Automatic formation turns

• US 4,674,710 A
• Filed: 10/17/1985
• Issued: 06/23/1987
• Est. Priority Date: 10/17/1985
• Status: Expired due to Fees

• Current Assignee: The United States of America As Represented By The Secretary of Agriculture
• Original Assignee: United States Of America As Represented By The Secretary Of The Air Force
• Inventors: Rodriguez, Edward
• Primary Examiner(s): Peters, Jr., Joseph F.
• Assistant Examiner(s): Corl, Rodney
• Application Number:
  US06/788,268
• Time in Patent Office: 614 Days
• Field of Search: 244/75 R, 244/76 R, 244/2, 244/3, 244/17.13, 244/17 S
• US Class Current: 244/76.00R
• CPC Class Codes: B64C 13/20 using radiated signals
• CPC Class Codes: G05D 1/104 involving a plurality of aircrafts, e.g. formation flying traffic control systems for aircraft G08G5/00

Abstract

A method for coordinated turning of a formation of aircraft flying at air speed V, the formation characterized by respective rearward displacement D_S and lateral displacement D_R of each follower aircraft in formtion from a leader aircraft relative to a formation line of flight, is described which comprises the steps of rolling the leader into the turn at predetermined roll rate for a first time interval t_r to a leader bank angle B_c, maintaining the leader at that bank angle for a second time interval, and rolling the leader out of the turn at the same roll rate for a third time interval equal to the first interval, whereby the leader turns with determinable change in flight direction; and turning the follower in response to the rolling in of the leader by first gradually accelerating or decelerating the follower (depending upon whether on the outside or inside of the turn) to a second air speed from the start of leader roll-in until the earlier of leader roll-out inception and lapse of a time interval of t_r +D_S /V from start of leader roll-in, maintaining the second air speed until start of leader roll-out, and gradually changing the air speed of the follower from the second air speed to that of the leader over a time interval of about t_r +D_S /V from start of leader roll-out, while maintaining level flight from the start of leader roll-in until distance D_S is traversed by the follower; and banking the follower into the turn to a first bank angle while adjacent that portion of the path the leader traversed during leader roll-in, banking the follower into the turn to a second bank angle while adjacent that portion of the path the leader traversed while maintaining bank angle B_c, banking the follower into the turn to a third bank angle while adjacent that portion of the path the leader traversed during leader roll-out, and returning the follower to level flight upon completion of the turn whereby the spacing between the leader and the follower is maintained substantially constant during the turn.

Claims

1. A method for performing a coordinated turn of a formation of a plurality of aircraft flying at a first air speed V, said plurality of aircraft including a leader aircraft and at least one follower aircraft in said formation, said formation characterized by preselected rearward displacement D_S and lateral displacement D_R of said follower aircraft relative to said leader aircraft and a known pre-turn leader aircraft flight path, said method comprising the steps of:

(a) rolling said leader aircraft into said turn at a preselected roll rate for a first preselected time interval t_r to a preselected leader aircraft bank angle B_c, maintaining said leader aircraft at said preselected leader bank angle for a second preselected time interval, and rolling said leader aircraft out of said turn at said roll rate for a third time interval substantially equal to said first time interval, whereby said leader aircraft completes said turn with determinable change in flight direction;

(b) turning said follower aircraft in response to said rolling of said leader aircraft into said turn by;

(i) gradually changing the air speed of said follower aircraft to a second air speed from the start of said rolling of said leader aircraft into said turn until the earlier of the time of said rolling of said leader aircraft out of said turn and the lapse of a period of time substantially equal to t_r +D_S /V from inception of said rolling of said leader aircraft into said turn, maintaining said second air speed until start of said rolling of said leader aircraft out of said turn, and gradually changing the air speed of said follower aircraft from said second air speed to that of said leader aircraft over a time interval substantially equal to t_r +D_S /V from inception of said rolling of said leader aircraft out of said turn;

(ii) maintaining level flight from inception of said rolling of said leader aircraft into said turn until said distance D_S is traversed by said follower aircraft;

(iii) banking said follower aircraft into said turn to a first follower aircraft bank angle while adjacent that portion of the path said leader aircraft traversed during the rolling of said leader aircraft into said turn, banking said follower aircraft into said turn to a second follower aircraft bank angle while adjacent that portion of the path said leader aircraft traversed while maintaining said preselected leader aircraft bank angle B_c, banking said follower aircraft into said turn to a third follower aircraft bank angle while adjacent that portion of the path said leader aircraft traversed during the rolling of said leader aircraft out of said turn;

(iv) unbanking said follower aircraft to level flight when said follower aircraft is adjacent that portion of the path of said leader aircraft beyond leader aircraft roll-out;

whereby the spacing between said leader aircraft and said follower aircraft is maintained substantially constant during said turn.

2. The method of claim 1 wherein said rolling of said leader aircraft into said turn is characterized by a substantially constant range of change of bank angle tangent from level flight to said preselected leader bank angle B_c, and wherein said rolling of said leader aircraft out of said turn is characterized by a substantially constant rate of change of bank angle tangent from said preselected leader bank angle B_c to level flight at the completion of said turn.

3. The method of claim 1 wherein the air speed of said leader aircraft is maintained substantially constant during said turn.

4. The method of claim 3 wherein said changing the air speed of said follower aircraft to said second air speed is characterized by one of substantially constant acceleration and substantially constant deceleration, and said changing the air speed of said follower aircraft from said second air speed to that of said leader aircraft is characterized by the other.

5. The method of claim 1 wherein:

said banking said follower aircraft into said turn to said first follower aircraft bank angle is performed over a path length of said follower aircraft substantially equal to Vt_r (1+D_R /2R_c), and said first bank angle is substantially equal to tan^-1 {[1-(1+2D_R S_F /R_c Vt_r)^-t ]V_F² /gD_R }, while adjacent that portion of the path said leader aircraft traversed during the rolling of said leader aircraft into said turn;

said banking of said follower aircraft into said turn to said second follower aircraft bank angle is subsequently performed over a path length of said follower aircraft substantially equal to Vt_r (1+D_R /R_c), and said second bank angle is substantially equal to tan^-1 [V_F² /g(R_c +D_R)], while adjacent that portion of the path said leader aircraft traversed while maintaining said preselected leader bank angle B_c ; and

said banking said follower aircraft into said turn to a third follower aircraft bank angle is subsequently performed over a path length of said follower aircraft substantially equal to Vt_r (1+D_R /2R_c), and said third bank angle is substantially equal to tan^-1 {[1-((1+D_R /R_c)² -2D_R S_F /R_c Vt_r)^-t ]V_F² /gD_r }, while adjacent that portion of the path said leader aircraft traversed during the rolling of said leader aircraft out of said turn;

where R_C is the radius of curvature of said leader aircraft during said turn, S_F is the path length of said follower aircraft during said turn from start of said banking of said follower aircraft, and D_R is taken as positive if the flight path of said follower aircraft is outside said leader aircraft during said turn and negative if inside said leader aircraft during said turn.