IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
US-0429362
(2009-04-24)
|
등록번호 |
US-8209069
(2012-06-26)
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발명자
/ 주소 |
- McLoughlin, Frank A.
- Li, Xi
|
출원인 / 주소 |
- Garmin International, Inc.
|
대리인 / 주소 |
|
인용정보 |
피인용 횟수 :
7 인용 특허 :
5 |
초록
▼
An apparatus and method for estimating future pitch and roll angles of an aircraft to compensate for a time delay caused by a flight instrumentation system calculating the aircraft's pitch and roll. The apparatus may output signals to an aircraft autopilot system. The apparatus may comprise various
An apparatus and method for estimating future pitch and roll angles of an aircraft to compensate for a time delay caused by a flight instrumentation system calculating the aircraft's pitch and roll. The apparatus may output signals to an aircraft autopilot system. The apparatus may comprise various inputs and outputs, at least one compensation module, and at least one addition module. The compensation module may multiply a gain value by the pitch rate of the aircraft and by the roll rate of the aircraft to determine a pitch compensation amount and a roll compensation amount. Then the pitch compensation amount may be added to the pitch of the aircraft, and the roll compensation amount may be added to the roll of the aircraft to solve for a compensated pitch and a compensated roll to send to the autopilot system.
대표청구항
▼
1. An apparatus for predicting at least one of pitch and roll of an aircraft, the apparatus comprising: a first input configured to receive a signal representing at least one of pitch and roll of an aircraft;a second input configured to receive a signal representing at least one of pitch rate and ro
1. An apparatus for predicting at least one of pitch and roll of an aircraft, the apparatus comprising: a first input configured to receive a signal representing at least one of pitch and roll of an aircraft;a second input configured to receive a signal representing at least one of pitch rate and roll rate of an aircraft;a compensation module configured to compute at least one of a compensated pitch and a compensated roll based on at least one of the pitch, roll, pitch rate, and roll rate; anda first output configured to output a signal representing at least one of the compensated pitch and the compensated roll. 2. The apparatus of claim 1, coupled to or further comprising an autopilot system configured to receive the signal from the first output and actuate any of a plurality of flight control components associated with the aircraft based on the signal output from the first output. 3. The apparatus of claim 1, coupled to or further comprising a flight instrumentation system configured to determine any of the pitch, roll, pitch rate, and roll rate of the aircraft, and communicably coupled with at least one of the first input and the second input. 4. The apparatus of claim 3, wherein the flight instrumentation system is at least one of an AHRS and an ADC. 5. The apparatus of claim 1, wherein the compensation module is configured to filter and then multiply at least one of the pitch rate and the roll rate by a gain value to determine at least one of a roll compensation amount and a pitch compensation amount and then add the at least one of the pitch and the roll of the aircraft to at least one of the pitch compensation amount and the roll compensation amount to determine at least one of the compensated pitch and the compensated roll. 6. The apparatus of claim 5, wherein the gain value corresponds to a value equal to or below an average amount of net time delay associated with a flight instrumentation system to determine at least one of the pitch, roll, pitch rate, and roll rate of the aircraft. 7. The apparatus of claim 5, wherein compensation module further comprises at least one of a low-pass filter and a lead/lag filter configured to filter the at least one of the pitch rate and the roll rate. 8. The apparatus of claim 7, wherein the compensation module includes both the low-pass filter and lead/lag filter and the compensation module is further configured to multiply the output of the lead/lag filter by a first gain value to determine a first product and to multiply the output of the low-pass filter by a second gain value to determine a second product, and then add the first product to the second product and to at least one of the pitch and the roll of the aircraft to determine at least one of the compensated pitch and the compensated roll. 9. The apparatus of claim 8, wherein the compensation module includes a plurality of lead/lag filters of varying order and the compensation module is operable to multiply the output of each of the lead/lag filters by one or more gain values to determine a plurality of products for addition to the first product and at least one of the pitch and the roll of the aircraft to determine at least one of the compensated pitch and the compensated roll. 10. The apparatus of claim 1, wherein the compensation module is further operable to compute a compensated heading based on a heading and a heading rate. 11. An apparatus for predicting at least one of pitch and roll of an aircraft, the system comprising: a first input configured for receiving a signal representing at least one of pitch and roll of an aircraft;a second input configured for receiving a signal representing at least one of pitch rate and roll rate of an aircraft;a compensation module configured to compute at least one of a compensated pitch and a compensated roll by multiplying at least one of the pitch rate and the roll rate by a gain value to determine at least one of a pitch compensation amount and a roll compensation amount and then adding the at least one of the pitch and the roll of the aircraft to at least one of the pitch compensation amount and the roll compensation amount; anda first output configured for outputting a signal representing at least one of the compensated pitch and the compensated roll to an autopilot system. 12. The apparatus of claim 11, further comprising the autopilot system configured to receive the signal from the first output and actuate any of a plurality of flight control components associated with the aircraft based on the signal output from the first output. 13. The apparatus of claim 11, wherein the first input comprises: a pitch input configured for receiving a signal representing the pitch of the aircraft; anda roll input configured for receiving a signal representing the roll of the aircraft. 14. The apparatus of claim 11, wherein the second input comprises: a pitch rate input configured for receiving a signal representing the pitch rate of the aircraft; anda roll rate input configured for receiving a signal representing the roll rate of the aircraft. 15. The apparatus of claim 11, wherein the first output comprises: a compensated pitch output for outputting a signal representing the compensated pitch; anda compensated roll output configured for outputting a signal representing the compensated roll. 16. The apparatus of claim 12, wherein the flight system is an autopilot system configured to receive signals from the first output as part of a control loop to determine how to actuate the flight control components of the aircraft. 17. The apparatus of claim 11, wherein the compensation module further comprises a low-pass filter configured to filter out high frequency components of the signal representing at least one of the pitch rate and the roll rate of an aircraft. 18. The apparatus of claim 11, wherein the compensation module further comprises at least one saturation module configured to limit signals representing at least one of the pitch compensation amount and the roll compensation amount to be within predefined upper and lower bounds. 19. The apparatus of claim 11, wherein the gain value corresponds with an amount of delay time below a maximum amount of delay time expected from a flight instrumentation system configured to provide signals to the first and second inputs of the apparatus. 20. The apparatus of claim 11, further comprising a flight instrumentation system configured to determine at least one of the pitch, roll, pitch rate, and roll rate of the aircraft, and configured to transmit at least one signal representing at least one of the pitch, roll, pitch rate, and roll rate of the aircraft to at least one of the first input and the second input, wherein the flight instrumentation system is at least one of an attitude and reference heading system (AHRS) and an air data computer (ADC). 21. The apparatus of claim 11, wherein the compensation module further comprises a low-pass filter and a lead/lag filter configured to filter at least one of the pitch rate and the roll rate, wherein the compensation module is further configured to multiply the output of the lead/lag filter by a first gain value to determine a first product and to multiply the output of the low-pass filter by a second gain value to determine a second product, and then add the first product to the second product and to at least one of the pitch and the roll of the aircraft to determine at least one of the compensated pitch and the compensated roll. 22. The apparatus of claim 21, wherein the compensation module includes a plurality of lead/lag filters of varying order and the compensation module is operable to multiply the output of each of the lead/lag filters by one or more gain values to determine a plurality of products for addition to the first product and at least one of the pitch and the roll of the aircraft to determine at least one of the compensated pitch and the compensated roll. 23. A method for retrofitting an aircraft with an attitude and reference heading system (AHRS), the method comprising: characterizing a delay time associated with the AHRS;selecting a gain value corresponding to the delay time;configuring an apparatus for using the gain value to determine at least one of a compensated pitch and a compensated roll of the aircraft; andinstalling the AHRS and the apparatus in the aircraft. 24. The method of claim 23, further comprising: configuring a compensation module of the apparatus to multiply the gain value with at least one of a pitch rate and a roll rate of the aircraft; andconfiguring at least one addition module to output at least one of the compensated pitch and the compensated roll, wherein the compensated pitch and the compensated roll are determined by adding an output of the gain module and at least one of a pitch and a roll of the aircraft. 25. The method of claim 23, wherein installing the AHRS and the apparatus in the aircraft further comprises attaching at least one input of the apparatus to the AHRS and attaching at least one output of the apparatus to an autopilot system.
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