TCAS II pitch guidance control law and display symbol

• US 5,248,968 A
• Filed: 12/06/1991
• Issued: 09/28/1993
• Est. Priority Date: 12/06/1991
• Status: Expired due to Term

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Kelly, Brian D., Wiedemann, John, Myers, Robert J., Bernstein, Arthur D., Stemer, Paul
• Primary Examiner(s): Crosland, Donnie L.
• Application Number:
  US07/803,032
• Time in Patent Office: 662 Days
• Field of Search: 340/961, 340/973, 340/975, 342/29, 342/32, 342/455, 342/420, 364/461, 364/457
• US Class Current: 340/961
• CPC Class Codes: G01C 23/005 Flight directors indicating arrangements specially adapted for rotary gyroscopes G01C19/32
• CPC Class Codes: G01S 13/933 of aircraft or spacecraft
• CPC Class Codes: G05D 1/0623 by acting on the pitch
• CPC Class Codes: G05D 1/0676 specially adapted for landing
• CPC Class Codes: G08G 5/0008 with other aircraft
• CPC Class Codes: G08G 5/0013 with a ground station
• CPC Class Codes: G08G 5/0021 located in the aircraft
• 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

An airplane pitch guidance control law and display symbol for a Traffic alert and Collision Avoidance System (TCAS) is disclosed. The control law converts a TCAS computer-generated vertical air speed command into a pitch guidance command. The pitch guidance command controls the location of a symbol (51) on the pitch axis of an electronic attitude display (21) that guides a pilot toward a pitch attitude that will result in a vertical speed that eliminates a collision threat. The preferred symbol is a pitch axis leg (53) and a pair of outwardly diverging legs (55a, 55b). The pitch axis leg (53) defines the minimum climb or descent attitude required to achieve a safe climb or descent angle. The pitch axis leg (53) and the diverging legs (55a, 55b) combine to define a climb or descent attitude range to avoid. The distance between the pitch axis leg 53 and the boresight 39 of the airplane symbol of the display is controlled by a RA_CMD signal produced by: subtractively combining the vertical speed command (V_STCAS ) produced by a TCAS II computer and the vertical speed of the airplane (V_SIND); multiplying the result by a sensitivity factor K whose value is related to the true air speed of the airplane and 57.3 to approximate the arc tangent of the quotient; and subtracting a factor that compensates for the fact that flight path angle changes lag pitch attitude changes.

Claims

1. Apparatus for creating a Traffic alert and Collision Avoidance System (TCAS) Resolution Advisory (RA) pitch guidance symbol on an electronic attitude display of an airplane in response to a collision avoidance vertical speed command created by a TCAS computer when an intruder enters the airspace protected by the TCAS computer, said apparatus comprising:

(a) pitch guidance control means for;

(i) receiving data representing the collision avoidance vertical air speed command created by a TCAS computer when an intruder enters the airspace protected by the TCAS computer;

(ii) receiving data from the airplane representing the vertical air speed of the airplane;

(iii) receiving a sensitivity factor whose value depends on the true air speed of the airplane; and

(iv) producing a Resolution Advisory (RA) command; and

(b) an electronic attitude display means that includes an airplane symbol and a pitch axis scale for receiving said RA command and creating a Resolution Advisory (RA) pitch guidance symbol positioned on said display in association with said pitch axis scale and said airplane symbol.

2. The apparatus claimed in claim 1, wherein said RA pitch guidance symbol delineates a portion of said pitch axis scale to be avoided by said airplane symbol in order to eliminate the threat of a collision with said intruder.

3. The apparatus claimed in claim 2, wherein said RA pitch guidance symbol includes a pitch axis leg and a pair of diverging legs that begin at the ends of said pitch axis leg and end at the periphery of said electronic attitude display.

4. The apparatus claimed in claim 3, wherein said pitch axis leg is straight.

5. The apparatus claimed in claim 3, wherein said pitch axis leg is V-shaped.

6. The apparatus claimed in claim 2, wherein said RA pitch guidance symbol comprises a pair of vertical legs located on either side of said airplane symbol.

7. The apparatus claimed in claim 6, wherein said RA pitch guidance symbol includes visual attraction means located atop said vertical legs.

8. The apparatus claimed in claim 7, where said visual attraction means of said RA pitch guidance symbol also includes visual attraction means located between said vertical legs in alignment with said visual attraction means located atop said vertical legs.

9. The apparatus claimed in claim 2, wherein said pitch guidance symbol comprises a pair of diverging legs that begin on either side of said pitch guidance scale and project towards the periphery of said electronic attitude display.

10. The apparatus claimed in claim 9 including visual attraction means located atop said pair of diverging legs.

11. The apparatus claimed in claim 1, wherein said pitch guidance control means produces said RA command (RA_CMD) in accordance with the following equation:

##EQU4## where;

RA_CMD is the distance between a reference point of the airplane symbol and a predetermined region of the RA pitch guidance symbol;

K is a sensitivity factor whose value is a function of true air speed (V_TAS) of the airplane;

V_STCAS is the vertical speed commanded by the TCAS II computer;

V_SIND is the vertical speed of the airplane;

θ

is the pitch attitude of the airplane;

t is the time constant of the LaPlace transform washout function;

s is the standard LaPlace transform operator.

12. The apparatus claimed in claim 11, wherein the sensitivity factor, K, is equal to ##EQU5## between a minimum value of V_TAS and V_TAS.sbsb.tran, where V_TAS is in knots.

13. The apparatus claimed in claim 11 or 12, wherein said RA pitch guidance symbol delineates a portion of said pitch axis scale to be avoided in order to eliminate the threat of a collision with said intruder.

14. The apparatus claimed in claim 13, wherein said RA pitch guidance symbol includes a pitch axis leg and a pair of diverging legs that begin at the ends of said pitch axis leg and end at the periphery of said electronic attitude display, said RA_CMD value defining the distance between said pitch axis leg and said reference point of said airplane symbol.

15. The apparatus claimed in claim 14, wherein said pitch axis leg is straight.

16. The apparatus claimed in claim 14, wherein said pitch axis leg is V-shaped.

17. The apparatus claimed in claim 13, wherein said RA pitch guidance symbol comprises a pair of vertical legs located on either side of said airplane symbol, said RA_CMD value defining the distance between the tops of said pair of vertical legs and said reference point of said airplane symbol.

18. The apparatus claimed in claim 17, wherein said RA pitch guidance symbol includes visual attraction means located atop said vertical legs.

19. The apparatus claimed in claim 18, where said visual attraction means of said RA pitch guidance symbol also includes visual attraction means located between said vertical legs in alignment with said visual attraction means located atop said vertical legs.

20. The apparatus claimed in claim 14, wherein said pitch guidance symbol comprises a pair of diverging legs that begin on either side of said pitch guidance scale and project towards the periphery of said electronic attitude display, said RA_CMD value defining the distance between the tops of said pair of diverging legs and said reference point of said airplane symbol.

21. The apparatus claimed in claim 9 including visual attraction means located atop said pair of diverging legs.

22. In an electronic attitude display of an airplane that includes an airplane symbol and a pitch axis scale, the improvement comprising a Resolution Advisory (RA) pitch guidance symbol positioned on said display in association with said pitch axis scale and said airplane symbol, wherein said RA pitch guidance symbol delineates a portion of said pitch axis scale to be avoided by said airplane symbol in order to eliminate a threat of a collision with an intruder in the surrounding airspace.

23. The improvement claimed in claim 22, wherein said RA pitch guidance symbol includes a pitch axis leg and a pair of diverging legs that begin at the ends of said pitch axis leg and end at the periphery of said electronic attitude display.

24. The improvement claimed in claim 23, wherein said pitch axis leg is straight.

25. The improvement claimed in claim 23, wherein said pitch axis leg is V-shaped.

26. The apparatus claimed in claim 22, wherein said RA pitch guidance symbol comprises a pair of vertical legs located on either side of said airplane symbol.

27. The apparatus claimed in claim 26, wherein said RA pitch guidance symbol includes visual attraction means located atop said vertical legs.

28. The apparatus claimed in claim 27, where said visual attraction means of said RA pitch guidance symbol also includes visual attraction means located between said vertical legs in alignment with said visual attraction means located atop said vertical legs.

29. The apparatus claimed in claim 22, wherein said pitch guidance symbol comprises a pair of diverging legs that begin on either side of said pitch guidance scale and project towards the periphery of said electronic attitude display.

30. The apparatus claimed in claim 29 including visual attraction means located atop said pair of diverging legs.