Aircraft guidance based on partial differential equation for miss distance
First Claim
1. A method for automatically guiding an aircraft toward a target, the aircraft having a maximum turn rate, the method comprising:
- (a) receiving signals indicating current location, current altitude and current heading of the aircraft;
(b) from the signals indicating the current location of the aircraft, automatically calculating current coordinates of the aircraft, relative to location of the target;
(c) from the signals indicating the current altitude of the aircraft, automatically estimating current remaining amount of time of flight of the aircraft;
(d) automatically determining at least one component of a current gradient of function C, wherein C satisfies a partial differential equation and a boundary condition, and C represents miss distance as a function of at least the current heading of the aircraft, the current coordinates of the aircraft, relative to the location of the target, and the current remaining amount of time of flight of the aircraft;
(e) automatically comparing the at least one component of the current gradient to at least one of a first predetermined value and a second predetermined value;
(f) if the at least one component of the current gradient is found by the comparing to be less than the first predetermined value, automatically sending a first signal commanding a turn of the aircraft in a first direction;
(g) if the at least one component of the current gradient is found by the comparing to be greater than the second predetermined value, automatically sending a second signal commanding a turn of the aircraft in a second direction opposite the first direction; and
(h) repeating (a)-(g) until the current remaining amount of time of flight of the aircraft is less than a third predetermined value.
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Abstract
A guidance, navigation and control (GNC) system guides an aircraft based on a special partial differential equation (PDE). The system does not depend on a predetermined desired flight path. To overcome effects of unpredictable wind speed and direction, systems and methods effectively repeatedly determine the worst landing the wind can cause and issue flight control commands that minimize among these worst outcomes. A function C that satisfies the PDE calculates smallest miss distance a guidance system can bring about by appropriately steering an aircraft, given the aircraft'"'"'s current heading, current location relative to a target and current remaining amount of time to fly. The system repeatedly determines at least a component of a current gradient of the function C. A value of the gradient component is used to select an appropriate flight control command, such as turn left or turn right.
9 Citations
21 Claims
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1. A method for automatically guiding an aircraft toward a target, the aircraft having a maximum turn rate, the method comprising:
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(a) receiving signals indicating current location, current altitude and current heading of the aircraft; (b) from the signals indicating the current location of the aircraft, automatically calculating current coordinates of the aircraft, relative to location of the target; (c) from the signals indicating the current altitude of the aircraft, automatically estimating current remaining amount of time of flight of the aircraft; (d) automatically determining at least one component of a current gradient of function C, wherein C satisfies a partial differential equation and a boundary condition, and C represents miss distance as a function of at least the current heading of the aircraft, the current coordinates of the aircraft, relative to the location of the target, and the current remaining amount of time of flight of the aircraft; (e) automatically comparing the at least one component of the current gradient to at least one of a first predetermined value and a second predetermined value; (f) if the at least one component of the current gradient is found by the comparing to be less than the first predetermined value, automatically sending a first signal commanding a turn of the aircraft in a first direction; (g) if the at least one component of the current gradient is found by the comparing to be greater than the second predetermined value, automatically sending a second signal commanding a turn of the aircraft in a second direction opposite the first direction; and (h) repeating (a)-(g) until the current remaining amount of time of flight of the aircraft is less than a third predetermined value. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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20. A system for automatically guiding an aircraft toward a target, the aircraft having a maximum turn rate, the system comprising:
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a coordinates calculator receiving signals indicating current location of the aircraft and automatically generating signals indicating current coordinates of the aircraft, relative to location of the target; a flight time estimator receiving signals indicating current altitude of the aircraft and automatically generating signals indicating estimated current remaining amount of time of flight of the aircraft; a gradient component calculator coupled to the coordinates calculator and to the flight time estimator and automatically generating signals indicating at least one component of a current gradient of function C, where C satisfies a partial differential equation and a boundary condition, and C represents miss distance as a function of at least current heading of the aircraft, the current coordinates of the aircraft, relative to the target, and the current remaining amount of time of flight of the aircraft; a first comparator coupled to the gradient component calculator and comparing the at least one component of the current gradient of C to at least one of a first predetermined value and a second predetermined value; a first signal generator coupled to the first comparator and generating a first signal commanding a turn of the aircraft in a first direction if the at least one component of the current gradient is found by the first comparator to be less than the first predetermined value; and a second signal generator coupled to the first comparator and generating a second signal commanding a turn of the aircraft in a second direction different than the first direction if the at least one component of the current gradient is found by the first comparator to be greater than the second predetermined value;
whereinthe coordinates calculator, the flight time estimator, the gradient component calculator, the first comparator, the first signal generator and the second signal generator operate repeatedly until the current remaining amount of time of flight of the aircraft is less than a third predetermined value.
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21. A non-transitory computer-readable medium encoded with instructions that, when executed by a processor, establish processes for performing a computer-implemented method of providing automatic guidance of an aircraft toward a target, the aircraft having a maximum turn rate, the processes comprising:
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(a) receiving signals indicating current location, current altitude and current heading of the aircraft; (b) from the signals indicating the current location of the aircraft, automatically calculating current coordinates of the aircraft, relative to location of the target; (c) from the signals indicating the current altitude of the aircraft, automatically estimating current remaining amount of time of flight of the aircraft; (d) automatically determining at least one component of a current gradient of function C, wherein C satisfies a partial differential equation and a boundary condition, and C represents miss distance as a function of at least the current heading of the aircraft, the current coordinates of the aircraft, relative to the location of the target, and the current remaining amount of time of flight of the aircraft; (e) automatically comparing the at least one component of the current gradient to at least one of a first predetermined value and a second predetermined value; (f) if the at least one component of the current gradient is found by the comparing to be less than the first predetermined value, automatically sending a first signal commanding a turn of the aircraft in a first direction; (g) if the at least one component of the current gradient is found by the comparing to be greater than the second predetermined value, automatically sending a second signal commanding a turn of the aircraft in a second direction opposite the first direction; and (h) repeating (a)-(g) until the current remaining amount of time of flight of the aircraft is less than a third predetermined value.
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Specification