초록 ▼

Disclosed is a method and device for generating a yaw rate command for an aircraft along a ground trajectory. The yaw rate command is generated by determining a current curvature, lateral deviation and angular deviation of the ground trajectory. A yaw rate calculator then calculates a yaw rate and g

Disclosed is a method and device for generating a yaw rate command for an aircraft along a ground trajectory. The yaw rate command is generated by determining a current curvature, lateral deviation and angular deviation of the ground trajectory. A yaw rate calculator then calculates a yaw rate and generates the yaw rate command based on the determined current curvature, lateral deviation and angular deviation.

대표청구항 ▼

1. A method of generating a yaw rate command for an aircraft along a ground trajectory, comprising the steps of: a) measuring current position, current heading, current lateral speed, and current longitudinal speed of said aircraft;b) determining, by a curvature unit, a current curvature at a curren

1. A method of generating a yaw rate command for an aircraft along a ground trajectory, comprising the steps of: a) measuring current position, current heading, current lateral speed, and current longitudinal speed of said aircraft;b) determining, by a curvature unit, a current curvature at a current target point of the trajectory on the basis of said trajectory and said measured current position;c) determining, by a lateral deviation unit, a current lateral deviation (yc) on the basis of said trajectory and said measured current position;d) determining, by an angular deviation unit, a current angular deviation (ψc) on the basis of said trajectory and said measured current heading; ande) calculating, by a yaw rate calculator, a yaw rate which represents said yaw rate command for the aircraft to follow said trajectory on the basis of said measured current lateral and longitudinal speeds, and on the basis of said determined current curvature, current lateral deviation (yc) and current angular deviation (ψc),wherein in step e), said yaw rate command rc is calculated by said yaw rate calculator according to the following expression: rc=(tgβ·Vx−Vy)/LRA in which:Vx is the measured current longitudinal speed of the aircraft;Vy is the measured current lateral speed of the aircraft;LRA is a parameter illustrating the longitudinal wheelbase of the aircraft; andβ is an angular parameter. 2. The method as claimed in claim 1, wherein in step b):a current element of said trajectory, said current element comprising a series of successive elements, is determined, by a trajectory unit, on the basis of said trajectory and said measured current position;the current target point is determined based on the determined current element, a control point of the aircraft and said current position; andthe current curvature is determined based on the determined current target point. 3. The method as claimed in claim 1, wherein in step c), said current lateral deviation (yc) is determined based on distance between a control point of the aircraft and the current target point of the trajectory. 4. The method as claimed in claim 1, wherein in step d), said current angular deviation (ψc) is determined based on angular deviation between the current heading of the aircraft and a tangent to the trajectory at the current target point. 5. The method as claimed in claim 1, wherein said parameter β is based on the current curvature, the current lateral deviation (yc), and the current angular deviation (ψc). 6. The method as claimed in claim 1, wherein:in step a), a current yaw rate of the aircraft is measured;a predicted curvature is determined on the basis of said trajectory and said measured current position of the aircraft; andsaid parameter β is calculated on the basis of the determined current curvature, current lateral deviation (yc), current angular deviation (ψc), the current yaw rate, and predicted curvature. 7. The method as claimed in claim 6, wherein said predicted curvature corresponds to a curvature of trajectory at a predetermined distance from the current position of the aircraft. 8. A procedure for automatic lateral guidance of an aircraft along a ground trajectory, comprising the steps of: A/ generating a yaw rate command according to the method of claim 1;wherein:B/ setpoints are calculated by a set point calculator and applied to a control unit to pilot the aircraft laterally according to said yaw rate command. 9. A yaw rate command device that generates a yaw rate command for an aircraft along a ground trajectory, said device comprising: ground trajectory receiver that receives said ground trajectory;information sources that measure current position, current heading, current lateral speed, and current longitudinal speed of said aircraft;curvature unit that determines, on the basis of said trajectory and said measured current position, a current curvature at a current target point of the trajectory;lateral deviation unit that determines on the basis of said trajectory and said measured current position, a current lateral deviation (yc);angular deviation unit that determines, on the basis of said trajectory and said measured current heading, a current angular deviation (ψc); andyaw rate calculator that determines, on the basis of said measured current lateral and longitudinal speeds, and on the basis of said current curvature, current lateral deviation (yc) and current angular deviation (ψc), a yaw rate which represents said yaw rate command for the aircraft to follow said trajectory,wherein said yaw rate calculator calculates said yaw rate command rc according to the following expression: rc=(tgβ·Vx−Vy)/LRA in which:Vx is the measured current longitudinal speed of the aircraft;Vy is the measured current lateral speed of the aircraft;LRA is a parameter illustrating the longitudinal wheelbase of the aircraft; andβ is an angular parameter. 10. A lateral guidance system that laterally guides an aircraft along a ground trajectory, the system comprising: the yaw rate command device of claim 9;control unit that acts on yaw motion of the aircraft;set point calculator that calculates setpoints based on said yaw rate command generated by the yaw rate command device; andactuator that applies the calculated setpoints to said control unit.