SELF-CONTAINED NAVIGATION SYSTEM

• US 3,786,505 A
• Filed: 03/04/1970
• Issued: 01/15/1974
• Est. Priority Date: 03/04/1970
• Status: Expired due to Term

• Current Assignee: John Coyne Rennie
• Original Assignee: John Coyne Rennie
• Inventors: Rennie, John Coyne
• Primary Examiner(s): Tubbesing, T. H.
• Application Number:
  US05/016,521
• Time in Patent Office: 1,413 Days
• Field of Search: 343/7ED,8,9 235/150.25,150.26,150.27
• US Class Current: 342/33
• CPC Class Codes: G01C 23/00 Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
• CPC Class Codes: G05D 1/0676 specially adapted for landing

Abstract

Coordinates of fixed initial and destination points and desired approach direction are stored in an on-board programmed computer which is turned on when an aircraft passes the initial point. From aircraft speed, heading and altitude inputs, bank and attitude instructions are generated to return aircraft to a computed curved path between the points. When an aircraft leaves a path corridor, a new path is computed. All-weather approaches are accomplished without requiring local approach aids at airports.

Claims

1. Self-contained on-board navigation apparatus for navigating a craft between distant points of known latitude and longitude comprising a craft, input means mounted on the craft for inputting latitudes and longitudes of the points, a computing means connected to the input means for computing a path between the points, a heading reference mounted on the craft and connected to the computing means for supplying craft heading signals to the computing means, a speed sensor mounted on the craft and connected to the computing means for supplying speed signals to the computing means, start means mounted on the craft and connected to the computing means for supplying a start signal to the computing means when the craft is adjacent an initial point, whereby applying of heading and speed signals against latitude and longitude for creating incremental latitude and longitude changes is begun by the computing means upon receiving the start signal, and output means connected to the computing means for indicating positional characteristics of the craft.

2. The navigation apparatus of claim 1 wherein the computing means comprises a digital computer and wherein the data processing means further comprises converter means for converting incoming speed and heading analog signals to digital signals and for converting outgoing digital command signals to analog command signals.

3. The navigation apparatus of claim 1 wherein the command means comprises visual display means for visually displaying turning commands for returning the vehicle to the path.

4. The self-contained navigation apparatus of claim 1 wherein the craft is an aircraft and wherein the known points comprise an initial point and a destination point further comprising an altitude sensor for producing altitude signals, and wherein the correction means receives the altitude signals and produces altitude correction signals and wherein the command means comprises a flight director indicator for indicating bank and pitch signals for returning the aircraft to a path according to command signals and a horizontal situation indicator for indicating a horizontal track of the path, a horizontal track of the aircraft and a relationship therebetween.

5. The navigation apparatus of claim 1 for navigating an aircraft from an initial known point to a destination point, wherein the heading reference comprises an inertial-quality heading reference, wherein the speed sensor comprises a Doppler radar mounted beneath the aircraft, and further comprising a barometric altimeter mounted on the aircraft for producing altitude signals, a key set mounted on the aircraft for inserting latitude and longitude designations of the initial and destination points and approach direction for the destination point, and wherein the correction means comprises means for storing latitude and longitude and approach heading data, a converter for converting signals to digital data, and means for producing dead reckoning incremental position changes of the aircraft and for comparing aircraft position with a computed path having curved portions and straight line portions between the initial point and destination point, and wherein the command means comprises a flight director indicator having bank and pitch displays for displaying proper maneuvers for guiding the aircraft along the path.

6. The navigation apparatus of claim 1 for navigating an aircraft between a first known geographic initial point and a second known geographical destination point on a predetermined approach heading with respect to the destination point wherein the heading reference comprises an inertial-quality heading reference and a magnetic compass for producing first and second heading signals, wherein the speed sensor comprises a Doppler radar mounted beneath the aircraft and a true air speed sensor and smoothing apparatus mounted on the aircraft for producing first and second speed signals and further comprising an altimeter mounted on the aircraft for producing altitude signals and a key set mounted on the aircraft for inserting latitude and longitude data of the initial and destination points and the desired predetermined approach heading for the destination point and wherein the correction means comprises means for storing the computing data and computing means for selecting the first or second heading signal and the first or second speed signal, for computing a path between the initial point and the destination point, and for dead reckoning the aircraft from the incoming signals and for comparing the dead reckoned aircraft position with the path and for producing correction signals therefrom and wherein the command means comprises visual display means for displaying the bank and pitch commands for returning an aircraft to the path.

7. The method of precisely navigating a craft with self-contained on-board equipment between points of known latitude and longitude independently of continuous external inputs comprising inputting to an on-board computer latitudes and longitudes of distant initial and destination points and a heading on which an approach to the destination point is to be made, computing a path between the points with final heading in a desired direction, sensing speed and heading of the craft, comparing sensed speed and heading with the path, incrementally calculating changing position of the craft with respect to the path, and displaying positional characteristics of the craft.

8. The method of claim 7 further comprising further inputting to the on-board computer altitude of the destination point, desired glide slope to the destination point and pattern altitude of a final approach portion of the path, wherein the computing step further comprises computing a path having a first straight line portion and a first slope to desired pattern altitude and having a turn at pattern altitude to a final approach and further comprising a directing step which comprises directing the turning of the vehicle to a first straight line portion of the path and correcting the vehicle altitude to the desired pattern altitude before directing a second turning of the vehicle to a final approach portion of the path at the pattern altitude.

9. The method of claim 7 further comprising comparing vehicular position increments with computed path increments and wherein the displaying step comprises displaying craft positional characteristics in comparison to desired characteristics.

10. The method of claim 9 further comprising computing a new path to the destination point when a craft exceeds an imaginary corridor about the original path, and producing correction signals for returning the vehicle to the new path.

11. The method of claim 7 further comprising continuously measuring height above ground and inputting height measurement to the computer, comparing height measurement with predetermined desired height at vehicular position and displaying attitude and speed correction commands for regaining a predetermined desired altitude path.

12. Self-contained on-board navigation apparatus for navigating a craft from a point of known latitude and longitude comprising a craft, input means mounted on the craft for inputting latitude and longitude of the point , a computing means connected to the input means for computing latitude and longitude of the craft, a heading reference mounted on the craft and connected to the computing means for supplying craft heading signals to the computing means, a speed sensor mounted on the craft and connected to the computing means for supplying speed signals to the computing means, start means mounted on the craft and connected to the computing means for supplying a starT signal to the computing means when the craft is adjacent an initial point, whereby applying of heading and speed signals against latitude and longitude for creating incremental latitude and longitude changes is begun by the computing means upon receiving the start signal, and output means connected to the computing means for indicating positional characteristics of the craft.