Automatic aircraft takeoff and landing apparatus and method for accomplishing the same
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G06G-007/70
G05D-001/08
G05D-001/10
출원번호
US-0352922
(2009-01-13)
등록번호
US-8175763
(2012-05-08)
우선권정보
JP-2004-120814 (2004-04-15)
발명자
/ 주소
Yamane, Akihiro
Kono, Mitsuru
Kumamoto, Takahiro
출원인 / 주소
Fuji Jukogyo Kabushiki Kaisha
대리인 / 주소
Smith, Gambrell & Russell, LLP
인용정보
피인용 횟수 :
11인용 특허 :
15
초록▼
An automatic landing apparatus for an aircraft includes: an altitude sensor; an airspeed sensor; an attitude angle sensor; a direction sensor; a position sensor; a landing command inputting section; and a control device, including: an approaching flight control section for realizing an approaching f
An automatic landing apparatus for an aircraft includes: an altitude sensor; an airspeed sensor; an attitude angle sensor; a direction sensor; a position sensor; a landing command inputting section; and a control device, including: an approaching flight control section for realizing an approaching flight along a predetermined path by controlling a propulsion device and a control surface, in response to a landing command; a flare control section for controlling the propulsion device to provide a minimum output and controlling the control surface to perform a flare when the altitude of the aircraft becomes less than a predetermined landing altitude; and a landing run control section for realizing a landing run by controlling the propulsion device to maintain the minimum output and controlling the control surface to maintain the attitude angle and the traveling direction of the aircraft when the airspeed of the aircraft becomes less than a predetermined landing speed.
대표청구항▼
1. An automatic landing apparatus for an aircraft comprising: an altitude sensor for measuring an altitude of the aircraft from ground;an airspeed sensor for measuring an airspeed of the aircraft;an attitude angle sensor for detecting an attitude angle of the aircraft;a direction sensor for detectin
1. An automatic landing apparatus for an aircraft comprising: an altitude sensor for measuring an altitude of the aircraft from ground;an airspeed sensor for measuring an airspeed of the aircraft;an attitude angle sensor for detecting an attitude angle of the aircraft;a direction sensor for detecting a direction of the aircraft;a position sensor for detecting a position of the aircraft;a landing command inputting section for inputting a landing command; anda control device for controlling a propulsion device and a control surface of the aircraft, based on the altitude of the aircraft from the ground, the airspeed of the aircraft, the attitude angle of the aircraft, the direction of the aircraft, the position of the aircraft and the landing command,wherein the control device comprises:an approaching flight control section for realizing an approaching flight along a predetermined approaching path by triggering the control device to control the propulsion device and the control surface, in response to the landing command;a flare control section which judges whether or not the altitude of the aircraft from the ground is at or less than a predetermined landing judgment altitude, which predetermined landing judgment altitude is a stored parameter of the control device, and when the altitude of the aircraft from the ground is judged to be at or less than the predetermined, stored landing judgment altitude, said control device is triggered into changing the propulsion device as to provide a minimum output and into changing the control surface as to perform a flare by setting a pitch angle of the aircraft to a predetermined pitch angle, wherein the predetermined pitch angle is calculated by integrating a pitch angle command rate based on the altitude and altitude change rate of the aircraft; anda landing run control section which judges whether or not the airspeed of the aircraft is at or less than a predetermined landing judgment speed, which predetermined landing judgment speed is a stored parameter of the control device, and, when the airspeed of the aircraft is judged to satisfy the criteria of being at or less than the predetermined, stored landing judgment speed, the control device is triggered into a landing run mode wherein the propulsion device is controlled to maintain the minimum output and the control surface is controlled to maintain constant the attitude angle and a traveling direction of the aircraft to realize a landing run. 2. An automatic landing apparatus for an aircraft according to claim 1, wherein said altitude sensor is one of a radio altimeter or a laser altimeter. 3. An automatic landing apparatus for an aircraft according to claim 1, wherein said airspeed sensor is an air data sensor. 4. An automatic landing apparatus for an aircraft according to claim 1, wherein said attitude angle sensor is a gyro. 5. An automatic landing apparatus for an aircraft according to claim 1, wherein said direction sensor is a magnetic bearing sensor. 6. An automatic landing apparatus for an aircraft according to claim 1, wherein said position sensor is a Differential Global Positioning System. 7. An automatic landing apparatus for an aircraft according to claim 1, wherein said landing command inputting section is a switch operated by a person on the aircraft. 8. An automatic landing apparatus for an aircraft according to claim 1, wherein said landing command inputting section is a receiver for receiving said landing command from an outside of said aircraft. 9. An automatic landing apparatus for an aircraft according to claim 1, wherein said control surface comprises at least one of an elevator, an aileron and a rudder. 10. An automatic landing apparatus for an aircraft according to claim 1, wherein said control device controls said control surface to fix a bank angle of the aircraft to zero when the airspeed of the aircraft is at or less than said predetermined landing judgment speed. 11. An automatic landing apparatus for an aircraft according to claim 1, wherein the pitch angle command rate is set to a large value when the altitude change rate is lower than a first predetermined value,the pitch angle command rate is set to a small value when the altitude change rate is between the first predetermined value and a second predetermined value, andthe pitch angle command rate is set to zero when the altitude change rate is higher than the second predetermined value. 12. An automatic landing apparatus for an aircraft according to claim 1, wherein the pitch angle command rate is set to a large value when the altitude change rate is lower than a predetermined value, and the pitch angle command rate is set to zero when the altitude change rate is higher than the predetermined value. 13. An automatic landing apparatus for an aircraft according to claim 1, wherein the pitch angle command rate decreases with a decrease in altitude change rate of the aircraft. 14. An automatic landing apparatus for an aircraft according to claim 1, wherein an absolute value of a maximum rate of the pitch angle command rate decreases with an increase in altitude of the aircraft. 15. The automatic landing apparatus for an aircraft according to claim 1 wherein said control device includes a processor and a memory with the memory being loaded with flight control data inclusive of a predetermined landing judgment altitude and a predetermined landing judgment speed. 16. The automatic landing apparatus for an aircraft according to claim 1, wherein said control device includes a pitch angle command rate generator with integrator, and said pitch angle command rate generator, based on inputs as to altitude and altitude change rate, integrates with the integrator an integrated flare pitch angle output. 17. An automatic landing apparatus for an aircraft according to claim 1, wherein, when the altitude of the aircraft is determined to be equal to or above a predetermined high altitude value, the pitch angle command rate is set to a first maximum rate; and when the altitude of the aircraft is determined to be equal to or below a predetermined low altitude value, the pitch angle command rate is set to a second maximum rate; whereinthe second maximum rate is higher than the first maximum rate. 18. An automatic landing apparatus for an aircraft according to claim 1, wherein, the landing run control section judges whether or not the airspeed of the aircraft is at or less than the predetermined landing judgment speed during an implementation of a change in pitch angle toward the predetermined pitch angle. 19. An automatic landing apparatus for an aircraft according to claim 1, wherein, when the altitude of the aircraft is determined to be equal to or above a predetermined high altitude value, the pitch angle command rate is set to a first maximum rate to perform a flare; and when the altitude of the aircraft is determined to be equal to or below a predetermined low altitude value, the pitch angle command rate is set to a second maximum rate to perform a flare; whereinthe flare performed by setting the pitch angle command rate to the second maximum rate is more immediate than the flare performed by setting the pitch angle command rate to the first maximum rate. 20. An automatic takeoff and landing apparatus for an aircraft comprising: the automatic landing apparatus of claim 1;a takeoff command inputting section for inputting a takeoff command;wherein the control device controls the propulsion device and the control surface of the aircraft, based on the altitude of the aircraft from the ground, the airspeed of the aircraft, the attitude angle of the aircraft, the direction of the aircraft, the position of the aircraft, the takeoff command and the landing command, andwherein the control device further comprises:a takeoff run control section for realizing a takeoff run by triggering the control device to control the propulsion device to provide a maximum output and control the control surface to maintain them attitude angle and a traveling direction of the aircraft constant, in response to the takeoff command;a rotation control section for triggering the control device to control the control surface to perform a rotation when the airspeed of the aircraft reaches or exceeds a predetermined takeoff judgment speed;an ascending flight control section for triggering the control device to control the propulsion device and the control surface to make the aircraft perform an ascending flight up to a predetermined target altitude with a predetermined ascending speed maintained, when the altitude of the aircraft from the ground reaches or exceeds a predetermined takeoff judgment altitude. 21. An unmanned fixed wing aircraft comprising the automatic landing apparatus of claim 1 and a receiver for receiving from a remote location a landing command.
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이 특허에 인용된 특허 (15)
Sherry Lance (Phoenix AZ), Apparatus and method for controlling the vertical profile of an aircraft.
King Ethmer W. (Federal Way WA) Yotsuuye David S. (Renton WA) Kircher ; Jr. Robert C. (Renton WA) Radfar Mohammed R. (Kirkland WA), Navigational apparatus and methods for displaying aircraft position with respect to a selected vertical flight path prof.
Beard,Randal W.; Johnson,Walter H.; Christiansen,Reed; Hintze,Joshua M.; McLain,Timothy W., Programmable autopilot system for autonomous flight of unmanned aerial vehicles.
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