Automatic aircraft landing

• US 6,154,693 A
• Filed: 05/14/1998
• Issued: 11/28/2000
• Est. Priority Date: 11/14/1995
• Status: Expired due to Fees

• Current Assignee: Israel Aerospace Industries Limited (Government of Israel), Lohr Industrie (LOHR SA)
• Original Assignee: Israel Aerospace Industries Limited (Government of Israel)
• Inventors: Livschitz, Michael, Aberschitz, Abraham, Soudak, Uri
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): MARC-COLEMAN, MARTHE Y
• Application Number:
  US09/068,687
• Time in Patent Office: 929 Days
• Field of Search: 701/120, 701/121, 701/122, 701/4, 701/23, 701/27, 701/14, 701/15, 701/16, 340/26
• US Class Current: 701/16
• CPC Class Codes: G01S 5/0054 of actual mobile position, i.e. position calculation on base station
• CPC Class Codes: G01S 5/16 using electromagnetic waves other than radio waves
• CPC Class Codes: G05B 13/0275 using fuzzy logic only
• CPC Class Codes: G05D 1/0676 specially adapted for landing

Abstract

An automatic aircraft landing system (AALS) (10) for automatically landing an aircraft on a runway. The AALS (10) includes data acquisition apparatus (DAA) (24) for acquiring flight data pertaining to the descent of an aircraft along a flight path (26) defined between a final capture point (16) and a touchdown point on the runway. The AALS (10) also includes a fuzzy logic controller (FLC) (20) responsive to the flight data for providing control signals according to at least one set of flight guidelines to at least one of the aircraft'"'"'s primary controls for at least urging the aircraft to essentially adhere to a guide path (28) along at least a portion of its flight path.

Claims

1. An automatic aircraft landing system for automatically landing an aircraft on a runway, the system comprising:

(a) data acquisition apparatus (DAA) including means for acquiring flight data pertaining to the descent of an aircraft along a flight path defined between a final capture point and a touchdown point on the runway; and

(b) a controller responsive to the flight data for providing control signals to at least one of the aircraft'"'"'s primary controls for urging the aircraft to essentially adhere to a guide path along at least an upper portion of its flight path

wherein

said controller is a fuzzy logic controller (FLC) including a rule base of production rules for processing the flight data, said FLC adapted to achieve two or more different sets of flight guidelines each respectively operative singly or in combination at different altitudes.

2. The system according to claim 1 wherein said FLC is adapted to achieve a first set of flight guidelines predominantly during an upper flight region including said final capture point, a second set of flight guidelines predominantly during an intermediate flight region and a third set of flight guidelines predominantly during a lower flight region including said touchdown point, said intermediate flight region merging at its higher and lower altitudes respectively with said upper and lower flight regions.

3. The system according to claim 2 wherein said first set of flight guidelines includes:

i) ensure that an aircraft does not stall in mid-flight;

ii) ensure that the vertical deviation (Z) between an aircraft'"'"'s instantaneous position and the guide path and its derivative (Δ

Z) tend to zero for urging the aircraft to coincide with the guide path in the vertical plane; and

iii) ensure that the horizontal deviation (Y) between an aircraft'"'"'s instantaneous position and the guide path and its derivative (Δ

Y) tend to zero for urging the aircraft to coincide with the guide path in the horizontal plane.

4. The system according to claim 2 wherein said second set of flight guidelines includes:

i) ensure that an aircraft does not stall mid-flight;

ii) ensure that the vertical deviation (Z) between an aircraft'"'"'s instantaneous position and the guide path and its derivative (Δ

Z) tend to zero whilst constraining the sink rate of the aircraft to a predetermined upper limit, thereby urging the aircraft to coincide with a modified guide path in the vertical plane; and

iii) ensure that the horizontal deviation (Y) between an aircraft'"'"'s instantaneous position and the guide path and its derivative (Δ

Y) tend to zero for urging the aircraft to coincide with the guide path in the horizontal plane.

5. The system according to claim 2 wherein said third set of flight guidelines includes:

i) ensure that the sink rate of an aircraft is near zero whilst ensuring a minimum controlled forward velocity such that it does not stall midflight;

ii) ensure that an aircraft has a positive pitch angle for a smooth landing on its rear landing gear;

iii) ensure that the yaw angle of an aircraft tends to zero such that the aircraft does not run off the side of the runway; and

iv) ensure that the roll angle of an aircraft tends to zero such that the tips of the wings of the aircraft do not engage the runway.

6. The system according to claim 2 wherein said FLC applies the following flight objective after touchdown on the runway:

ensure that the yaw angle of the aircraft remains substantially zero such that the aircraft runs parallel to the runway midline.

7. The system according to claim 1 wherein said DAA includes:

(a) a camera having a field of view which is substantially directed toward an incoming aircraft;

(b) a monitor for displaying at least a portion of said field of view, said monitor including a cursor;

(c) means for manually tracking the aircraft with said cursor; and

(d) means for manually adjusting the size of said cursor such that said cursor substantially encompasses the image of the aircraft on said monitor.

8. The system according to claim 7 wherein said camera is mounted at a height substantially corresponding to a cross over height between said intermediate region and said lower flight region.

9. The system according to claim 7 wherein the center line of sight of said camera coincides with the runway midline.

10. An automatic aircraft landing method for automatically landing an aircraft on a runway, the method comprising the steps of:

(a) capturing an aircraft at a final capture point;

(b) acquiring flight data pertaining to the descent of an aircraft along a flight path defined between the final capture point and a touchdown point on the runway;

(c) fuzzy-logic-processing the flight data through an FLC rule base according to two or more sets of flight guidelines to provide control signals, each respectively operative singly or in combination at different altitudes, to at least one of the aircraft'"'"'s primary controls for urging the aircraft to essentially adhere to a guide path along at least an upper portion of its flight path; and

(d) operating the aircraft'"'"'s primary controls in accordance with the control signals to land the aircraft on the runway,

wherein

the step (c) includes fuzzy logic processing of the flight data by means of fuzzy logic controller including a rule base of production rules so as to achieve two or more different sets of flight guidelines each respectively operative singly or in combination at different altitudes.

11. The method according to claim 10 wherein the step of fuzzy logic processing is adapted to achieve a first set of flight guidelines predominantly during an upper flight region including said final capture point, a second set of flight guidelines predominantly during an intermediate flight region and a third set of flight guidelines predominantly during a lower flight region including said touchdown point, the intermediate flight region merging at its higher and lower altitudes respectively with the upper and lower flight regions.

12. The method according to claim 11 wherein the step of fuzzy logic processing is adapted to achieve the following first set of flight guidelines:

i) ensure that an aircraft does not stall in mid-flight;

ii) ensure that the vertical deviation (Z) between an aircraft'"'"'s instantaneous position and the guide path and its derivative (Δ

Z) tend to zero for urging the aircraft to coincide with the guide path in the vertical plane; and

iii) ensure that the horizontal deviation (Y) between an aircraft'"'"'s instantaneous position and the guide path and its derivative (Δ

Y) tend to zero for urging the aircraft to coincide with the guide path in the horizontal plane.

13. The method according to claim 12, wherein said step of acquiring flight data includes:

(a) manually tracking an incoming aircraft on a monitor with a cursor, and

(b) manually adjusting the size of the cursor such that the cursor substantially encompasses the image of the aircraft on the monitor.

14. The method according to claim 11 wherein the step of fuzzy logic processing is adapted to achieve the following second set of flight guidelines:

i) ensure that an aircraft does not stall mid-flight;

ii) ensure that the vertical deviation (Z) between an aircraft'"'"'s instantaneous position and the guide path and its derivative (Δ

Z) tend to zero whilst constraining the sink rate of the aircraft to a predetermined upper limit, thereby urging the aircraft to coincide with a modified guide path in the vertical plane; and

iii) ensure that the horizontal deviation (Y) between an aircraft'"'"'s instantaneous position and the guide path and its derivative (Δ

Y) tend to zero for urging the aircraft to coincide with the guide path in the horizontal plane.

15. The method according to claim 14, wherein said step of acquiring flight data includes:

(a) manually tracking an incoming aircraft on a monitor with a cursor, and

(b) manually adjusting the size of the cursor such that the cursor substantially encompasses the image of the aircraft on the monitor.

16. The method according to claim 11 wherein the step of fuzzy logic processing is adapted to achieve the following third set of flight guidelines:

i) ensure that the sink rate of the aircraft is near zero whilst ensuring a minimum controlled forward velocity such that the aircraft does not stall midflight;

ii) ensure that the aircraft has a positive pitch angle for a smooth landing on its rear landing gear;

iii) ensure that the yaw angle of the aircraft tends to zero such that the aircraft does not run off the side of the runway; and

iv) ensure that the roll angle of the aircraft tends to zero such that the tips of the wings of the aircraft do not engage the runway.

17. The method according to claim 16, wherein said step of acquiring flight data includes:

(a) manually tracking an incoming aircraft on a monitor with a cursor, and

(b) manually adjusting the size of the cursor such that the cursor substantially encompasses the image of the aircraft on the monitor.

18. The method according to claim 11 wherein the step of fuzzy logic processing is adapted to achieve the following flight guideline after touchdown on the runway:

ensure that yaw angle of the aircraft remains substantially zero such that the aircraft runs parallel to the runway midline.

19. The method according to claim 10 wherein said step of acquiring flight data includes:

(a) manually tracking an incoming aircraft on a monitor with a cursor; and

(d) manually adjusting the size of the cursor such that the cursor substantially encompasses the image of the aircraft on the monitor.

20. An automatic aircraft landing system for automatically landing an aircraft on a runway, the system comprising:

(a) data acquisition apparatus for acquiring flight data pertaining to the descent of an aircraft along a flight path defined between a final capture point and a touchdown point on the runway;

said apparatus being provided with means including a camera trained on said aircraft to view its descent along said flight path, to display an image of the descending aircraft, and to extract therefrom said flight data; and

(b) a fuzzy logic controller responsive to the flight for providing control signals according to at least one set of flight guidelines operative at different altitudes, to at least one primary control of the aircraft for urging the aircraft to essentially adhere to a guide path along at least an upper portion of its flight path.