Patent ID: 8214090
Filing Date: 2012-07-03
Classification: G05D,G08G

Abstract:
1. A method of generating a yaw rate command for an aircraft along a ground trajectory, comprising the steps of: a) measuring current position, current heading, current lateral speed, and current longitudinal speed of said aircraft; b) determining, by a curvature unit, a current curvature at a current target point of the trajectory on the basis of said trajectory and said measured current position; c) determining, by a lateral deviation unit, a current lateral deviation (yc) on the basis of said trajectory and said measured current position; d) determining, by an angular deviation unit, a current angular deviation (ψc) on the basis of said trajectory and said measured current heading; and e) calculating, by a yaw rate calculator, a yaw rate which represents said yaw rate command for the aircraft to follow said trajectory on the basis of said measured current lateral and longitudinal speeds, and on the basis of said determined current curvature, current lateral deviation (yc) and current angular deviation (ψc), wherein in step e), said yaw rate command rc is calculated by said yaw rate calculator according to the following expression: in which: Vx is the measured current longitudinal speed of the aircraft; Vy is the measured current lateral speed of the aircraft; LRA is a parameter illustrating the longitudinal wheelbase of the aircraft; and β is an angular parameter.