Aircraft guidance using localizer capture criteria for rectilinear displacement data

• US 7,917,254 B2
• Filed: 08/30/2007
• Issued: 03/29/2011
• Est. Priority Date: 05/22/2007
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Krogh, Steven B.
• Primary Examiner(s): ARTHUR JEANGLAUDE, GERTRUDE
• Application Number:
  US11/848,127
• Publication Number:
  US 20080294307A1
• Time in Patent Office: 1,307 Days
• Field of Search: 701/3, 701/7, 701/15, 701/16, 701/8, 701/17, 244/158.1, 244/181, 244/183
• US Class Current: 701/7
• CPC Class Codes: G05D 1/0676 specially adapted for landing
• CPC Class Codes: G08G 5/025 Navigation or guidance aids radar or analogous systems specially adapted for landing purposes G01S13/913

Abstract

Systems and methods for aircraft guidance using a localizer capture criteria for rectilinear displacement data are disclosed. In one embodiment, the method includes determining a rectilinear deviation D between a current aircraft location and a final defined path (FDP) of an aircraft and determining a location at which the aircraft should begin a reposition maneuver based on the rectilinear deviation D. The method starts a reposition maneuver of the aircraft at a location determined based on a relationship between D and characteristics of the aircraft during the reposition maneuver. In some embodiments, the characteristics of the aircraft may include a velocity of the aircraft with respect to ground, an aircraft track angle, a heading of the FDP of the aircraft, a maximum allowed bank angle of the aircraft during a reposition maneuver, and a time allowance for aircraft rollup and rollout.

Claims

1. A method for guiding an aircraft, the method comprising:

determining a rectilinear deviation D between a current aircraft location and a final defined path (FDP) of the aircraft;

determining a location for the aircraft to begin a reposition maneuver based at least in part on the rectilinear deviation D and a relationship between the rectilinear deviation D and characteristics of the aircraft, the characteristics of the aircraft are selected from the group of characteristics comprising;

a velocity of the aircraft with respect to ground (Vel_Gnd), an aircraft track angle, a heading of the FDP of the aircraft, a maximum allowed bank angle of the aircraft during a reposition maneuver (Phimax), and a time allowance for aircraft rollup and rollout (Capt_Rup_KPg); and

starting the reposition maneuver of the aircraft at the location.

2. The method as recited in claim 1 wherein the characteristics of the aircraft is D1+D2, where D1=(Vel_Gnd)2*(1−

Rwy_Trk_Dif_Cos)/(G*tan (Phimax)) and D2=Vel_Gnd* Capt_Rup_KPg*Rwy_Trk_Dif_Sin, where Rwy_Trk_Dif_Cos is a cosine of (a determined aircraft track angle minus a determined FAC heading), where Rwy_Trk_Dif_Sin is a sine of (the determined aircraft track angle minus the determined aircraft FDP heading) and where G is the universal gravitational acceleration constant.

3. The method as recited in claim 2, wherein the reposition maneuver is started when the magnitude of D is less than the magnitude of the sum of D1 and D2.

4. The method of claim 2, wherein the FDP is a centerline of an airport runway.

5. The method of claim 2, further comprising determining the current aircraft location using indications from a GPS system, using extrapolation from a known location using inertial data, and using a Global Satellite Landing system.

6. The method of claim 2, further comprising conducting the reposition maneuver by using a localization mode, by using a lateral navigation mode, or by commencing a turn under manual mode, and delaying a start of the reposition maneuver of the aircraft until the predetermined relationship exists between deviation D and the sum of D1 and D2.

7. The method as recited in claim 1, further comprising triggering a determination of a location at which the aircraft should begin the reposition maneuver after each leg of a flight of the aircraft.

8. The method as recited in claim 2 wherein Capt_Rup_KPg equals a predetermined value times Phimax divided by a nominal roll rate limit for the aircraft, where the predetermined value is determined from one or more maneuvering characteristics of the aircraft.

9. A computer readable medium having computer-executable instructions that, when executed, perform a method comprising:

determining a velocity of an aircraft with respect to ground (Vel_Gnd);

determining a track angle and a heading of a final defined path (FDP) of the aircraft;

computing a cosine of (the determined aircraft track angle minus the determined FDP heading) (Rwy_Trk_Dif_Cos) and a sine of (the determined aircraft track angle minus a determined aircraft FDP heading) (Rwy_Trk_Dif_Sin);

determining a maximum allowed bank angle of the aircraft during a reposition maneuver (Phimax);

determining a time allowance for aircraft rollup and rollout (Capt_Rup_KPg);

determining a rectilinear deviation D between a current aircraft location and the FDP of the aircraft; and

starting a reposition maneuver of the aircraft based on a relationship between the rectilinear deviation D and a predetermined criteria based on at least one of the velocity of the aircraft with respect to the ground (Vel_Gnd), the heading of the final defined path, the angle Rwy_Trk_Dif_Cos, the angle RWY_Trk_Dif_Sin, and the time allowance Capt_Rup_KPg.

10. The computer readable medium as recited in claim 9 wherein the predetermined criteria is based on a sum of D1 and D2, where D1=(Vel_Gnd)2*(1−

Rwy_Trk_Dif_Cos)/(G*tan (Phimax)) and D2=Vel_Gnd*Capt_Rup_KPg*Rwy_Trk_Dif_Sin, and where G is the universal gravitational acceleration constant, and wherein the reposition maneuver is started when the rectilinear deviation D is less than the sum of D1 plus D2.

11. The computer readable medium as recited in claim 10 further comprising delaying of starting using localization mode, using a lateral navigation mode, or commencing a turn under manual mode, until the reposition maneuver of the aircraft is based on the relationship between deviation D and D1+D2.

12. The computer readable medium as recited in claim 10 further comprising triggering a determination of the relationship between D and D1+D2 to determine the start of the reposition maneuver after completing each leg of the flight of the aircraft.

13. The computer readable medium as recited in claim 9 wherein Capt_Rup_KPg equals a predetermined value times Phimax divided by a nominal roll rate limit for the aircraft, where the predetermined value is determined from the maneuvering characteristics of the aircraft.

14. An aircraft comprising:

a fuselage and

at least one avionic system for guiding the aircraft and at least partially disposed within the fuselage, the avionic system comprising;

a flight management function (FMF) component, said FMF component configured to receive at least one of a velocity of an aircraft with respect to ground (Vel_Gnd), an aircraft track angle, a heading of a final defined path (FDP) for the aircraft, a maximum allowed bank angle of the aircraft during a reposition maneuver (Phimax), or a current location of the aircraft and a time allowance for aircraft rollup and rollout (Capt_Rup_KPg); and

a reposition maneuver computer configured to compute a rectilinear deviation D between a current aircraft location and a final defined path (FDP) of the aircraft, and to initiate a reposition maneuver of the aircraft based on a relationship between the rectilinear deviation D and a predetermined criteria, the predetermined criteria being based on at least one of the velocity of the aircraft with respect to the ground (Vel_Gnd), the heading of the FDP, or the time allowance Capt_Rup_KPg.

15. The aircraft of claim 14, wherein the reposition maneuver computer is further configured to compute:

a cosine of (the determined aircraft track angle minus the determined FDP heading) (Rwy_Trk_Dif_Cos); and

a sine of (the determined aircraft track angle minus the determined aircraft FDP heading) (Rwy_Trk_Dif_Sin),

wherein the reposition maneuver computer is configured to indicate initiation of a reposition maneuver based on a relationship between rectilinear deviation D and the sum of D1 and D2, where D1=(Vel_Gnd)2*(1−

Rwy_Trk_Dif_Cos)/(G*tan (Phimax)) and D2=Vel_Gnd*Capt_Rup_KPg*Rwy_Trk_Dif_Sin, and where G is the universal gravitational acceleration constant.

16. The aircraft of claim 15, wherein the reposition maneuver computer is initiated when a magnitude of D is less than a magnitude of the sum of D1 and D2, and the FDP is a centerline of an airport runway.

17. The aircraft of claim 14, wherein the flight management function component determines the current aircraft location using indications from at least one of a GPS system, an extrapolation from a known location using inertial data, a very high frequency omni-directional range (VOR) or distance measurement equipment (DME) navigation aid, and a Global Satellite Landing system.

18. The aircraft of claim 15, wherein the reposition maneuver computer delays starting using a localization mode, using a lateral navigation mode, or commencing a turn under manual mode, if the reposition maneuver computer of the aircraft is based on the relationship between deviation a magnitude of D and a sum of D1 and D2.

19. The aircraft of claim 14, wherein the FMF component initiates the reposition maneuver computer after completing one leg of a flight path of the aircraft and before initiating another leg.