchical tree including a root node defining the aircraft trajectory, the branches defined by each of the trajectory threads directly derived from the root node, such that each of the branches defines the aircraft trajectory according to a different one of the degrees of freedom;

determine, for each of the trajectory threads, the instructions of the corresponding trajectory thread that satisfy the flight constraint;

determine validity of each of the instructions of each of the trajectory threads;

establish a trigger node including a bigger associated with each of the instruction nodes in each of the trajectory threads, wherein each of the triggers determines an end of validity of the associated instruction and a start of validity of a subsequent instruction within the corresponding trajectory thread; and

sequence the instructions and the associated triggers in each of the trajectory threads to fly the air vehicle according to the instructions; and

perform the determined aircraft trajectory during the flight of the air vehicle.

18. The computer readable storage medium of claim 17, wherein activation of one of the triggers establishes an end of validity of the associated instruction and a start of validity of an instruction in a trajectory thread following the activated trigger.

19. The computer readable storage medium of claim 18, wherein activation of the trigger is subjected to a fulfillment of a condition specified by the trigger and/or to the activation of another trigger associated with another instruction in the same trajectory thread or another trajectory thread.