Aircraft navigation using exponential map

• US 10,262,546 B2
• Filed: 04/13/2016
• Issued: 04/16/2019
• Est. Priority Date: 04/13/2016
• Status: Active Grant

• Current Assignee: GE Aviation Systems LLC (GE Aerospace)
• Original Assignee: GE Aviation Systems LLC (GE Aerospace)
• Inventors: Cabello, Juan Jose
• Primary Examiner(s): Dunn, Alex C
• Application Number:
  US15/097,330
• Publication Number:
  US 20170301245A1
• Time in Patent Office: 1,098 Days
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01S 19/43 using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
• CPC Class Codes: G01S 19/47 the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
• CPC Class Codes: G01S 19/51 Relative positioning
• CPC Class Codes: G08G 5/003 Flight plan management
• CPC Class Codes: G08G 5/0047 Navigation or guidance aids for a single aircraft details of equipment G08G5/0017

Abstract

Systems and methods for determining navigation information for an aircraft are provided. In one embodiment, a method can include accessing a satellite-based positioning signal received at a receiver on an aircraft. The satellite-based positioning signal can be indicative of a distance between a satellite and the receiver. The method can include identifying from the satellite-based positioning signal a first vector associated with a distance between the satellite and the receiver and identifying a second vector from the satellite-based positioning signal associated with a distance between a reference point and the satellite. The method can include generating a kinematic model for determining a geometric position of the aircraft based at least in part on a robotic arm using the first vector and the second vector and determining navigation information for the aircraft based at least in part on the kinematic model.

Claims

1. A computer-implemented method of determining navigation information for an aircraft, comprising:

accessing, by one or more processors, a satellite-based positioning signal received at a receiver on an aircraft, the satellite-based positioning signal comprising data indicative of a distance between a satellite and the receiver;

identifying, by the one or more processors, from the satellite-based positioning signal a first vector associated with the distance and direction between the satellite and the receiver;

identifying, by the one or more processors, from the satellite-based positioning signal a second vector associated with a distance and direction between a reference point and the satellite;

generating, by the one or more processors, a kinematic model for determining a geometric position of the aircraft using the first vector and the second vector, the kinematic model based at least in part on a robotic arm, wherein the aircraft is modeled as an end effector for the robotic arm, the satellite is modeled as a pivot point of the robotic arm, the first vector is modeled as a link extending between the pivot point and the end effector, the second end vector is modeled as a link extending between a base and the pivot point; and

determining, by the one or more processors, navigation information for the aircraft based at least in part on the kinematic model; and

wherein determining navigation information comprises determining translation and attitude information simultaneously in a geometric manner.

2. The computer-implemented method of claim 1, wherein the navigation information for the aircraft is determined geometrically using the kinematic model.

3. The computer-implemented method of claim 1, wherein the navigation information for the aircraft is determined irrespective of geodesic factors associated with the Earth.

4. The computer-implemented method of claim 1, wherein the navigation information comprises a navigation path for the aircraft.

5. The computer-implemented method of claim 4, wherein the navigation path is constructed using the kinematic model using a reduced energy optimization algorithm.

6. The computer-implemented method of claim 4, wherein the navigation path is determined using one or more waypoints, each waypoint operating as a restriction in determination of the navigation path.

7. The computer-implemented method of claim 4, wherein the navigation path is determined using one or more altitude restrictions.

8. The computer-implemented method of claim 5, wherein the navigation information is determined using an exponential map.

9. The computer-implemented method of claim 1, wherein the navigation information comprises translation information and attitude information for the aircraft, and

wherein the translation information and attitude information are used to validate one or more datums from one or more satellite-based positioning signals.

10. The computer-implemented method of claim 1, wherein the reference point comprises a point on the Earth, and

wherein identifying a second vector further comprises ephemeris data indicative of the location of a satellite with respect to the point on the Earth.

11. The computer-implemented method of claim 8, wherein the method comprises providing for display, by the one or more processors, the navigation information as an output of a flight management system, and

wherein the navigation information comprises at least one of aircraft attitude information and aircraft velocity information.

12. The computer-implemented method of claim 1, wherein the method comprises controlling, by a flight management system, navigation of the aircraft based at least in part on the navigation information determined using the kinematic model, and

wherein the navigation information comprises at least one of aircraft attitude information and aircraft velocity information.

13. A flight management system for an aircraft, the flight management system comprising:

one or more processors; and

one or more memory devices, the one or more memory devices storing computer-readable instructions that when executed by the one or more processors cause the one or more processors to perform operations, the operations comprising;

accessing a satellite-based positioning signal received at a receiver on an aircraft, the satellite-based positioning signal indicative of a distance between a satellite and the receiver;

identifying from the satellite-based positioning signal a first vector associated with a distance and direction between the satellite and the receiver;

identifying a second vector from the satellite-based positioning signal associated with a distance and direction between a reference point and the satellite;

generating a kinematic model for determining a geometric position of the aircraft using the first vector and the second vector; and

determining navigation information geometrically for the aircraft based at least in part on the kinematic model using an exponential map;

wherein the kinematic model models the aircraft as an end effector for a robotic arm, the satellite is modeled as a pivot point of the robotic arm, the first vector is modeled as link extending between the pivot point and the end effector, the second vector is modeled as a link extending between a base and the pivot point,

wherein determining navigation information comprises determining translation and attitude information simultaneously in a geometric manner.

14. The flight management system of claim 13, wherein the operations further comprise providing for display navigation information on one or more display devices.

15. The flight management system of claim 13, wherein the operations further comprise controlling navigation of the aircraft based at least in part on the navigation information determined using the kinematic model.

16. An aircraft, comprising:

one or more display systems configured to provide information to a flight crew member of the aircraft; and

a flight management system comprising one or more processors and one or more memory devices, the one or more memory devices storing computer-readable instructions that when executed by the one or more processors cause the one or more processors to perform operations, the operations comprising;

accessing a satellite-based positioning signal received at a receiver on an aircraft, the satellite-based positioning signal indicative of a distance between a satellite and the receiver;

identifying from the satellite-based positioning signal a first vector associated with a distance between the satellite and the receiver;

identifying a second vector from the satellite-based positioning signal associated with a distance between a reference point and the satellite;

generating a kinematic model for determining a geometric position of the aircraft based at least in part on a robotic arm using the first vector and the second vector; and

determining navigation information for the aircraft based at least in part on the kinematic model;

wherein the kinematic model models the aircraft as an end effector for a robotic arm, the satellite is modeled as a pivot point of the robotic arm, the first vector is modeled as link extending between the pivot point and the end effector, the second vector is modeled as a link extending between a base and the pivot point;

wherein the navigation information is provided for display of a display device associated with the display system;

wherein determining navigation information comprises determining translation and attitude information simultaneously in a geometric manner.

17. The aircraft of claim 16, wherein the flight management system is configured to control navigation of the aircraft based at least in part on the navigation information determined based at least in part on the kinematic model.