# US 5,702,070 A · Apparatus and method using relative GPS positioning for aircraft precision approach and landing

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- Number: US 5,702,070 A
- Document ID: US5702070A
- Status: Granted
- Kind: A
- Application number: 08/531,133
- Filed: 1995-09-20
- Granted: 1997-12-30
- Earliest claimed: 1995-09-20
- Assignees: E-Systems, Inc.
- Inventors: James D. Waid
- Web page: https://patentgrep.com/patent/US5702070A

## CPC

- G08G 5/26: Transmission of traffic-related information between aircraft and ground stations
- G01S 5/0045: {Transmission from base station to mobile station (G01S5/009 takes precedence)}
- G01S 19/15: Aircraft landing systems
- G01S 19/51: Relative positioning
- G08G 5/54: for approach or landing
- G01S 19/20: Integrity monitoring, fault detection or fault isolation of space segment
- G01S 2205/003: for aircraft positioning relative to the ground
- 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})
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES

## Abstract

A relative GPS landing system is provided for approach and landing of aircraft where an accurate site survey of the GPS platform is unavailable. Data containing information on all GPS satellites in view is uplinked from a ground station to an aircraft. A relative solution is derived at the aircraft. Based upon the calculated solution, aircraft guidance signals are generated for approach and landing of the aircraft at a desired point.

## Claims

### Claim 1

A navigation system for an aircraft, comprising:
a ground station comprising:
a first navigation receiver coupled to an antenna to receive satellite navigation signals transmitted from a plurality of satellites, said first navigation receiver generating pseudorange data corresponding to each of said plurality of satellites;
a ground station processor for processing the pseudorange data and offset data identifying the location of the ground station relative to an aircraft runway touchdown position, said processor generating a ground station data message;
a data input interface for inputting the offset data to the ground station processor;
an encoder for encoding the ground station data message;
a datalink transmitter coupled to said encoder and to a datalink antenna for transmitting the encoded ground station data message over a datalink; and
an airborne station aboard the aircraft comprising:
a second navigation receiver coupled to an antenna to receive satellite navigation signals transmitted from a plurality of satellites;
a datalink receiver coupled to an antenna for receiving the encoded ground station data message over the datalink;
a decoder for decoding the encoded ground station data message received via the datalink; and
an airborne station processor coupled to said decoder for calculating a relative position of the ground station using the decoded ground station data message and a relative position of the aircraft using the satellite navigation signals received by the second navigation receiver, said airborne station processor generating a relative position vector corresponding to the position of the aircraft relative to a reference point, said airborne station processor generating the relative position vector from the offset data and from the relative positions of the ground station and the aircraft, and said airborne station processor computing guidance information from the relative position vector.

### Claim 2 (depends on 1)

A navigation system in accordance with claim 1 wherein the ground station processor generates a plurality of ground station data messages each comprising a first data message including the pseudorange data for selected ones of the plurality of satellites.

### Claim 3 (depends on 1)

A navigation system in accordance with claim 1 wherein the ground station data message comprises:
a satellite identification data field;
a pseudorange data field; and
a pseudorange rate data field.

### Claim 4 (depends on 3)

A navigation system in accordance with claim 3 wherein the ground station data message further comprises a second data message comprising the offset data.

### Claim 5 (depends on 4)

A navigation system in accordance with claim 4 wherein the second data message comprises:
an approach reference data header data field; and
an approach reference data field.

### Claim 6 (depends on 1)

A navigation system in accordance with claim 1 wherein the datalink antenna comprises a TACAN/DME antenna.

### Claim 7 (depends on 6)

A navigation system in accordance with claim 6 wherein the data input interface comprises:
an I/O interface coupled to the ground station processor;
a keyboard coupled to the I/O interface for inputting the offset data; and
a display coupled to the I/O interface for verifying the input offset data.

### Claim 8 (depends on 1)

A navigation system in accordance with claim 1 wherein the airborne station processor generates guidance information comprising one or more intermediate approach waypoints between the aircraft and the desired touchdown point.

### Claim 9 (depends on 1)

A navigation system in accordance with claim 1 wherein the airborne station processor generates guidance information comprising desired glide slope information.

### Claim 10 (depends on 1)

A navigation system in accordance with claim 1 wherein the ground station processor monitors the integrity of the pseudorange data before generating a ground station data message.

### Claim 11 (depends on 10)

A navigation system in accordance with claim 10 wherein the first navigation receiver comprises two Global Positioning System receivers.

### Claim 12 (depends on 11)

A navigation system in accordance with claim 11 wherein the ground station processor monitors the integrity of the pseudorange data by monitoring the data received from the two Global Positioning System receivers, a test signal, and the encoded ground station data message transmitted over the datalink.

### Claim 13 (depends on 10)

A navigation system in accordance with claim 10 wherein the airborne station processor monitors the integrity of the pseudorange data received by the second navigation receiver.

### Claim 14 (depends on 13)

A navigation system in accordance with claim 13 wherein the airborne station processor monitors the integrity of the pseudorange data by monitoring the data received from the second navigation receiver, a test signal, and the encoded ground station data message received over the datalink.

### Claim 15 (depends on 1)

A navigation system in accordance with claim 1 wherein the airborne station processor calculates the relative position of the aircraft and the relative position of the ground station using a common group of satellites.

### Claim 16 (depends on 1)

A navigation system in accordance with claim 1 wherein the first navigation receiver comprises a choke-ring GPS antenna exhibiting high multipath attenuation characteristics.

### Claim 17 (depends on 12)

A navigation system in accordance with claim 12 wherein the datalink transmitter further comprises a trigger generator coupled to the datalink encoder for encoding the ground station data message.

### Claim 18

A relative positioning system for use on an aircraft for approach and landing on a runway and touchdown at a desired touchdown point, the positioning system comprising:
a navigation receiver coupled to an antenna to receive satellite navigation signals transmitted from a plurality of satellites;
a data link receiver coupled to an antenna to receive a TACAN/DME datalink signal from a ground station, said TACAN/DME datalink signal including position information and offset information, said position information generated by the ground station from satellite navigation signals and said offset information representing the position offset of the desired touchdown point relative to the ground station;
a processor for calculating from the TACAN/DME datalink signal a relative position of the ground station and for calculating a relative position of the aircraft from the satellite navigation signals received by the navigation receiver, said processor generating a relative position vector from the offset information and the relative positions of the ground station and the aircraft, the relative position vector defining the distance and direction of the aircraft from the desired touchdown point.

### Claim 19

A method for aircraft approach and landing using relative positioning, comprising the steps of:
receiving satellite navigation signals at a ground station and at an aircraft;
computing pseudorange data for the ground station using the satellite navigation signals received at the ground station to generate a set of ground station pseudorange data;
monitoring the integrity of the ground station pseudorange data;
transmitting ground station site information and the set of ground station pseudorange data from the ground station to the aircraft, the site information including offset information relating to the position offset of a desired landing approach reference point relative to the ground station;
computing pseudorange data for the aircraft using the satellite signals received at the aircraft;
monitoring the integrity of aircraft pseudorange data;
determining a satellite position relative to the aircraft for each of the satellites from ephemeris data contained within the satellite signals;
selecting a group of satellites to be used in calculating a relative position and a clock bias of the ground station and a relative position and a clock bias of the aircraft;
calculating at the aircraft the relative position and the clock bias of the ground station and the relative position and clock bias of the aircraft from the pseudorange data corresponding to the selected group of satellites;
determining a relative position vector from the offset information and the relative positions of the ground station and the aircraft, said relative position vector defining the position of the aircraft relative to the desired landing approach reference point; and
generating guidance information using the relative position vector for approach and landing of the aircraft.

### Claim 20

A method for aircraft approach and landing using relative positioning, comprising the steps of:
receiving satellite navigation signals at a ground station and at an aircraft;
computing pseudorange data using the satellite navigation signals received at the ground station at a time "t" to generate a set of ground station pseudorange data;
selecting a common group of satellites for use by the ground station and for use by the aircraft in calculating relative position data for the ground station and for the aircraft;
calculating at the ground station relative position data for the ground station from the set of ground station pseudorange data;
transmitting ground station site information and the relative position data for the ground station from the ground station to the aircraft, said ground station site information including offset information defining the offset position of a desired reference point relative to the ground station;
receiving the ground station site information and the relative position data for the ground station at the aircraft;
computing pseudorange data using the satellite signals received at the aircraft at the time "t" to generate a set of aircraft pseudorange data;
calculating at the aircraft relative position data for the aircraft from the set of aircraft pseudorange data;
determining a relative position vector from the offset information, the ground station relative position data, and the aircraft relative position data, said relative position vector defining the position of the aircraft relative to the desired reference point; and
generating guidance information using the relative position vector for approach and landing of the aircraft.

### Claim 21 (depends on 20)

The method of claim 20 further comprising the step of filtering the satellite navigation signals received at the ground station and at the aircraft using a Kalman filter before calculating the pseudorange data.