Method, apparatus or software for controlling the heading of an aircraft on the ground
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G06F-017/00
G05D-001/00
G05D-001/02
G01C-021/00
출원번호
US-0026808
(2008-02-06)
등록번호
US-8463466
(2013-06-11)
우선권정보
GB-0702332.8 (2007-02-07)
발명자
/ 주소
Venios, Anthony
Mongereau, Stephan
Sharma, Sanjiv
Verzichelli, Gianluca
Hebborn, Andrew
Guery, Xavier
출원인 / 주소
Airbus Operations Limited
대리인 / 주소
Lowe Hauptman Ham & Berner, LLP
인용정보
피인용 횟수 :
0인용 특허 :
5
초록
A method, apparatus and software is disclosed for controlling the heading of an aircraft travelling on the ground in which veering is detected and compensatory steering commands generated so as to automatically maintain a reference heading.
대표청구항▼
1. A method of controlling the ground heading of a taxiing aircraft using an aircraft ground steering system, said method comprising the steps of: a) defining a first activation condition as a predetermined threshold of a first steering command input to said ground steering system of the aircraft;b)
1. A method of controlling the ground heading of a taxiing aircraft using an aircraft ground steering system, said method comprising the steps of: a) defining a first activation condition as a predetermined threshold of a first steering command input to said ground steering system of the aircraft;b) monitoring said first steering command input to said ground steering system for said first activation condition;c) if said first activation condition is met, storing the current heading of the aircraft as a reference heading;d) monitoring the true heading of said aircraft so as to detect deviation of said aircraft from said reference heading;e) calculating a ground steering angle arranged to correct any said deviation and to cause said ground steering system of said aircraft to return said aircraft to said reference heading;f) applying said ground steering angle in the form of a second steering command calculated by a heading controller to said ground steering system;adding said second steering command to said first steering command; and,steering said taxiing aircraft on the ground via a nose-wheel of said aircraft and in accordance with said added first and second steering commands. 2. A method according to claim 1, wherein steps d) to f) are repeated at predetermined time intervals. 3. A method according to claim 1, wherein said first activation condition is said first steering command falling below a predetermined level of steering angle; andsaid steps d) to f) are performed only when said first steering command is below said predetermined level of steering angle. 4. A method according to claim 1, wherein said steering commands are inputted into a nose wheel control system loop of the aircraft. 5. A storage containing a program or a group of programs arranged to enable a programmable device or group of such devices to perform the method of claim 1. 6. A method according to claim 1, wherein said first activation condition is said first steering command falling below a predetermined level of steering angle and is one of a set of activation conditions, all of which must be satisfied prior to said reference heading being determined. 7. A method according to claim 6, wherein said set of activation conditions further comprises a second activation condition of the aircraft ground speed being below a predetermined threshold. 8. A method according to claim 6, wherein said set of activation conditions further comprises a third activation condition of the aircraft longitudinal acceleration being below a predetermined threshold. 9. A method according to claim 6, wherein said set of activation conditions further comprises a fourth activation condition of a heading control function being enabled. 10. A method according to claim 6, wherein said set of activation conditions further comprises a fifth activation condition of heading data from a navigation system of the aircraft being within a predetermined range of accuracy. 11. A method according to claim 6, wherein said steps d) to f) are performed only when all said activation conditions have been met for a predetermined time threshold. 12. A method according to claim 6, wherein processing of said steps d) to 0 are aborted if a predetermined first deactivation condition is met. 13. A method according to claim 12, wherein said first deactivation condition is one of a set of deactivation conditions, and if any of said deactivation conditions is satisfied said processing of said d) to f) steps is aborted. 14. A method according to claim 12, wherein said first deactivation condition is an input into said ground steering system of the aircraft meeting a predetermined first deactivation threshold. 15. A method according to claim 12, wherein said processing of said d) to f) steps are aborted only when one or more of said deactivation conditions have been met for a predetermined second time threshold. 16. A method according to claim 12, wherein said or each deactivation condition is the converse of a respective said activation condition. 17. Apparatus for controlling the ground heading of a taxiing aircraft, said apparatus being configured to: define a first activation condition as a predetermined threshold of a first steering command input to a ground steering system of the aircraft;monitor said first steering command input to said aircraft ground steering system for said first activation condition;if said first activation condition is met, store the current heading of the aircraft as a reference heading;monitor the true heading of said aircraft so as to detect deviation of said aircraft from said reference heading;calculate a ground steering angle arranged to correct any said deviation and to cause said ground steering system of said aircraft to return said aircraft to said reference heading;apply said ground steering angle in the form of a second steering command to said ground steering system; and,wherein said second steering command is added to said first steering command for said ground steering system for steering said taxiing aircraft on the ground via a nose-wheel of said aircraft and in accordance with the added first and second steering commands. 18. Apparatus according to claim 17, wherein said apparatus is further configured to determine said true heading, monitor said true heading, calculate said ground steering angle and apply the calculated ground steering angle to said ground steering system at predetermined time intervals. 19. Apparatus according to claim 17, wherein said first activation condition is said first steering command falling below a predetermined level of steering angle; andsaid apparatus is further configured to determine said true heading, monitor said true heading, calculate said ground steering angle and apply the calculated ground steering angle to said ground steering system only when said first steering command is below said predetermined level of steering angle. 20. Apparatus according to claim 17, wherein said steering commands are inputted into a nose wheel control system loop of the aircraft. 21. A programmable device or group of such devices programmed by a program or a group of programs to provide the apparatus of claim 17. 22. Apparatus according to claim 17, wherein said first activation condition is said first steering command falling below a predetermined level of steering angle and is one of a set of activation conditions, all of which must be satisfied prior to said reference heading being determined. 23. Apparatus according to claim 22, wherein said set of activation conditions further comprises a second activation condition of the aircraft ground speed being below a predetermined threshold. 24. Apparatus according to claim 22, wherein said set of activation conditions further comprises a third activation condition of the aircraft longitudinal acceleration being below a predetermined threshold. 25. Apparatus according to claim 22, wherein said set of activation conditions further comprises a fourth activation condition of a heading control function being enabled. 26. Apparatus according to claim 22, wherein said set of activation conditions further comprises a fifth activation condition of heading data from a navigation system of the aircraft being within a predetermined range of accuracy. 27. Apparatus according to claim 22, wherein said ground steering angle is calculated only when all said activation conditions have been met for a predetermined time threshold. 28. Apparatus according to claim 22, wherein said calculation of said ground steering angle is aborted if a predetermined first deactivation condition is met. 29. Apparatus according to claim 28, wherein said first deactivation condition is one of a set of deactivation conditions and if any of said deactivation conditions is satisfied said calculation of said ground steering angle is aborted. 30. Apparatus according to claim 28, wherein said first deactivation condition is an input into the ground steering system meeting a predetermined first deactivation threshold. 31. Apparatus according to claim 28, wherein said calculation of said ground steering angle is aborted only when one or more of said deactivation conditions have been met for a predetermined second time threshold. 32. Apparatus according to claim 28, wherein said or each deactivation condition is the converse of a respective said activation condition. 33. A method of automatically controlling the ground heading of a taxiing aircraft using an aircraft ground steering system, said method comprising: setting a steering demand threshold;monitoring a user's manual steering demand input via a manual ground steering control to said aircraft ground steering system of the aircraft with respect to said predetermined steering demand threshold; andif said user's manual steering demand input falls below said steering demand threshold, then automatically enabling the performance of the steps of: a) setting the current heading of said aircraft as a reference heading;b) monitoring the true heading of said aircraft so as to detect any deviation of said aircraft from said reference heading;c) if a deviation of said aircraft from said reference heading is detected, then calculating a ground steering angle arranged to correct said deviation and to enable said ground steering system to return said aircraft to said reference heading; andd) automatically applying said ground steering angle to said ground steering system for substantially maintaining said reference heading via a nose-wheel of said aircraft and in accordance with said ground steering angle automatically applied to said ground steering system. 34. A method according to claim 33, wherein said steering demand threshold is set at a level indicating no significant steering control demand from said user. 35. A method according to claim 34, wherein said ground steering system steers said aircraft exclusively via the nose-wheel of said aircraft and in accordance with the ground steering angle automatically applied to said ground steering system. 36. A method according to claim 34, further comprising: if said user's manual steering demand input rises above said steering demand threshold, then disabling said automatic performance of steps a) to d). 37. A method according to claim 36, wherein said ground steering system steers said aircraft exclusively via the nose-wheel of said aircraft and in accordance with the ground steering angle automatically applied to said ground steering system. 38. A method according to claim 33, further comprising: if said user's manual steering demand input rises above said steering demand threshold, then disabling said automatic performance of steps a) to d). 39. A method according to claim 38, wherein said ground steering system steers said aircraft exclusively via the nose-wheel of said aircraft and in accordance with the ground steering angle automatically applied to said ground steering system.
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이 특허에 인용된 특허 (5)
Kilner Jerome R. (Bellevue WA) Warren Steven M. (Seattle WA), Automatic control system for directional control of an aircraft during landing rollout.
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