Automatic waypoint area navigation system

• US 4,413,322 A
• Filed: 12/17/1980
• Issued: 11/01/1983
• Est. Priority Date: 12/17/1980
• Status: Expired due to Fees

• Current Assignee: Foster Airdata Systems, Inc.
• Original Assignee: Foster Airdata Systems, Inc.
• Inventors: Foster, George B., Smyser, Michael A., Gibbs, Paul D.
• Primary Examiner(s): Smith, Jerry
• Application Number:
  US06/217,417
• Time in Patent Office: 1,049 Days
• Field of Search: 364/444, 364/446, 364/448, 364/451, 343/112 R, 343/112 C, 343/112 D
• US Class Current: 701/206
• 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: G01S 2205/03 Airborne
• CPC Class Codes: G01S 5/0269 Inferred or constrained positioning, e.g. employing knowledge of the physical or electromagnetic environment, state of motion or other contextual information to infer or constrain a position

Abstract

An area navigation device automatically establishes waypoints along an RNAV course line intersecting with the four cardinal radials of VORTAC stations. For a given VORTAC station, the pilot selects any of the four cardinal radials and is automatically provided with the distance from the VORTAC station, along that cardinal radial, as the intersection with his selected RNAV course line. Thus, a pilot can quickly sequence through the cardinal radials and quickly ascertain the availability of waypoints along that radial. After an automatically generated cardinal waypoint is selected, it is automatically entered into memory dedicated to that waypoint for later recall and conventional use in area navigation.

Claims

1. A navigation device for use with a conventional aircraft navigation system and conventional HSI/CDI having OBS in providing navigational information to waypoint locations defined with respect to a given VORTAC station, said device comprising:

memory means for storing digital data representing waypoints;

means for reading data from the navigation system and for determining the present position of the aircraft with respect to a VORTAC station;

means for reading from the OBS, the intended course of the aircraft;

automatic radial means for automatically determining whether a predetermined radial of the VORTAC station intersects the aircraft'"'"'s intended course and, if so, for determining the location of such intersection which defines a waypoint; and

means for automatically entering, into said memory means data representing said waypoint.

2. A device according to claim 1 further including navigation display means providing information for use in navigating to the waypoint.

3. A device according to claim 2 wherein the navigation display means displays the bearing and range of the waypoint.

4. A device according to claim 2 or 3 further including means for selecting any one of four (4) cardinal radials (0°

, 90°

, 180°

or 270°

) as said predetermined radial.

5. A device according to claim 4 wherein the navigation display means comprises means for displaying data in polar coordinates representing the bearing and range defining a waypoint.

6. A device according to claim 4 wherein the navigation display means comprises means for diplaying data in polar coordinates representing bearing and range to the waypoint.

7. A device according to claim 1 or 2 further including means for displaying data representing the location of waypoint determined by said automatic radial means.

8. A method for automatically generating aircraft navigational information comprising the steps of:

establishing an intended aircraft course line;

receiving a VORTAC radio station;

first automatically determining whether a predetermined radial of said VORTAC radio station intersects the intended course line;

second, if the predetermined radial intersects the intended course line, automatically determining the distance from the VORTAC radio station, along the predetermined radial, to the intended course line thus automatically locating the position of the intersection, to automtically define a waypoint at the intersection; and

automatically displaying information for use in navigating to said waypoint.

9. A method according to claim 8 further including repeating the steps of first and second determining for at least two radials of the VORTAC station;

and

selecting a convenient waypoint from among those so determined, and the performing the displaying step.

10. A method according to claim 8 and 9 further including the steps of:

storing, in a memory, an automatically determined waypoint; and

recalling the waypoint so stored for later navigational usage.

11. An RNAV device for use with a conventional navigation receiver and an HSI/CDI having OBS comprising:

memory means for entering and storing data defining at least two (2) waypoints;

means for automatically reading data from the navigation system and determining the present position of the aircraft with respect to the VORTAC station;

means for automatically reading from the OBS, the intended course of the aircraft;

cardinal radial means for automatically determining whether a predetermined radial of the VORTAC station intersects the aircraft'"'"'s intended course and, if so, the location of such intersection, the intersection thus automatically defining a cardinal waypoint;

means for automatically entering, into said memory means, data representating the cardinal waypoint;

means for selecting either of the at least two waypoints, or the automatically determined cardinal waypoint; and

means for facilitating navigation to the thus selected waypoint.

12. An RNAV device according to claim 11 further including means for displaying data representing the selected waypoint.

13. An RNAV device according to claim 12 wherein the means for displaying comprises means for displaying polar coordinate data.

14. An RNAV device according to claim 11 further including means for displaying data representing the bearing and range to the selected waypoint.

15. An RNAV device comprising:

automatic waypoint determining means for automatically providing digital data signals representing the location with respect to a ground-based navigational radio fix of an intersection between the line of an aircraft'"'"'s intended course and one of four predetermined orthogonal radial bearing lines from said ground-based navigational radio fix; and

RNAV utilization means for automatically receiving said digital data signals and utilizing them to facilitate aircraft navigation towards said automatically determined location.

16. An RNAV device as in claim 15 further comprising:

means for automatically determining further digital data signals representing the location with respect to a ground-based navigational radio station of an aircraft present position; and

said RNAV utilization means also being adapted to automatically receive said further digital data signals and to selectively utilize them subsequently to facilitate aircraft navigation back towards said present position.

17. An RNAV device as in claim 15 or 16 wherein said automatic waypoint determining means includes for automatically providing said digital data signals for each of the four cardinal radials 0°

, 90°

, 180° and

270°

.

18. An RNAV device as in claim 15 or 16 including display means for visually displaying a numerical representation or said digital data signals and of said further digital data signals.

19. An RNAV device as in claim 15 or 16 wherein said automatic waypoint determining means includes means for automatically selecting the radial most nearly orthogonal to the selected path of flight.

20. An RNAV device as in claim 15 or 16 wherein said automatic waypoint determining means includes means for automatically selecting the radial most nearly aligned with the projected path of flight if not more than a predetermined maximum value of range from the aircraft.

21. An RNAV device comprising:

automatic waypoint determining means for automatically providing digital data signals representing the location with respect to a ground-based navigational radio fix of an intersection between the line of an aircraft'"'"'s intended course and a particular radial bearing line from said ground-based navigational radio fix; and

RNAV utilization means for automatically receiving said digital data signals and utilizing them to facilitate aircraft navigation towards said automatically determined location,

said automatic waypoint determining means including means for determining if said intersection exists and, if not, for providing unique predetermined digital data signals values indicative thereof.

23. An RNAV device as in claim 21 or 22 wherein said automatic waypoint determining means includes means for determining if said intersection is more than a predetermined distance from the aircraft'"'"'s present position and, if so, for providing a unique predetermined digital data signal values indicative thereof.

22. An RNAV device comprising:

automatic waypoint determining means for automatically providing digital data signals representing the location with respect to a ground-based navigational radio fix of an intersection between the line of an aircraft'"'"'s intended course and a particular radial bearing line from said ground-based navigational radio fix;

RNAV utilization means for automatically receiving said digital data signals and utilizing them to facilitate aircraft navigation towards said automatically determined location;

means for automatically determining further digital data signals representing the location with respect to a ground-based navigational radio station of an aircraft present position;

said RNAV utilization means also being adapted to automatically receive said further digital data signals and selectively utilizing them subsequently to facilitate aircraft navigation back towards said present position; and

said automatic waypoint determining means including means for determining if said intersection exists and, if not, for providing unique predetermined digital data signal values indicative thereof.

24. An RNAV device comprising:

automatic waypoint determining means for automatically providing digital data signals representing the location with respect to a ground-based navigational radio fix of an intersection between the line of an aircraft'"'"'s intended course and a particular radial bearing line from said ground-based navigational radio fix; and

RNAV utilization means for automatically receiving said digital data signals and utilizing them to facilitate aircraft navigation towards said automatically determined location,

said automatic waypoint determining means including means for determining if said intersection is more than a predetermined distance from the aircraft'"'"'s present position and, if so, for providing unique predetermined digital data signal values indicative thereof.

25. An RNAV device comprising:

automatic waypoint determining means for automatically providing digital data signals representing the location with respect to a ground-based navigational radio fix of an intersection between the line of an aircraft'"'"'s intended course and a particular radial bearing line from said ground-based navigational radio fix;

RNAV utilization means for automatically receiving said digital data signals and utilizing them to facilitate aircraft navigation towards said automatically determined location;

means for automatically determining further digital data signals representing the location with respect to a ground-based navigational radio station of an aircraft present position;

said RNAV utilization means also being adapted to automatically receive said further digital data signals and selectively utilizing them subsequently to facilitate aircraft navigation back towards said present position; and

said automatic waypoint determining means including means for determining if said intersection is more than a predetermined distance from the aircraft'"'"'s present position and, if so, for providing unique predetermined digital data signal values indicative thereof.

26. RNAV apparatus comprising:

adjustable waypoint defining means for manually defining and storing plural predetermined waypoints;

waypoint selection means for selecting and using one of said stored waypoints as an active RNAV waypoint;

automatic waypoint defining means for automatically defining a further waypoint at the intersection of an aircraft'"'"'s intended course line and a predetermined radial bearing line from a ground-based radio navigation station;

and

automatic waypoint selection means for selecting and using said further waypoint as the active RNAV waypoint.

27. RNAV apparatus as in claim 26 wherein said automatic waypoint defining means includes further means for automatically defining and storing for subsequent selective use said further waypoint as the aircraft'"'"'s present position with respect to a ground-based radio navigation station.

28. RNAV apparatus as in claim 26 or 27 wherein said adjustable waypoint defining means, said automatic waypoint selection means comprise:

respectively associated manually activated electric switch contacts connected to a firmware controlled microprocessor device which monitors the state of said switch contacts as well as the state of other provided radio navigational signal inputs representing the aircraft'"'"'s intended relative course line and its present location with respect to said station and, in response thereto, selectively provides electrical output signals representing said waypoints and the deviation of said aircraft from said intended course line;

digital display devices for selectively displaying any one of said waypoints; and

a visual indicator device for visually portraying said deviation.

29. RNAV apparatus as in claim 28 wherein said digital display devices selectively display the aircraft'"'"'s intended course line.

30. An RNAV device for use with a conventional aircraft navigation system and conventional HSI/CDI having OBS in providing navigational information to waypoint locations defined with respect to a navigational radio station, comprising:

memory means for storing digital data representing a waypoint;

RNAV utilization means for receiving data from said navigation receiver indicating the present position of the aircraft and OBS data from said HSI/CDI representing an intended course and utilizing them to facilitate aircraft navigation towards said waypoint, including means for determining (a) bearing and range to said waypoint and (b) ground speed and time-to-waypoint;

digital display means for (a) normally displaying bearing and range to said waypoint and (b) selectively displaying ground speed and time-to-waypoint;

adjustable waypoint defining means for manually defining and storing plural predetermined waypoints;

waypoint selection means for selecting and using one of said stored waypoints as the active RNAV waypoint;

automatic waypoint defining means for automatically defining a further waypoint at the intersection of an aircraft'"'"'s intended course line and a predetermined radial bearing line from a ground-based radio navigation station; and

automatic waypoint selection means for selecting and using said further waypoint as the active RNAV waypoint.

31. A method for navigating an aircraft comprising the steps of:

automatically providing digital data signals representing the location with respect to a ground based navigational radio fix of an intersection between the line of an aircraft intended course and one of four predetermined orthogonal radial bearing lines from said ground based navigational radio fix; and

automatically receiving said digital data signals and utilizing them to facilitate aircraft navigation toward the automatically determined location.

32. A method according to claim 31 further including the step of automatically determining further digital data signals representing the location with respect to a ground based navigational radio station of an aircraft'"'"'s present position;

wherein the step of automatically receiving and utilizing includes the step of automatically receiving the further digital data signals and selectively utilizing them subsequently to facilitate aircraft navigation back toward the present position.

33. A method according to claim 31 or 32 wherein said step of automatically providing includes the step of automatically providing the digital data signals for each of the four caridnal radials, 0°

, 90°

, 180° and

270°

.

34. A method according to claim 31 or 32 further including the step of displaying a numerical representation of the digital data signals and the further digital data signals.

35. A method for navigating an aircraft comprising the steps of:

automatically providing digital data signals representing the location with respect to a ground based navigational radio fix of an intersection between the line of an aircraft intended course and a particular radial bearing line from said ground based navigational radio fix; and

automatically receiving said digital data signals and utilizing them to facilitate aircraft navigation toward the automatically determined location,

the step of automatically providing including the step of determining whether an intersection exists and if not, providing a unique predetermined digital data signal indicative thereof.

37. A method according to claim 35 or 36 wherein said step of automatically providing includes the step of determining whether the intersection is more than a predetermined distance from the aircraft'"'"'s present position and, if so, providing a unique predetermined digital data signal indicative thereof.

36. A method for navigating an aircraft comprising the steps of:

automatically providing digital data signals representing the location with respect to a ground based navigational radio fix of an intersection between the line of an aircraft intended course and a particular radial bearing line from said ground based navigational radio fix;

automatically receiving said digital data signals and utilizing them to facilitate aircraft navigation toward the automatically determined location;

automatically determining further digital data signals representing the location with respect to a ground based navigational radio station of an aircraft'"'"'s present position;

wherein the step of automatically receiving and utilizing includes the step of automatically receiving the further digital data signals and selectively utilizing them subsequently to facilitate aircraft navigation back toward the present position, and

wherein the step of automatically providing includes the step of determining whether an intersection exists and if not, providing a unique predetermined digital data signal indicative thereof.

38. A method for navigating an aircraft comprising the steps of:

automatically providing digital data signals representing the location with respect to a ground based navigational radio fix of an intersection between the line of an aircraft intended course and a particular radial bearing line from said ground based navigational radio fix; and

automatically receiving said digital data signals and utilizing them to facilitate aircraft navigation toward the automatically determined location,

said step of automatically providing including the step of determining whether the intersection is more than a predetermined distance from the aircraft'"'"'s present position and, if so, providing a unique predetermined digital data signal indicative thereof.

39. A method for navigating an aircraft comprising the steps of:

automatically providing digital data signals representing the location with respect to a ground based navigational radio fix of an intersection between the line of an aircraft intended course and a particular radial bearing line from said ground based navigational radio fix;

automatically receiving said digital data signals and utilizing them to facilitate aircraft navigation toward the automatically determined location;

automatically determining further digital data signals representing the location with respect to a ground based navigational radio station of an aircraft'"'"'s present position;

wherein the step of automatically receiving and utilizing includes the step of automatically receiving the further digital data signals and selectively utilizing them subsequently to facilitate aircraft navigation back toward the present position, and

wherein said step of automatically providing includes the step of determining whether the intersection is more than a predetermined distance from the aircraft'"'"'s present position and, if so, providing a unique predetermined digital data signal indicative thereof.

40. A method for area navigation comprising the steps of:

manually defining and storing plural predetermined waypoints;

selecting and using one of the stored waypoints as an active RNAV waypoint;

automatically defining a further waypoint at the intersection of an aircraft'"'"'s intended course line and a predetermined radial bearing line from a ground based radio navigation station; and

selecting and using the further waypoint as the active RNAV waypoint.

41. A method according to claim 40 wherein the step of automatically defining includes the step of automatically defining and storing for subsequent selective use the further waypoint as the aircraft'"'"'s present position with respect to a ground based radio navigation station.

42. A method for area navigation comprising the steps of:

storing digital data representing a waypoint;

43. receiving data from a navigation system indicating the present position of an aircraft and OBS data from an HSI/CDI representing an intended course and utilizing them to facilitate aircraft navigation towards the waypoint including the steps of determining (a) bearing and range to the waypoint and (b) ground speed and time-to-waypoint;

normally displaying bearing and range to the waypoint;

selectively displaying ground speed and time-to-waypoint;

manually defining and storing plural predetermined waypoints;

automatically defining a further waypoint at the intersection of an aircraft'"'"'s intended course line in a predetermined radial bearing line from a ground based radio navigtation station; and

selecting and using the further waypoint as the active RNAV waypoint.