TERRAIN ADAPTIVE FLIGHT CONTROL

• US 20150286214A1
• Filed: 04/02/2014
• Published: 10/08/2015
• Est. Priority Date: 04/02/2014
• Status: Active Grant

• Current Assignee: Sikorsky Aircraft Corporation (Martin Marietta Corporation)
• Original Assignee: Sikorsky Aircraft Corporation (Martin Marietta Corporation)
• Inventors: Litwinowicz, Anthony, Sahasrabudhe, Vineet
• Granted Patent: US 9,250,629 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B64C 27/04 Helicopters
• CPC Class Codes: B64C 27/57 automatic or condition responsive, e.g. responsive to rotor speed, torque or thrust
• CPC Class Codes: G05D 1/0055 with safety arrangements
• CPC Class Codes: G05D 1/102 specially adapted for vertical take-off of aircraft
• CPC Class Codes: G08G 5/0021 located in the aircraft
• CPC Class Codes: G08G 5/0086 for monitoring terrain radar or analogous systems specially adapted for terrain avoidance G01S13/935
• CPC Class Codes: G08G 5/04 Anti-collision systems
• CPC Class Codes: G08G 5/045 Navigation or guidance aids, e.g. determination of anti-collision manoeuvers radar or analogous systems specially adapted for anti-collision between aircraft G01S13/933

Abstract

A helicopter is provided and includes an air frame formed to accommodate a pilot, flight control elements disposed on the airframe to generate lift and thrust in accordance with control commands issued by the pilot and a current control mode, a sensor disposed on the airframe to sense helicopter proximity to terrain and obstacles and a flight computer configured to change the current control mode based on sensed helicopter proximity to the terrain and the obstacles.

Claims

1. A helicopter, comprising:

an air frame formed to accommodate a pilot;

flight control elements disposed on the airframe to generate lift and thrust in accordance with servo commands derived from control commands issued by the pilot and a current control mode associated with a conversion of data reflective of the control commands into the servo commands;

a sensor disposed on the airframe to sense helicopter proximity to terrain and obstacles; and

a flight computer configured to change the current control mode based on sensed helicopter proximity to the terrain and the obstacles.

2. The helicopter according to claim 1, wherein the flight control elements comprise a main rotor, a tail rotor and hubs associated with the main rotor and the tail rotor.

3. The helicopter according to claim 1, wherein the sensor comprises a laser imaging, detection and ranging (LIDAR) sensor.

4. The helicopter according to claim 1, wherein the sensor comprises a radio detection and ranging (RADAR) sensor.

5. The helicopter according to claim 1, wherein the current control mode comprises an attitude command velocity hold (ACVH) mode in which helicopter attitude is directly proportional to control stick displacement from center.

6. The helicopter according to claim 1, wherein the current control mode comprises a translational rate command (TRC) mode in which longitudinal or lateral control stick deflections directly control a helicopter translational rate.

7. The helicopter according to claim 1, wherein the current control mode comprises a translational rate command (TRC) mode with terrain position hold.

8. A helicopter flight control method for use with a helicopter including a sensor, flight control elements and a flight computer, the method comprising:

operating the sensor to scan terrain for obstacles in a flight path of the helicopter;

operating the flight computer such that the flight computer detects that an obstacle is in the flight path from a result of the scan, determines whether a distance between the helicopter and the obstacle is less than a predefined distance and changes a flight control mode in accordance with a result of the determining; and

configuring the flight computer to associate the flight control mode with a conversion of data reflective of pilot inputted control commands into servo commands of the flight control elements.

9. The method according to claim 8, wherein the predefined distance is set in accordance with a translational rate command (TRC) mode engagement.

10. The method according to claim 8, further comprising operating the flight computer such that the flight computer sets the flight control mode to an attitude command velocity hold (ACVH) mode in an event that no obstacle is detected in the flight path.

11. The method according to claim 10, wherein a changing of the flight control mode by the flight computer comprises changing the flight control mode from the (ACVH) mode to the (ACVH) mode with a flight path velocity reference limit based on the distance and a deceleration profile in the event the obstacle is detected in the flight path and the distance is not less than the predefined distance.

12. The method according to claim 10, wherein a changing of the flight control mode by the flight computer comprises changing the flight control mode from the (ACVH) mode to a translational rate command (TRC) mode with terrain position hold in the event the obstacle is detected in the flight path and the distance is less than the predefined distance.

13. A helicopter flight control method for use with a helicopter including a sensor flight control elements and a flight computer, the method comprising:

operating the sensor to scan terrain for obstacles in a flight path of the helicopter;

operating the flight computer such that the flight computer detects that an obstacle is not in the flight path and sets an attitude command velocity hold (ACVH) mode as a current flight control mode, detects that an obstacles is in the flight path and determines a distance between the obstacle and the helicopter is less than a predefined distance for engagement of a translational rate command (TRC) mode, determines that the distance is less than the predefined distance and sets the TRC mode and determines that the distance is not less than the predefined distance and set the ACVH mode; and

configuring the flight computer to associate the ACVH and TRC modes with respective conversions of data reflective of pilot inputted control commands into servo commands of the flight control elements.

14. The method according to claim 13, wherein the setting of the TRC mode by the flight computer comprises setting the TRC mode with terrain position hold and the setting of the ACVH mode comprises setting the ACVH mode with a flight path velocity reference limit based on the distance and a deceleration profile.

15. The method according to claim 13, further comprising operating the flight computer to maintaining a distance between the helicopter and the obstacle using sensor feedback information.