Operator fine tracking assist using sensor derived inputs
AssigneeThe Boeing Company
InventorDavid J. Halaas
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Abstract
A preferred embodiment of a method for fine-tracking operator assistance for controlling movement of an object toward a target combines an operator input for guiding the object toward the target with a sensor-derived input from sensor measurement of the object's position relative to the target's position. The combined input is separated into low and high frequency content, and a Low Frequency Authority Limit component applies a pre-determined gain over a selected range to the low frequency content, while a High Frequency Authority Limit component applies a pre-determined gain over a selected range to the high frequency content. The low-frequency gain output is combined with the high-frequency gain output as a total control input for control of the object relative to the target.
Claims16
A system for fine-tracking operator assistance in performing a control task for controlling movement of an object toward a target, said system receiving an operator input signal and a sensor derived input signal, and determining a total control input, said system comprising:
- a first subtractor component subtracting said operator input signal from said sensor derived input signal, to produce a combined difference input signal;
- a low/high filtering component for separating the combined difference input signal into a low frequency portion of the combined difference input signal and a high frequency portion of the combined difference input signal;
- a Low Frequency Authority Limit component applying a first gain shape to the low frequency portion of the combined difference input signal to provide a low-frequency gain output;
- a High Frequency Authority Limit component for applying a second gain shape to the high frequency portion of the combined difference input signal to provide a high-frequency gain output;
- an adder component adding the low-frequency gain output with the high-frequency gain output to form an adjusted sensor derived signal;
- and
- an output component adding the operator input signal with the adjusted sensor derived signal to form the total control input for control of movement of the object relative to the target.
A method for fine-tracking operator assistance in performing a control task for controlling movement of an object toward a target comprising:
- receiving an operator input signal and a sensor derived input signal;
- subtracting said operator input signal from said sensor derived input signal to produce a combined difference input signal;
- separating the combined difference input signal into a low frequency portion of the combined difference input signal and a high frequency portion of the combined difference input signal;
- applying a first gain shape to the low frequency portion of the combined difference input signal to provide a low-frequency gain output;
- applying a second gain shape to the high frequency portion of the combined difference input signal to provide a high-frequency gain output;
- adding the low-frequency gain output with the high-frequency gain output to form an adjusted sensor derived signal;
- and
- adding the operator input signal with the adjusted sensor derived signal to determine a total control input for control of movement of the object relative to the target.
Dependencies are inferred from the claim text.