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US 8,026,833 B2Granted
Method and device for generating a taxiing speed for an aircraft of a convoy
AssigneeAirbus Operations GmbH
InventorsFabrice Villaume, Pierre Scacchi
Life of this patent
Estimating the term…
Abstract
The device (1) comprises means (5) for calculating a controlled speed enabling the aircraft to observe a longitudinal separation relative to an aircraft of the convoy that precedes it.
Claims10
A method of generating a controlled speed for a following aircraft (Ai) taxiing on the ground in a convoy of aircraft (CA), whereby the following successive steps are performed automatically and repetitively:
- a) the current values of first parameters corresponding to parameters of at least one followed aircraft (Ai-1, A1) of said convoy (CA), which precedes said following aircraft (Ai) in said convoy (CA), are received;
- b) at least one longitudinal separation (Di) which must be observed between said followed aircraft (Ai-1) and said following aircraft (Ai) is generated;
- c) the current values of second parameters which correspond to parameters of said following aircraft (Ai) are measured;
- and
- d) using said current values of the first and second parameters and said longitudinal separation (Di), a controlled speed is calculated which represents a longitudinal speed instruction enabling the following aircraft (Ai) to taxi along a trajectory (TR) common to said convoy (CA) while maintaining said longitudinal separation (Di) relative to said followed aircraft,
- wherein, in the step d), said controlled speed vi is calculated using the following expression:
- v
- i
- =
- 1
- -
- y
- ~
- i
-
- c
-
- (
- s
- i
- )
- cos
-
- (
- ψ
- ~
- i
- )
-
- [
- 1
- +
- A
-
- (
- z
- i
- )
-
- (
- s
- 1
- -
- s
- i
- -
- 1
- -
- ∑
- n
- =
- 1
- i
- -
- 1
-
- D
- n
- )
- ]
-
- (
- σ
- i
-
- v
- 1
-
- cos
-
- (
- ψ
- ~
- 1
- )
- 1
- -
- y
- ~
- 1
-
- c
-
- (
- s
- 1
- )
- +
- [
- 1
- -
- σ
- i
- +
- A
-
- (
- z
- i
- )
-
- (
- s
- 1
- -
- s
- i
- -
- 1
- -
- ∑
- n
- =
- 1
- i
- -
- 1
-
- D
- n
- )
- ]
-
- v
- i
- -
- 1
-
- cos
-
- (
- ψ
- ~
- i
- -
- 1
- )
- 1
- -
- y
- ~
- i
- -
- 1
-
- c
-
- (
- s
- i
- -
- 1
- )
- +
- k
- i
-
- c
- i
- )
- in which:
- {tilde over (y)}i:
- is the lateral separation for an aircraft of rank i;
- {tilde over (y)}i-1:
- is the lateral separation for an aircraft of rank i-1;
- vi:
- is the longitudinal speed for the aircraft of rank i;
- vi-1:
- is the longitudinal speed for the aircraft of rank i-1;
- c(si):
- is the curvature at a current point for the aircraft of rank i;
- c(si-1):
- is the curvature at the current point for the aircraft of rank i-1;
- {tilde over (ψ)}i:
- is the angular separation for the aircraft of rank i;
- {tilde over (ψ)}i-1:
- is the angular separation for the aircraft of rank i-1;
- si-1:
- is the curvilinear abscissa for an aircraft of rank i-1;
- s1:
- is the curvilinear abscissa for the leader aircraft;
- {tilde over (ψ)}1:
- is the angular separation for the leader aircraft;
- υ1:
- is the longitudinal speed for the leader aircraft;
- c(s1):
- is the curvature at the current point of the leader aircraft;
- A(zi):
- is a quantity;
- σi:
- is a regulation parameter;
- {tilde over (y)}i:
- is the lateral separation for the leader aircraft;
- ki:
- is a gain;
- ci:
- is an appropriate set point;
- and
- Di:
- is the longitudinal separation between the leader aircraft of rank i-1 and an aircraft of rank i.
197 more elements
A device for generating a controlled speed for a following aircraft (Ai) taxiing on the ground in a convoy of aircraft (CA), said device (1) comprising:
- first means (12) for receiving the current values of first parameters corresponding to parameters of at least one followed aircraft (Ai-1, Ai) of said convoy (CA), that precedes said following aircraft (Ai) in said convoy (CA);
- second means (3) for generating at least one longitudinal separation (Di) which must be observed between said followed aircraft (Ai-1) and said following aircraft (Ai);
- third means (4) for measuring the current values of second parameters which correspond to parameters of said following aircraft (Ai);
- and
- fourth means (5) for calculating, using said current values of the first and second parameters and said longitudinal separation (Di), a controlled speed which represents a longitudinal speed instruction enabling the following aircraft (Ai) to taxi along a trajectory (TR) common to said convoy (CA) while maintaining said longitudinal separation (Di) relative to said followed aircraft,
- wherein said fourth means (5) are formed in such a way as to calculate said controlled speed vi using the following expression:
- v
- i
- =
- 1
- -
- y
- ~
- i
-
- c
-
- (
- s
- i
- )
- cos
-
- (
- ψ
- ~
- i
- )
-
- [
- 1
- +
- A
-
- (
- z
- i
- )
-
- (
- s
- 1
- -
- s
- i
- -
- 1
- -
- ∑
- n
- =
- 1
- i
- -
- 1
-
- D
- n
- )
- ]
-
- (
- σ
- i
-
- v
- 1
-
- cos
-
- (
- ψ
- ~
- 1
- )
- 1
- -
- y
- ~
- 1
-
- c
-
- (
- s
- 1
- )
- +
- [
- 1
- -
- σ
- i
- +
- A
-
- (
- z
- i
- )
-
- (
- s
- 1
- -
- s
- i
- -
- 1
- -
- ∑
- n
- =
- 1
- i
- -
- 1
-
- D
- n
- )
- ]
-
- v
- i
- -
- 1
-
- cos
-
- (
- ψ
- ~
- i
- -
- 1
- )
- 1
- -
- y
- ~
- i
- -
- 1
-
- c
-
- (
- s
- i
- -
- 1
- )
- +
- k
- i
-
- c
- i
- )
- in which:
- {tilde over (y)}i:
- is the lateral separation for an aircraft of rank i;
- {tilde over (y)}i-1:
- is the lateral separation for an aircraft of rank i-1;
- vi:
- is the longitudinal speed for the aircraft of rank i;
- vi-1:
- is the longitudinal speed for the aircraft of rank i-1;
- c(si) is the curvature at a current point for the aircraft of rank i;
- c(si-1):
- is the curvature at the current point for the aircraft of rank i-1;
- {tilde over (ψ)}i:
- is the angular separation for the aircraft of rank i;
- {tilde over (ψ)}i-1:
- is the angular separation for the aircraft of rank i-1;
- si-1:
- is the curvilinear abscissa for an aircraft of rank i-1;
- s1:
- is the curvilinear abscissa for the leader aircraft;
- {tilde over (ψ)}1:
- is the angular separation for the leader aircraft;
- υ1:
- is the longitudinal speed for the leader aircraft;
- c(s1):
- is the curvature at the current point of the leader aircraft;
- A(zi):
- is a quantity;
- σi:
- is a regulation parameter;
- {tilde over (y)}1:
- is the lateral separation for the leader aircraft;
- ki:
- is a gain;
- ci:
- is an appropriate set point;
- and
- Di:
- is the longitudinal separation between the leader aircraft of rank i-1 and an aircraft of rank i.
196 more elements
Dependencies are inferred from the claim text.