# US 10,121,385 B2 · Method and device for estimating a lateral speed and a lateral position of an aircraft, during a phase where the aircraft is traveling on the ground > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,121,385 B2 - Document ID: US10121385B2 - Status: Granted - Kind: B2 - Application number: 15/364,203 - Filed: 2016-11-29 - Published: 2017-06-08 - Granted: 2018-11-06 - Earliest claimed: 2015-12-08 - Assignees: Airbus Operations GmbH - Applicants: Airbus Operations (S.A.S.) - Inventors: Fabien Guignard; Priteche Venilal - Web page: https://patentgrep.com/patent/US10121385B2 ## CPC - G08G 5/51: for control when on the ground, e.g. taxiing or rolling - B64D 43/00: Arrangements or adaptations of instruments - G01C 21/165: {combined with non-inertial navigation instruments} - G01C 23/00: Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration - G05D 1/0083: {to help an aircraft pilot in the rolling phase} - G08G 5/21: located onboard the aircraft - G08G 5/54: for approach or landing - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) - B64D: EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract Method and device for estimating lateral speed and lateral position of an aircraft during a phase where the aircraft is traveling on the ground. The device includes a unit for determining an initial lateral position value, corresponding to lateral position with respect to axis of a runway when touching down on landing, a unit for repetitively determining, at least from runway touch down, current ground speed and a current lateral angular deviation, representing angular deviation between the current route and the heading of the runway, a unit for repetitively computing current lateral speed, from the current ground speed and current lateral angular deviation, a unit for computing a current lateral position, from current lateral speed and initial lateral position, and a link for transmitting the current lateral speed and/or the current lateral position to at least one user system. ## Claims ### Claim 1 A method for estimating a current lateral speed and a current lateral position of an aircraft while the aircraft is traveling on a runway after a landing of the aircraft on the runway, the method comprising: determining, using a first data generation unit, a lateral position value that represents an initial lateral position, wherein the initial lateral position corresponds to a lateral position value of the aircraft with respect to a central longitudinal axis of the runway at a time of the aircraft touching down on the runway on landing; repetitively determining, at least from the time of the aircraft touching down on the runway upon landing, a current ground speed of the aircraft and a current lateral angular deviation from at least inertial information, wherein the current lateral angular deviation represents an angular deviation between a current route of the aircraft and a heading of the runway, and wherein repetitively determining the current ground speed and the current lateral angular deviation is performed using at least a second data generation unit; repetitively computing, using a first computation unit, the current lateral speed of the aircraft from the current ground speed and the current lateral angular deviation of the aircraft; computing, using a second computation unit, a current lateral position from the current lateral speed and the initial lateral position of the aircraft; and transmitting, using a data transmission link, one or more of the current lateral speed and the current lateral position to at least one user system of the aircraft. ### Claim 2 (depends on 1) The method as claimed in claim 1, wherein the first data generation unit comprises a multimode receiver. ### Claim 3 (depends on 2) The method of claim 2, comprising monitoring, using a first processing unit, a lateral position generated by the multimode receiver when the aircraft is in flight to detect a noisy lateral position value, wherein the first processing step is implemented by a first processing unit prior to determining the lateral position value, and wherein determining the lateral position value comprises determining a zero value for the initial lateral position, in case a noisy lateral position value is detected. ### Claim 4 (depends on 3) The method of claim 3, wherein determining the lateral position value comprises comparing a value generated by the multimode receiver with a threshold value and, when the value generated by the multimode receiver is less than or equal to the threshold value, using the value generated by the multimode receiver as the initial lateral position or, otherwise, using an auxiliary value as the initial lateral position. ### Claim 5 (depends on 4) The method of claim 4, wherein the auxiliary value corresponds to the threshold value or zero. ### Claim 6 (depends on 2) The method of claim 2, wherein determining the lateral position value comprises comparing a value generated by the multimode receiver with a threshold value and, when the value generated by the multimode receiver is less than or equal to the threshold value, using the value generated by the multimode receiver as the initial lateral position or, otherwise, using an auxiliary value as the initial lateral position. ### Claim 7 (depends on 1) The method of claim 1, wherein determining the lateral position value comprises: monitoring the aircraft to detect one or more events, wherein the one or more events comprise at least one of: a compression of a main landing gear of the aircraft; a rotation of one or more wheels of the aircraft; and a zero height of the aircraft relative to ground; and determining the time of the aircraft touching down on the runway during landing, from at least a time of detection of at least one of the one or more events. ### Claim 8 (depends on 1) The method of claim 1, wherein repetitively determining the current ground speed and the current lateral angular deviation comprises determining one or more parameters, wherein the one or more parameters comprise at least one of: the current ground speed of the aircraft and the current lateral angular deviation, from hybridized data obtained from inertial data and from data coming from a satellite positioning system. ### Claim 9 (depends on 1) The method of claim 1, wherein computing the current lateral position comprises using a following expression: Yc=∫VYc+Y0, wherein VYc is the current lateral speed and Y0 is the initial lateral position. ### Claim 10 (depends on 1) The method of claim 1, wherein the at least one user system comprises one or more of an automatic pilot and a flight director. ### Claim 11 (depends on 10) The method of claim 10, comprising: guiding the aircraft by the automatic pilot, based on the current lateral speed and/or the current lateral position; and/or displaying, using the flight director, the current lateral speed and/or the current lateral position to a pilot of the aircraft. ### Claim 12 A device for estimating a current lateral speed and a current lateral position of an aircraft while the aircraft is traveling on a runway after a landing of the aircraft on the runway, the device comprising: a first data generation unit configured for determining a lateral position value that represents an initial lateral position, wherein the initial lateral position corresponds to a lateral position value of the aircraft with respect to a central longitudinal axis of the runway at a time of the aircraft touching down on the runway on landing; a second data generation unit configured for repetitively determining, at least from the time of the aircraft touching down on the runway upon landing, a current ground speed of the aircraft and a current lateral angular deviation, wherein the current lateral angular deviation represents an angular deviation between a current route of the aircraft and a heading of the runway; a first computation unit configured for repetitively computing the current lateral speed of the aircraft from the current ground speed and the current lateral angular deviation of the aircraft; a second computation unit configured for computing a current lateral position from the current lateral speed and the initial lateral position of the aircraft; and a data transmission link configured for transmitting one or more of the current lateral speed and the current lateral position to at least one user system of the aircraft. ### Claim 13 (depends on 12) The device of claim 12, wherein the first data generation unit corresponds to comprises a multimode receiver. ### Claim 14 (depends on 12) The device of claim 12, wherein the second data generation unit comprises at least an inertial data system and a sensor associated with a satellite positioning system. ### Claim 15 (depends on 12) The device of claim 12, wherein the at least one user system comprises one or more of an automatic pilot and a flight director. ### Claim 16 (depends on 15) The device of claim 15, wherein the automatic pilot is configured to: guide the aircraft using one or more of the current lateral speed and the current lateral position; and/or display one or more of the current lateral speed and the current lateral position to a pilot of the aircraft. ### Claim 17 An aircraft comprising a device for estimating a current lateral speed and a current lateral position of an aircraft while the aircraft is traveling on a runway after a landing of the aircraft on the runway, the device comprising: a first data generation unit configured for determining a lateral position value that represents an initial lateral position, wherein the initial lateral position corresponds to a lateral position value of the aircraft with respect to a central longitudinal axis of the runway at a time of the aircraft touching down on the runway on landing; a second data generation unit configured for repetitively determining, at least from the time of the aircraft touching down on the runway upon landing, a current ground speed of the aircraft and a current lateral angular deviation, wherein the current lateral angular deviation represents an angular deviation between a current route of the aircraft and a heading of the runway; a first computation unit configured for repetitively computing the current lateral speed of the aircraft from the current ground speed and the current lateral angular deviation of the aircraft; a second computation unit configured for computing a current lateral position from the current lateral speed and the initial lateral position; and a data transmission link configured for transmitting one or more of the current lateral speed and the current lateral position to at least one user system of the aircraft. ### Claim 18 (depends on 17) The aircraft of claim 17, wherein the at least one user system comprises one or more of an automatic pilot and a flight director. ### Claim 19 (depends on 18) The aircraft of claim 18, wherein: the automatic pilot is configured to guide the aircraft using one or more of the current lateral speed and the current lateral position, and/or the flight director is configured to display one or more of the current lateral speed and the current lateral position to a pilot of the aircraft.