Aircraft navigational systems and methods for creating navigational guidepoints

• US 4,692,869 A
• Filed: 03/28/1985
• Issued: 09/08/1987
• Est. Priority Date: 03/28/1985
• Status: Expired due to Term

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Kircher, Robert C. Jr., Yotsuuye, David S., King, Ethmer W.
• Primary Examiner(s): Lall, Parshotam S.
• Assistant Examiner(s): Black, Thomas G.
• Application Number:
  US06/716,979
• Time in Patent Office: 894 Days
• Field of Search: 364/424, 364/521, 364/443-452, 340/991, 340/993, 343/401-406
• 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 5/02 using radio waves using satellite radio beacon systems for determining position G01S19/00
• CPC Class Codes: G01S 5/12 by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial

Abstract

Aircraft navigational system and methods are disclosed for creating aircraft navigational guidepoints during in-flight operations. A digital computer and computer control displays provide dynamic and static display of the aircraft relative to the flight path and earth referenced data. In one embodiment, a new guidepoint is located and displayed at the intersection of a pilot selected radial and a track line, such as the aircraft projected flight path, defined by a series of guidepoints which are stored in the computer. The selected radial emanates from a selected geographical location defined by a known latitude/longitude, such as for example, preprogrammed NAVAIDS, geographical reference points and pilot entered geographical locations. The latitude/longitude and place-bearing-distance of the new guidepoint is calculated by first determining the great circle distance and true bearing from the NAVAID to each of the guidepoints using spherical geometry, and then comparing the true bearing of the selected radial to each set of adjacent guidepoints to determine between which set of adjacent guidepoints the selected radial lies. Then using geometric relationships and spherical geometry, the place-bearing-distance of the new guidepoint is determined.

Claims

1. An aircraft navigational system comprising:

a. receiver means for

1. receiving electronic navigational signals from a selected navigational station, and

2. for outputting a navigational signal defining a first selected navigational radial of the selected navigational station;

b. computer means, including a memory, responsive to said first navigational signal and arranged to;

1. provide a first informational signal indicating geographical locations of a plurality of selected guidepoints which define a navigational route;

2.

3. in said memory. 2. The aircraft navigational system as recited in claim 1 additionally comprising:

a. input means;

1. for entering information defining a second selected navitgational radial from a selected geographical fix, and

2. for ouputting a second navigational signal defining said second selected navigational radial, said computer means arranged to respond to said second navigational signal and to provide a third informational signal indicating a second point of intersection of said navigational route with said second navigational radial to define a second new guidepoint, said computer means storing data defining said second new guidepoint in said memory.

5. The aircraft navigational system of claim 3 wherein said informational display means is arranged to provide an informational display of said selected guidepoints and said first and second points of intersection moving relative to said informational display of said aircraft.

6. The aircraft navigational system of claim 3, wherein said informational display means additionally provides an informational display of the geographic locations of said navigational route, said first selected radial, and said second selected radial.

8. The aircraft navigational system as recited in claim 3 wherein said data is displayed as symbols on a cartographic display.

9. The aircraft navigational system as recited in claim 3 wherein said data is displayed alphanumerically.

10. The aircraft navigational system as recited in claim 1 wherein said receiver means comprises a VOR navigational device having switching means for manually selecting to receive (i) signals from a VOR navigational station and (ii) signals defining a selected navigational radial of said VOR station.

11. The aircraft navigational system as recited in claim 1 additionally comprising informational display means responsive to said first and second informational signals to provide an informational display of data for navigating relative to said first guidepoint.

12. The aircraft navigational system as recited in claim 1 wherein the geographical location of said first new guidepoint is determined by:

a. determining respective bearings of each of said selected guidepoints from said selected navigational station; and

b. comparing the bearing of said first navigational radial with the bearings of said selected guidepoints to locate the position of said first navigational radial between said two selected guidepoints.

13. The aircraft navigational system as recited in claim 11 wherein:

a. said two selected guidepoints are defined by a first reference guidepoint and a second reference guidepoint; and

b. the bearing of said first point intersection from one of said two selected guidepoints is determined by the equation;

##EQU4## wherein LAT 2=latitude of said second reference guidepoint, LAT 1=latitude of said first reference guidepoint and C=an angle formed by the intersection of two lines which respectively connect said first reference guidepoint and said second reference guidepoint to the center of the earth.

14. The aircraft navigation system as recited in claim 12 wherein said distance between said first navigational radial and at least one of said two guidepoints is determined by:

a. forming a first triangle having a first side comprising said selected navigational radial, a second side connecting said navigational station to said selected one guidepoint, and a third side connecting said selected one guidepoint with said selected radial in a manner that the third side is located perpendicularly to said selected navigational radial, and a second triangle having a first side comprising said selected navigational radial, a second side connecting said selected navigational radial at said point of intersection to said selected one guidepoint and a third side in common with the third side of said first triangle;

b. formulating a first equation and variables representing the sides of said first triangle and representing angles formed by the intersections of said first triangle sides, to define the length of said third side of said first triangle, and a second equation of variables representing the sides of said second triangle and representing angles formed by the intersections of said second triangle sides, to define the length of said third side of said second triangle; and

c. solving for the length of said second side of said second triangle in terms of the variables of said first triangle and said second triangle.

15. The aircraft navigational system as recited in claim 13 wherein said computer means determines the geographical location of said first guidepoint in degrees of latitude and longitude by:

a. calculating the latitude of said point of intersection by the equation;

##EQU5## wherein ZETA=the distance between said point of intersection and said selected one reference guidepoint, Re=radius of earth, LAT 1=latitude of said first selected reference guidepoint, and D=bearing of said point of inersection from said first selected reference guidepoint; and

b. calculating the longitude of said point of intersection by the equation;

##EQU6## when C is from 0°

to 179°

; and

##EQU7## when C is from 179°

to 360°

;

wherein C=an angle formed by the intersection of two lines which respectively connect said first reference guidepoint and said point of intersection to the center of the earth, LAT 1=the latitude of said first reference guidepoint, LAT 36'"'"'=latitude of said point of intersection, and LONG 1=the longitude of said first reference guidepoint.

16. The aircraft navigational system as recited in claim 14 wherein:

a. said computer means determines the bearing of said point of intersection from said navigational station by the equation;

space="preserve" listing-type="equation">Bearing=inverse cos (sin (LAT 36'"'"')-sin (LAT

     1) cos (C)/cos (LAT

     1) sin (C)

wherein LAT 36'"'"'=latitude of said point of intersection, LAT 1=latitude of said navigational station, and C=an angle formed by the intersection of two lines which respectively connect said point of intersection and said navigational station to the center of the earth; and

b. said computer means determines the distance between said point of intersection and said navigational station by the equation;

##EQU8## wherein Re=radius of the earth, LAT 36'"'"'=latitude of said point of intersection, LAT 1=latitude of said navigational station, LONG 36'"'"'=longitude of said point of intersection, and LONG 1=longitude of said navigational station.

19. The aircraft navigational system as recited in claim 16 additionally comprising informational display means responsive to said first and second informational signals to provide an informational display of data for navigating relative to said new guidepoint.

21. The aircraft navigational system as recited in claim 16 wherein said input means comprises means for manually entering said information in an alphanumerical format.

22. The aircraft navigational system as recited in claim 16 additionally comprising informational display means responsive to said first and second information signals to provide an informational display of said geographic locations of said selected guidepoints, said point of intersection, and said aircraft.

24. The aircraft navigational system as recited in claim 21 wherein said informational display means displays said geographic locations in an alphanumerically format.

25. The aircraft navigational system as recited in claim 21 wherein said information display means displays said geographical locations of said aircraft, said selected guidepoints, said navigational route, point of intersection, said selected geographic fix, and said navigational point as symbols on a cartographic display.

26. The aircraft navigational system as recited in claim 21 wherein said selected distance is displayed as a circle having a center coincident with said selected geographical fix, and a radius equal to said selected distance.

27. The aircraft navigational system as recited in claim 16 wherein:

a. said navigationalroute includes a plurality of segments, said point of intersection located at one of said segments; and

b. said computer means is arranged to determine the geographical location of said point of intersection between two of the selected guidepoints defining said intersected segment.

28. The navigational system as recited in claim 25 wherein said computer means compares said selected distance with distances between the selected geographical fix and said guidepoints in a manner that said two guidepoints defining said intersected segment are identified when the value of said selected distance is between the respective values of the distances from the selected geographical fix to the guidepoints defining a segment.

29. The aircraft navigational system as recited in claim 26 wherein said computer means determines the geographical location of said point of intersection by:

a. dividing the distance between said two guidepoints into two substantially equal subdivided segments;

b. determining at which of said subdivided segments said point of intersection is located;

c. dividing said intersected subdivided segment into two substantially equal subdivided segments at a middle reference point;

d. determining the distance from said middle reference point to said selected geographical location; and

e. repeating steps 32(b), 32(c) and 32(d) until the difference between the distance from said middle reference point to said selected geopgraphical location and the selected distance is within a predetermined value.

31. The method as recited in claim 28 wherein the geographical location of the new navigational guidepoint is determined by:

a. identifying the guidepoints which define the navigational route segment at which the point of intersection is located; and

b. determining the location of the point of intersection between the guidepoints defining the intersected navigational route segment.

32. The method as recited in claim 29 wherein the guidepoints defining the intersected navigational segment are identified by comparing the selected distance to respective distances from the selected geographical fix to the guidepoints defining a navigational segment in a manner that said two guidepoints defining the intersected segment are identified when the value of the selected distance is between the respective values of the distances from the selected geographical fix to the guidepoints defining a segment.

2. respond to said first navigational signal and to provide a second informational signal indicating a first point of intersection of said navigational route with said first navigational radial to define the geographical location of a first new guidepoint;

3. determine the geographical location of said first guidepoint by

(i) determining the position of said selected navigational radial between two of said selected guidepoints, and

(ii) measuring a distance along said navigational route between said navigational radial and at least one of said two selected guidepoints; and

4. storing data defining the geographical location of said first guidepoint

4. The aircraft navigational system as recited in claim 2 additionally comprising informational display means responsive to said first, second and third informational signals to provide an informational display of the geographic locations of said selected guidepoints, said first point of intersection, said second point of intersection and said aircraft.

7. The aircraft navigational system as recited in claim 2 wherein said input means comprises means for manually entering said information in an alphanumerical format.

17. An aircraft navigational system comprising:

a. input means;

1. for entering information defining a selected distance from a selected geographical fix, and

20. The aircraft navigational system as set forth in claim 17 wherein:

a. the selected distance is displayed as an arc centered at the geographical fix; and

b. the navigational route is displayed as a line; and

c. the point of intersection is displayed by the intersection of the line and the arc.

23. The aircraft navigational system as recited in claim 20 where said informational display means additionally provides an informational display of the geographical locations of said navigational route, said selected geographical fix, and said navigational point.

18. for outputting a navigational distance signal defining said selected distance from said selected geographical fix;

b. computer means, including a memory, responsive to said navigational distance signal and arranged to;

1. provide a first informational signal indicating geographical locations of a plurality of predetermined selected guidepoints which define a navigational route, and

2. respond to said navigational distance signal and to provide a second informational signal indicating a point of intersection of said navigational route with a navigational point which is located from said selected geographical fix at said selected distance in order to define a new guidepoint at said point of intersection, and

3. store data defining the geographical location of said new guidepoint in said memory.

30. A method for creating an aircraft navigational guidepoint comprising the steps of:

a. establishing a plurality of navigational guide points which define a navigational route, each guidepoint defined by a known geographical location, and generating a first informational signal indicating the geographical location;

b. providing information defining at least one navigational point which is a selected distance from a selected geographic fix so as to intersect at a point of intersection a segment of the navigational route, the segment defined by two of the guidepoints, the point of intersection of the navigational point with the navigational route defining a new navigational guidepoint, and generating a second informational signal indicating the point of intersection; and

c. transmitting the first and second information signals to visual display means to provide an informational display of data for navigating relative to the new navigational guidepoint.

33. An aircraft navigational system comprising:

a. receiver means;

1. for receiving electronic navigational signals from a selected navigational station, and

2. for outputting a navigational radial signal defining a selected navigational radial of said navigational station;

b. input means for inputting a navigational distance defining a selected navigational distance from said navigational station and for outputting a navigational distance signal which is representative of said navigational distance;

c. computer means responsive to said navigational radial signal and to said navigational distance signal, and arranged to (i) respond to said navigational radial signal and to said navigational distance signal, and (ii) to provide an informational signal indicating a point of intersection of said navigational distance with said navigational radial to define a new guidepoint; and

d. informational display means responsive to said informational signal to provide an informational display of the geographical locations of said navigational radial, said navigational distance and said point of intersection, the geographical locations of said navigational radial, said navigational distance, and said point of intersection being displayed as symbols on a cartographic display, said navigational distance displayed as an arc having a center coincident with said navigational station and having a radius equal to said navigational distance, and said navigational radial being displayed as a line segment orginating inside said arc and intersecting said circle at said point of intersection.

34. A method for creating aircraft navigational guidepoints comprising the steps of:

a. receiving navigational signals from a selected navigational station;

b. selecting a radial of the navigational station to intersect with a selected distance from the navigational station at a point of intersection, the point of intersection of the navigational station radial with the navigational station distance defining a new navigational guidepoint, and generating an informational signal indicating the point of intersection; and

c. providing the information signal to visual display means to display the geographical locations of the navigational station radial, navigational station distance and the point of intersection as symbols on a cartographic display, the navigational distance displayed as a circle having a center coincident with the geographical location and having a radius equal to the navigational distance, and the navigational radial being displayed as a line segment originating inside said arc and intersecting said are at the point of intersection.

35. An aircraft navigational system comprising:

a. input means

1. for manually entering information by an aircrew including (i) navigational distance data defining a selected distance from a selected geographical fix, and (ii) navigational radial data defining a selected bearing from said selected geographical fix, and

2. for outputting a navigational distance signal defining said selected distance from said geographical fix and a navigational radial signal defining said bearing from said selected geographical fix;

b. computer means responsive to said navigational distance signal and to said navigational radial signal, and arranged to respond to said navigational radial signal and to said navigational distance signal, and to provide an informational signal indicating a point of intersection of said navigational distance with said navigational radial to define a new guidepoint; and

c. informational display means responsive to said informational signal to provide an informational display of the geographical locations of said navigational radial, said navigational distance and said point of intersection, said navigational radial, said navigational distance, said navigational distance being displayed as an arc having a center coincident with said selected geographical location and having a radius equal to said navigational distance, and said navigational radial being displayed as a line segment originating within the arc and intersecting the arc at the point of intersection.

39. The aircraft navigational system as recited in claim 35 wherein said third geographical location is defined as having a latitude equal to the latitude of said selected geographical location, and a longitude determined by the equation:

space="preserve" listing-type="equation">Longitude=XLONG-Δ

LONG

wherein;

XLONG equals the longitude of said selected geographical location and

space="preserve" listing-type="equation">Δ

LONG=(XRAD/Re)/cos(XLAT.DTOR.RTOD)

wherein;

XRAD=said selected navigational distance,

XLAT=latitude of said third geographical location, Re=radius of earth, DTOR=a degrees to radians conversion constant, and

RTOD=a radians to degrees conversion constant.

43. The method as recited in claim 39 additionally comprising the step of navigating the aircraft relative to the second navigational guidepoint by monitoring the visual display means.

36. A method of creating aircraft navigational guidepoints comprising the steps of:

a. providing a navigational distance signal defining a selected distance from a selected geographical fix;

b. providing a navigational radial signal defining a selected bearing from the selected geographical fix;

c. outputting a navigational distance signal defining the selected distance from the geographical fix and a navigational radial defining the bearing from the selected geographical fix;

d. responding to the navigational radial signal and to the navigational distance signal, and providing and informational signal indicating a point of intersection of the navigational distance with the navigational radial to serve as a new guidepoint; and

e. responding to the informational signal to provide a cartographic display of the geographical locations of the navigational radial, the navigational distance and the point of intersection, the navigational distance signal being displayed as a circle having a center coincident with the selected geographical fix and having a radius equal to the navigational distance, the navigational radial being displayed as a line originating within the circle and intersecting the circle at the point of intersection.

37. An aircraft navigational system for locating and displaying a circle defining a selected navigational distance from a selected geographical location, said navigational system comprising:

a. input means

1. for inputting said selected navigational distance from said selected geographical location, and

2. for outputting a navigational distance signal defining said selected distance from said selected geographical location;

b. computer means responsive to said navigational distance signal and characterized in that

41. The method as recited in claim 37 additionally comprising the step of:

a. entering information defining a second selected navigational radial from a selected geographical location; and

b. providing a third informational signal indicating a second point of intersection of the navigational route with the second navigational radial to define a second new guidepoint, the first and second points of intersection each defining an intersectional fix, the navigation station and the selected geographical location each defining a geographical fix.

38. said computer means is predisposed to provide a first information signal indicating the geographical locations of a plurality of points forming an arcuate path which define a portion of a projected route of aircraft flight, said computer means responding to inputs, including (i) a first selected geographic locational input defining a starting point of said arcuate path, (ii) a second selected geographic locational input defining an ending point of said arcuate path, (iii) a radius input defining a radius of said arcuate path having a center coincident with said selected geographical location, (iv) a subtended angle input defining an angle subtended by said arcuate path between said starting point and said ending point, and (v) initial course input defining an initial direction of said arcuate path from said first selected geographical location, to provide said first informational signal;

2. said computer means further comprising means to provide a second informational signal indicating the geographical locations of a plurality of points defining a circle having a center coincident with said selected geographical location, and having a radius equal to said selected navigational distance, said circle representing a constant omnidirectional distance from said selected geographical location, said computer means defining said initial course as zero when the subtended angle is a value of 360° and

defining said initial course as 180°

when said subtended angle is a value of -360°

, said computer means responding to inputs comprising (i) a third geographical locational input defining a starting point and ending point of said circle, and (ii) a radius input defining the radius of said circle, to provide said second informational signal; and

c. informational display means responsive to said second informational signal to provide a cartographic display of said circle.

42. The method as recited in claim 38 additionally comprising the step of providing the first, second and third informational signals to visual display means to display the geographic locations of data for navigating relative to the second navigational guidepoint.

40. A method of navigating an aircraft comprising the steps of:

a. establishing a plurality of navigational guidepoints which define a navigational route, each guidepoint defined by a known geographical location, and generating a first informational signal indicating the geographical locations of the navigational guidepoints;

b. receiving navigational signals from a selected navigational station;

c. selecting a navigational station radial to intersect at a first point of intersection a segment of the navigational route, the segment defined by two of the guidepoints, the point of intersection of the navigational radial with the navigational route defining a new navigational guidepoint, and generating a second information signal indicating the point of intersection;

d. determining the geographical location of the point of intersection by

1. determining the position of the selected navigational radial between two of the guidepoints, and

2. measuring a distance along the navigational route between the navigational radial and at least one of the two guidepoints;

e. providing the first and second informational signals to visual display means to display the geographic locations of the navigational guidepoints and the new guidepoint; and

f. navigating an aircraft relative to the new navigational guidepoint by monitoring the visual display means.

44. A method of navigating an aircraft comprising the steps of:

a. establishing a plurality of navigational guidepoints which define a navigational route, each guidepoint defined by a known geographical location, and generating a first informational signal indicating the geographical locations;

b. providing information defining a selected distance from a selected geographic fix to intersect a segment of the navigational route at a point of intersection, the segment defined by two of the navigational guidepoints, the point of intersection of the navigational distance with the navigational route defining a new navigational guidepoint, and generating a second informational signal indicating the point of intersection which defines the new navigational guidepoint;

c. transmitting the first and second informational signals to visual display means to provide an informational display of data for navigating relative to the point of intersection; and

d. navigating an aircraft relative to the point of intersection by monitoring the visual display means.

48. The aircraft navigational system as recited in claim 44 wherein said data is displayed as symbols on a cartographic display.

45. A method of navigating an aircraft comprising the steps of:

a. receiving navigational signals from a selected navigational station;

b. selecting a radial of the navigational station to intersect with a selected distance from the navigational station at a point of intersection, the point of intersection of the navigational station radial with the navigational station distance defining a new navigational guidepoint, and generating an information signal indicating the point of intersection;

c. providing the informational signal to visual display means to display the geographical locations of the navigational station radial, navigational station distance and the point of intersection as symbols on a cartographic display, the navigational distance being displayed as a circle having a center coincident with the selected geographical location and having a radius equal to the navigational distance, and the navigational radial being displayed as a line beginning at the center of the circle and intersecting the circle at the point of intersection; and

d. navigating an aircraft relative to the point of intersection by monitoring the visual display means.

46. A method of navigating an aircraft comprising the steps of:

a. providing a navigational distance signal defining a selected distance from a selected geographical fix;

b. providing a navigational radial signal defining a selected bearing from the selected geographical fix;

c. outputting a navigational distance signal defining the selected distance from the geographical fix and a navigational radial signal defining the bearing from the selected geographical fix;

d. responding to the navigational radial signal and to the navigational distance signal, and providing an informational signal indicating a point of intersection of the navigational distance with the navigational radial to serve as a new guidepoint;

e. responding to the informational signal to provide a cartographic display of the geographical locations of the navigational radial, the navigational distance and the point of intersection, the navigational distance signal displayed as a circle having a center coincident with the selected geographical fix and having a radius equal to the navigational distance, the navigational radial being displayed as a line beginning within the circle and intersecting the circle at the point of intersection; and

f. navigating an aircraft relative to the point of intersection by monitoring the visual display means.

50. The method as recited in claim 46 additionally comprising the step of:

a. entering information defining a second selected navigational radial from a selected geographical location; and

b. providing a third informational signal indicating a second point of intersection of the navigational route with the second navigational radial to define a second new guidepoint, the first and second points of intersection each defining an intersectional fix, the navigation station and the selected geographical location each defining a geographical fix.

47. An aircraft navigational system comprising:

a. input means;

1. for entering information defining a selected navigational radial from a selected geographical fix, and

2. for outputting a navigational signal defining said selected navigational radial;

b. computer means, including a memory, responsive to said selected navigational signal and arranged to;

1. provide a first informational signal indicating geographic locations of a plurality of selected guidepoints which define a navigational route,

2. respond to said navigational signal and provide a second informational signal indicating a point of intersection of said navigational route with said navigational radial to define a geographic location of a new guidepoint,

3. determine the geographic location of said new guidepoint by (i) determing the position of said selected navigational radial between two of said selected guidepoints, and (ii) measuring a distance along said navigational route between said point of intersection and at least one of said two selected guidepoints, and

4. storing data defining the geographical location of said new guidepoint in said memory.

51. The method as recited in claim 47 additionally comprising the step of providing the first, second and third informational signals to visual display means to display the geographic locations of data for navigating relative to the first and second navigational guidepoints.

49. A method for creating aircraft navigational guidepoints comprising the steps of:

a. establishing a plurality of navigational guidepoints which form a navigational route, each guidepoint defined by a known geographical location, and generating a first informational signal indicating the geopgraphical locations of the navigational guidepoints;

b. receiving navigational signals from a selected navigational station;

c. selecting a navigational station radial to intersect at a first point of intersection a segment of the navigational route, the segment defined by two of the guidepoints, the point of intersection of the navigational radial with the navigational route defining a new navigational guidepoint;

d. determining a geographical location of the new guidepoint by

1. determining the bearing of the selected navigational radial with respect to the bearing of at least one of the selected guidepoints, and

2. measuring the position of the navigational radial with respect to the selected one guidepoint;

e. generating a second informational signal indicating the point of intersection; and

f. providing the first and second informational signals to visual display means to display the geographical locations of the navigational guidepoints and the new guidepoint.