Abstract:
Systems and methods for reporting position and associated integrity during times when extrapolation is not taking place as accurately as possible. In one example, a processing device deactivates extrapolation of global positioning system (GPS) position information based on a predefined condition, receives ground speed information, and HFOM and HIL values from a global position system (GPS); calculates inflated HFOM and HIL values based on the received HFOM and HIL values and the ground speed and generates an automatic dependent surveillance-broadcast (ADS-B) OUT signal based on the calculated inflated HFOM and HIL values. A transmitter coupled to the processing device transmits the generated ADS-B OUT signal.

Description:
BACKGROUND OF THE INVENTION 
       [0001]    The regulatory requirements Radio Technical Commission for Aeronautics (RTCA), Inc. (RTCA/DO-260B) for automatic dependent surveillance-broadcast (ADS-B) OUT operation require the following: 
         [0002]    “The time of applicability to which the encoded latitude and longitude in an Airborne or Surface Position Messages are computed shall be within 100 milliseconds of the time of transmission.” 
         [0003]    “The position register shall be reloaded with position data at intervals that are no more than 200 milliseconds apart. The position being loaded into the Register shall have a time of applicability that is never more than 200 milliseconds different from any time during which the Register holds that data.” 
         [0004]    One issue is that the processing for extrapolating global positioning system (GPS) position in the polar region is extensive and taxing for microcontrollers or processors without floating point capability. 
       SUMMARY OF THE INVENTION 
       [0005]    The present invention provides systems and methods for reporting position and associated integrity during times when extrapolation is not taking place as accurately as possible. In one example, a processing device deactivates extrapolation of global positioning system (GPS) position information based on a predefined condition, receives ground speed information, and HFOM and HIL values from a global position system (GPS); calculates inflated HFOM and HIL values based on the received HFOM and HIL values and the ground speed and generates an automatic dependent surveillance-broadcast (ADS-B) OUT signal based on the calculated inflated HFOM and HIL values. A transmitter coupled to the processing device transmits the generated ADS-B OUT signal. 
         [0006]    In one aspect of the invention, the processing device and the transmitter are located on a vehicle such as an aircraft. 
         [0007]    In another aspect of the invention, the predefined condition includes the position information which indicates that the aircraft is within a predefined polar region. 
         [0008]    In still another aspect of the invention, the processing device determines an unextrapolated period. The calculation of the inflated HFOM and HIL values is further based on the determined unextrapolated period. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0009]    Preferred and alternative embodiments of the present invention are described in detail below with reference to the following drawings: 
           [0010]      FIG. 1  shows a representation of GPS values according to the prior art; 
           [0011]      FIG. 2  is a schematic diagram of an exemplary system formed in accordance with the present invention; and 
           [0012]      FIG. 3  is a flowchart of an exemplary process performed by the system shown in  FIG. 2 . 
       
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
       [0013]    The present invention will not extrapolate global positioning system (GPS) position when in a polar region or as desired. Numerous extended squitter fields regarding the integrity of position (i.e., Type Code, Navigation Integrity Category (NIC), NIC Supplement A, B, C, and Navigation Accuracy Category for Position (NACp) are based on horizontal integrity level (HIL) and horizontal figure of merit (HFOM) values received from the GPS. Thus, when GPS is not extrapolated, the integrity of the position is also affected. The present invention reports the position and associated integrity during times when extrapolation is not taking place (in polar region or not) as accurately as possible to minimize the impact of any deviation. 
         [0014]    The following provides background on the GPS terms—HIL (Horizontal Integrity Limit) and HFOM (Horizontal Figure of Merit) terms ( FIG. 1 ):
       HFOM (Horizontal Figure of Merit) represents horizontal navigation accuracy (95% confidence level)   HIL (Horizontal Integrity Limit) represents maximum navigation error (99.99999% confidence level).       
 
         [0017]    RTCA/DO-229D section 1.7.2 defines HIL as “The HIL is the radius of a circle in the horizontal plane (the local plane tangent to the WGS-84 ellipsoid), with its center being at the true position, that describes the region assured to contain the indicated horizontal position . . . . It is a function of the satellite and user geometry and the expected error characteristics . . . . ” 
         [0018]    HFOM is defined as “The HFOM is the radius of a circle in the horizontal plane (the local plane tangent to the WGS-84 ellipsoid), with its center being at the true position, the describes the region assured to contain the indicated horizontal position with at least a 95% probability under fault-free conditions at the time of applicability. 
         [0019]      FIG. 2  illustrates an exemplary system  20  used in a vehicle for improving reporting of position information during times when extrapolation of position information is not possible or intentionally disabled. The system  20  includes an automatic dependent surveillance-broadcast (ADS-B) transponder  24  that is in signal communication with a positioning device (global positioning system (GPS))  26 , an antenna  28 , and a memory device  30 . The transponder  24  inflates the integrity values (HIL, HFOM) used by an internal ADS-B OUT component based on the latest received integrity values (HIL, HFOM) and ground speed reported by the GPS  26 . The transponder  24  also accounts for the unextrapolated period (GPS data rate) and possible error in a ground speed value (defined as 10 m/s) received from the GPS  26 . The transponder  24  inflates the integrity values (HIL, HFOM) as minimally as possible. 
         [0020]      FIG. 3  is a flowchart of an exemplary process  80  performed by the transponder  24 . First, at a decision block  84 , the transponder  24  determines, based on position information received from the GPS  26 , whether the aircraft is in a predefined polar area. If the transponder  24  determines that the vehicle (or aircraft) is not in a polar area, then the transponder  24  generates the ADS-B OUT extended squitter information based on the received integrity values (HIL, HFOM) and an extrapolation of the GPS position information. 
         [0021]    If, at the decision block  84 , the transponder  24  determines that the aircraft is in a polar area, then GPS position information extrapolation is deactivated (or results of GPS position information extrapolation are ignored) at a block  90 . Then, at a block  92 , the transponder  24  calculates inflated integrity values (HIL, HFOM) based on the actual integrity values HIL, HFOM received from the GPS  26  and current ground speed information also received from the GPS  26 . Then, at a block  94 , the transponder  24  generates and ADS-B OUT signal based on the calculated inflated integrity values HIL, HFOM and position information received from the GPS  26 . 
         [0022]    Finally, at a block  96 , the transponder  24  sends the generated ADS-B OUT signal to the antenna  28  for transmission. The process  80  then returns to the decision block  84  to repeat, as necessary. 
         [0023]    The ADS-B OUT component of the transponder  24  makes use of the inflated HIL and HFOM when populating fields in extended squitter in the polar areas. 
         [0024]    The NAC P  subfield in Aircraft Operational Status (65 H ) Squitter messages is affected by new HFOM. 
         [0025]    The following subfields in the listed squitters are affected by received HIL: 
         [0026]    When airborne: 
         [0027]    Airborne Position (05 H ) 
         [0028]    Format Type/Navigation Integrity Category (NIC) subfield 
         [0029]    NIC Supplement B subfield 
         [0030]    Aircraft Operational Status (65 H ) Squitters 
         [0031]    NIC Supplement A subfield 
         [0032]    When on the surface: 
         [0033]    Surface Position (06 H ) Squitter 
         [0034]    Format Type/Navigation Integrity Category (NIC) subfield 
         [0035]    Aircraft Operational Status (65 H ) Squitters 
         [0036]    NIC Supplement A subfield 
         [0037]    NIC Supplement C subfield 
         [0038]    The following is an example using a GPS received HIL of 0.15 nm (or 277.8 m) and a ground speed of 300 kts (or 154.33 m/s) with a 1 Hz GPS sensor. 
         [0000]      HIL Inflated (m)=HIL GPS (m)+(Ground Speed(m/s)+Ground Speed Error(m/s))*Unextrapolated Period(s) 
         [0039]    Ground speed error is dependent on the quality of the positioning source. GPS receivers are generally grouped into two general categories—equipment providing velocity accuracy better than 10 m/s and those providing accuracy better than 2 m/s. This value can be derived from assumptions about the accuracy of the GPS source. 
         [0040]    Unextrapolated time is the worst case transmission time of the GPS sensor less the time of applicability allotment allowed in the first quoted statement in the background section (i.e. 100 msec.). In the case of a 1 Hz GPS sensor, the worst case transmission time is 1.2 sec and therefore the unextrapolated time would be 1.1 sec. A 5 Hz GPS sensor has a worst cast transmission time of 240 msec. In this case, the multiplier in the second equation is modified to 0.140 s (240 msec.−100 msec.=140 msec.) 
         [0041]    An example using a 1 Hz GPS sensor results in the following modification to HIL. 
         [0000]      458.6 m=277.8 m+(154.33 m/s+10 m/s)*1.1 s 
         [0042]    The same example with a 5 Hz GPS sensor results in the following modification to HIL: 
         [0000]      294.2 m=277.8 m+(154.33 m/s+10 m/s)*0.14 s 
         [0043]    While the present invention is defined only in the polar region, the same method for inflating integrity values could be used more broadly in other applications if acceptable. 
         [0044]    The following are examples squitter field data in normal (prior art) mode and the inflated (present invention) mode. In these examples a 1 Hz GPS source (maximum update interval 1200 ms) is used. The airborne cases assume ground speed of 300 kts (154.33 m/s) while on ground cases assume ground speed of 30 kts (15.433 m/s). 
         [0000]    
       
         
               
               
             
               
               
               
               
             
               
               
               
               
               
               
               
             
               
               
               
               
               
             
               
               
               
               
               
               
               
               
               
             
               
               
               
             
               
               
               
               
             
           
               
                   
                   
               
             
             
               
                   
                 Type Code 
               
             
          
           
               
                   
                 (in meters) 
                 Nor- 
                 In- 
               
             
          
           
               
                   
                 HIL GPS   
                 HFOM GPS   
                 HIL inflated   
                 HFOM inflated   
                 mal 
                 flated 
               
               
                   
               
               
                 Airborne 
                 32 
                 15 
                 212.8 
                 195.8 
                 11 
                 12 
               
               
                   
                 (*75)  
               
               
                 Airborne 
                  277.8 
                 140 
                 458.7 
                 320.8 
                 12 
                 13 
               
               
                 On 
                 32 
                 15 
                 60 (*75) 
                 43 
                 7 
                 7 
               
               
                 Ground 
                 (*75)  
               
               
                 On 
                  277.8 
                 140 
                 306 
                 168 
                 8 
                 8 
               
               
                 Ground 
               
               
                   
               
             
          
           
               
                   
                 NIC 
                 NIC Sup-A 
                 NIC Sup-B 
                 NIC Sup-C 
               
             
          
           
               
                   
                 Nor- 
                 In- 
                 Nor- 
                 In- 
                 Nor- 
                 In- 
                 Nor- 
                 In- 
               
               
                   
                 mal 
                 flated 
                 mal 
                 flated 
                 mal 
                 flated 
                 mal 
                 flated 
               
               
                   
               
               
                 Airborne 
                 8 
                 7 
                 0 
                 0 
                 0 
                 0 
                 n/a 
                 n/a 
               
               
                 Airborne 
                 7 
                 6 
                 0 
                 0 
                 0 
                 1 
                 n/a 
                 n/a 
               
               
                 On 
                 8 
                 8 
                 0 
                 0 
                 n/a 
                 n/a 
                 0 
                 0 
               
               
                 Ground 
               
               
                 On 
                 7 
                 7 
                 1 
                 1 
                 n/a 
                 n/a 
                 1 
                 1 
               
               
                 Ground 
               
               
                   
               
             
          
           
               
                   
                 NACP 
                   
               
             
          
           
               
                   
                   
                 Normal 
                 Inflated 
               
               
                   
                   
               
               
                   
                 Airborne 
                 9 
                 6 
               
               
                   
                 Airborne 
                 7 
                 6 
               
               
                   
                 On 
                 9 
                 8 
               
               
                   
                 Ground 
               
               
                   
                 On 
                 7 
                 7 
               
               
                   
                 Ground 
               
               
                   
                   
               
               
                   
                 (*) Advisory Circular (AC) No. 20-165 (a Federal Aviation Administration (FAA) document on the airworthiness approval of ADS-B Out systems) states the transponder shall limit the value of HIL to ≧75 m in cases when the GPS is providing HIL values less than 75 meters (m). 
               
             
          
         
       
     
         [0045]    While the preferred embodiment of the invention has been illustrated and described, as noted above, many changes can be made without departing from the spirit and scope of the invention. Accordingly, the scope of the invention is not limited by the disclosure of the preferred embodiment. Instead, the invention should be determined entirely by reference to the claims that follow.