Patent Grant
9346552
This disclosure generally relates to systems and methods for landing an aircraft. More particularly, this disclosure relates to systems and methods for in-flight determination of a height to initiate autothrottle retard.
Autothrottles control thrust on an aircraft and are used in many sections of flight, including take-off, cruise, and landing. During landing, the autothrottle retards throttles so that airspeed and rate of descent are reduced. The aircraft then descends at a rate that results in a safe and gentle touch-down.
Typically, autothrottle retard is initiated once the aircraft reaches a predetermined height above the runway. Determining an appropriate height can be important. If retard initiation height is too low, then the plane may descend too rapidly. If initiation height is too high, then the plane may stall. Either scenario may lead to significant structural damage and fatalities.
The retard initiation height is usually fixed for a given aircraft and, for example, may be around 50 feet above the runway. A fixed height may not be appropriate for all landings, increasing the risk that pilots may need to take evasive maneuvers to land a plane safely.
This disclosure relates to systems and methods for in-flight determination of a height to initiate autothrottle retard. Advantageously, the systems and methods may reduce the frequency with which pilots may need to take evasive maneuvers to land a plane safely.
In one embodiment, an autothrottle retard initiation method includes receiving an aircraft's ground speed, receiving the aircraft's vertical speed, determining autothrottle retard initiation height based on the aircraft's ground speed, the aircraft's vertical speed, and an aircraft vertical landing speed factor, receiving the aircraft's height above ground, and initiating autothrottle retard when the aircraft's height above ground and the autothrottle retard initiation height are equal.
In some embodiments, determining the autothrottle retard initiation height includes calculating an integral of the aircraft vertical landing speed factor from throttle retard initiation to touchdown.
In some embodiments, the aircraft's vertical landing speed factor represents a predetermined aircraft trajectory from the autothrottle retard initiation height to aircraft touchdown. In some further embodiments, the aircraft's flight path angle may be assumed constant from approach to touchdown, and the aircraft vertical landing speed factor at time t may be expressed as
where GS(t) is an aircraft ground speed factor at time t, VSAP is the aircraft's vertical speed during approach, and GSAP is the aircraft's ground speed during approach.
In some embodiments, the aircraft's flight path angle may change from approach to touchdown and the aircraft's vertical landing speed factor at time t may be expressed as
GS(t)tan(FPA(t)) (Equation 2)
where GS(t) is an aircraft ground speed factor at time t and FPA(t) is the aircraft's flight path angle factor at time t.
In some embodiments, receiving the aircraft's vertical speed includes receiving the aircraft's inertial vertical speed. In some embodiments, receiving the aircraft's ground speed includes receiving an instantaneous aircraft ground speed. In some embodiments, receiving the aircraft's ground speed includes receiving an average aircraft ground speed.
In some embodiments, the method comprises determining autothrottle retard initiation height based on an aircraft weight.
In one embodiment, an autothrottle retard initiation system includes a first module that receives an aircraft's ground speed, a second module that receives the aircraft's vertical speed, a third module that determines autothrottle retard initiation height based on the aircraft's ground speed, the aircraft's vertical speed, and an aircraft vertical landing speed factor, a fourth module that receives the aircraft's height above ground, and a fifth module that initiates autothrottle retard when the aircraft's height above ground and the autothrottle retard initiation height are equal.
In some embodiments, the third module integrates the aircraft vertical landing speed factor from throttle retard initiation to touchdown.
In some embodiments, the aircraft's vertical landing speed factor represents a predetermined aircraft trajectory from the autothrottle retard initiation height to aircraft touchdown. In some further embodiments the aircraft vertical landing speed factor at time t may be represented by Equation 1. In some embodiments, the aircraft's vertical landing speed factor at time t may be expressed by Equation 2.
In some embodiments, the second module receives the aircraft's inertial vertical speed. In some embodiments, the first module receives an instantaneous aircraft ground speed. In some embodiments, the first module receives an average aircraft ground speed.
In one embodiment, an autothrottle retard initiation method includes receiving an aircraft's ground speed, determining an autothrottle retard initiation height, receiving the aircraft's height above ground, and initiating autothrottle retard when the aircraft's height above ground and the autothrottle retard initiation height are equal. In some embodiments, the autothrottle retard initiation height is determined using
where GSAP is the aircraft's ground speed during approach, GSTD is the aircraft's ground speed at touchdown, AGS is a constant aircraft inertial ground speed deceleration, and FPA is a constant aircraft flight path angle.
In one embodiment, an autothrottle retard initiation system includes a first module that receives an aircraft's ground speed, a second module that determines an autothrottle retard initiation height, a third module that receives an aircraft's height above ground, and a fourth module that initiates autothrottle retard when the aircraft's height above ground and the autothrottle retard initiation height are equal. In some embodiments, the autothrottle retard initiation height is determined using Equation 3.
In one embodiment, an autothrottle retard initiation method includes receiving an aircraft weight, receiving an aircraft ground speed, receiving an aircraft height above ground, determining an autothrottle retard initiation height based on the aircraft weight and aircraft ground speed, and initiating autothrottle retard when the aircraft height above ground and the autothrottle retard initiation height are equal. By considering an aircraft's weight and ground-speed in determining retard initiation height, some embodiments may advantageously determine a height more suitable for a specific landing situation. For example, a heavier aircraft approaching at a faster ground speed may require more time (and, consequently, more height) to land safely than a relatively lighter and slower-approaching aircraft.
In some embodiments, the method includes adjusting aircraft throttles to reduce airspeed at not greater than two knots per second after initiating autothrottle retard. In further embodiments, the method includes discontinuing autothrottle retard when airspeed has decreased by ten knots or greater after initiating autothrottle retard. In some embodiments, the method includes preventing throttle advancement after initiating autothrottle retard. In some embodiments, the method includes identifying contact between aircraft landing gear and a runway and retarding aircraft throttles to idle after contact between the aircraft landing gear and the runway. In some embodiments, receiving the aircraft weight includes at least one of receiving manually entered data, receiving data from an aircraft sensor, and receiving data from an external sensor.
In one embodiment, an autothrottle retard initiation system includes a first module that receives an aircraft weight, a second module that receives an aircraft ground speed, a third module that receives an aircraft height above ground, a fourth module that determines an autothrottle retard initiation height based on the aircraft weight and aircraft ground speed, and a fifth module that initiates autothrottle retard when the aircraft height above ground and the autothrottle retard initiation height are equal. By considering an aircraft's weight and ground-speed in determining retard initiation height, some embodiments may advantageously determine a height more suitable for a specific landing situation.
In some embodiments, the system includes a sixth module that adjusts aircraft throttles to reduce airspeed at not greater than two knots per second after the fifth module initiates autothrottle retard. In some embodiments, the system includes a seventh module that discontinues autothrottle retard when airspeed has decreased by ten knots or greater after the fifth module initiates autothrottle retard. In some embodiments, the system includes an eighth module that prevents throttle advancement after the fifth module initiates autothrottle retard. In some embodiments, the system includes a ninth module that identifies contact between aircraft landing gear and a runway and a tenth module that retards aircraft throttles to idle when the ninth module identifies contact between the aircraft landing gear is on the runway. In some embodiments, the first module receives the aircraft weight through at least one of manually entered data, data from an aircraft sensor, and data from an external sensor.
In the following description of embodiments, reference is made to the accompanying drawings which form a part hereof, and in which it is shown by way of illustration specific embodiments in which the claimed subject matter may be practiced. It is to be understood that other embodiments may be utilized and structural changes may be made without departing from the scope of the claimed subject matter.
In some embodiments, a height to initiate autothrottle retard is determined in-flight. Advantageously, the systems and methods may reduce the frequency with which pilots need to take evasive maneuvers to land a plane safely.
In some embodiments, the height to initiate autothrottle retard is determined based upon a factor that considers the aircraft's ground speed and vertical speed.
Method 100 includes receiving the aircraft's ground speed 102. In some embodiments, receiving the aircraft's ground speed includes receiving an instantaneous aircraft ground speed. In some embodiments, receiving the aircraft's ground speed includes receiving an average aircraft ground speed over a period of time. In some embodiments, the aircraft ground speed may be provided by an airspeed indicator, E6B flight computer, or similar device. In most examples described herein, the received aircraft ground speed may also be referred to as the aircraft's ground speed at approach.
Method 100 includes receiving the aircraft's vertical speed 104. In some embodiments, receiving the aircraft's vertical speed includes receiving an instantaneous aircraft vertical speed. In some embodiments, receiving the aircraft's vertical speed includes receiving an average aircraft vertical speed over a period of time. In some embodiments, the vertical speed may be provided by a variometer or similar device. In some embodiments, receiving the aircraft's vertical speed includes receiving the aircraft's inertial vertical speed. In some embodiments, the inertial vertical speed may be provided by an inertial vertical speed indicator or similar device. In most examples described herein, the received aircraft vertical speed may also be referred to as the aircraft's vertical speed at approach.
Method 100 includes determining autothrottle retard initiation height 106. The autothrottle retard initiation height may be determined using the aircraft's ground speed, the aircraft's vertical speed, and an aircraft vertical landing speed factor.
In some embodiments, determining the autothrottle retard initiation height includes calculating an integral of the aircraft vertical landing speed factor from throttle retard initiation to touchdown. Height above ground (z) may be related to vertical speed (VS) by
ż=VS(t) (Equation 4)
Integrating this equation from throttle reduction to touchdown yields
ARIH=z(tTR)−z(tTD)=−∫t
where ARIH=autothrottle retard initiation height, tTD=time at touchdown, tTR=time at throttle retard, and VS(t) is the aircraft vertical landing speed factor. Because z(tTD) is zero, the equation above yields the height at autothrottle retard. In some embodiments, tTD and tTR are chosen to achieve a desired landing profile.
In some embodiments, the aircraft's vertical landing speed factor represents a predetermined aircraft trajectory from the autothrottle retard initiation height to aircraft touchdown.
In graph 200, the vertical speed factor provides a smooth trajectory from the approach value to the landing vertical speed. Before the time of flare initiation (tF), VS(t) may be expressed as Equation 1.
In some embodiments, the aircraft's flight path angle may change during landing. In some embodiments, the aircraft's vertical landing speed factor at time t may be expressed as Equation 2.
Returning to
Method 100 includes receiving the aircraft's height above ground 108. In some embodiments, aircraft height may be provided by a radar altimeter or a barometric altimeter coupled with a GPS system.
Method 100 includes initiating autothrottle retard 110. The autothrottle retard may be initiated when the aircraft's height above ground and the autothrottle retard initiation height are equal.
In some embodiments, method 100 may be performed at a predetermined height above the ground. For example, as the aircraft approaches landing, method 100 may be performed at 200 feet above the ground. In some embodiments, method 100 may be performed when the aircraft begins approach or may be initiated by the crew of the aircraft. In some embodiments, the method 100 is performed at a height that is determined based on landing or aircraft conditions.
Autothrottle retard initiation system 300 includes an aircraft ground speed module 302 that receives the aircraft ground speed. In some embodiments, aircraft ground speed module 302 receives an instantaneous aircraft ground speed. In some embodiments, the aircraft ground speed module receives an average aircraft ground speed.
Autothrottle retard initiation system 300 includes an aircraft vertical speed module 304 that receives the aircraft's vertical speed. In some embodiments, aircraft vertical speed module 304 receives the aircraft's inertial vertical speed.
Autothrottle retard initiation system 300 includes an autothrottle retard initiation height module 306 that determines autothrottle retard initiation height based on the aircraft's ground speed, the aircraft's vertical speed, and an aircraft vertical landing speed factor. In some embodiments, autothrottle retard initiation height module 306 integrates the aircraft vertical landing speed factor from throttle retard initiation to touchdown.
In some embodiments, the aircraft's vertical landing speed factor represents a predetermined aircraft trajectory from the autothrottle retard initiation height to aircraft touchdown. In some further embodiments the aircraft vertical landing speed factor at time t may be expressed as Equation 1.
In some embodiments, the aircraft's vertical landing speed factor at time t may be expressed as Equation 2.
Autothrottle retard initiation system 300 includes an aircraft height module 308 that receives the aircraft's height above ground and an autothrottle initiation module 310 that initiates autothrottle retard when the aircraft's height above ground and the autothrottle retard initiation height are equal.
In some embodiments, the height to initiate autothrottle retard is determined based on a factor that considers the aircraft's ground speed.
Method 400 includes receiving the aircraft's ground speed 402. In some embodiments, receiving the aircraft's ground speed includes receiving an instantaneous aircraft ground speed. In some embodiments, receiving the aircraft's ground speed includes receiving an average aircraft ground speed over a period of time. In some embodiments, the aircraft ground speed may be provided by an airspeed indicator, E6B flight computer, or similar device.
Method 400 includes receiving the aircraft's height above ground 404. In some embodiments, aircraft height may be provided by a radar altimeter or a barometric altimeter coupled with a GPS system.
Method 400 includes determining autothrottle retard initiation height 406. The autothrottle retard initiation height may be determined using the aircraft's ground speed and an autothrottle retard initiation height factor.
In some embodiments, the autothrottle retard initiation height factor assumes the aircraft's inertial ground speed deceleration along the flight path (AGS) is a constant and aircraft flight path angle (FPA) is a constant.
As shown in
Substituting Equation 7 into Equation 6 gives Equation 3.
Returning to
Method 400 includes initiating autothrottle retard 408. The autothrottle retard may be initiated when the aircraft's height above ground and the autothrottle retard initiation height are equal.
In some embodiments, method 400 may be performed at a predetermined height above the ground. For example, as the aircraft approaches landing, method 400 may be performed at 200 feet above the ground. In some embodiments, method 400 may be performed when the aircraft begins approach or may be initiated by the crew of the aircraft. In some embodiments, the method 400 is performed at a height that is determined based on landing or aircraft conditions.
Autothrottle retard initiation system 600 includes a ground speed module 602 that receives the aircraft's ground speed. In some embodiments, ground speed module 602 receives an instantaneous aircraft ground speed. In some embodiments, ground speed module 602 receives an average aircraft ground speed over a period of time.
Autothrottle retard initiation system 600 includes autothrottle retard initiation height module 604 that determines autothrottle retard initiation height. The autothrottle retard initiation height may be determined using the aircraft's ground speed and an autothrottle retard initiation height factor.
In some embodiments, the autothrottle retard initiation height factor assumes the aircraft inertial ground speed deceleration (AGS) is a constant and aircraft flight path angle (FPA) is a constant. Under these assumptions, the autothrottle retard initiation height factor may be expressed as Equation 3.
Autothrottle retard initiation system 600 includes an aircraft height module 306 that receives the aircraft's height above ground and an autothrottle initiation module 308 that initiates autothrottle retard when the aircraft's height above ground and the autothrottle retard initiation height are equal.
In some embodiments, an autothrottle retard initiation height is determined based on aircraft weight and ground-speed. Advantageously, the systems and methods may determine an initiation height more suitable to a specific landing situation.
Method 700 includes receiving an aircraft weight 702. In some embodiments, receiving an aircraft weight 702 may include receiving manually entered data, receiving data from an aircraft sensor, or receiving data from an external sensor. In some embodiments, an aircraft's structural weight may stay the same, but cargo and fuel weight may vary from flight to flight. Such variations in weight may be accounted for by step 702.
Method 700 includes receiving an aircraft ground speed 704. In some embodiments, aircraft ground speed may be determined by the vector sum of the aircraft's true airspeed and the current wind speed and direction.
Method 700 includes receiving an aircraft height above ground 706. In some embodiments, aircraft height may be provided by a radar altimeter or a barometric altimeter coupled with a GPS system.
Method 700 includes determining an autothrottle retard initiation height based on the aircraft weight and aircraft ground speed 708. In some embodiments, determining autothrottle retard initiation height may be performed by a computer that receives aircraft weight and ground speed as inputs.
Method 700 includes initiating autothrottle retard when the aircraft height above ground and the autothrottle retard initiation height 710 are equal.
In some embodiments, method 700 includes adjusting aircraft throttles to reduce airspeed at not greater than two knots per second after initiating autothrottle retard. In further embodiments, method 700 includes discontinuing autothrottle retard when airspeed has decreased by ten knots or greater after initiating autothrottle retard. In some embodiments, method 700 includes preventing throttle advancement after initiating autothrottle retard. In some embodiments, method 700 includes identifying contact between aircraft landing gear and a runway and retarding aircraft throttles to idle after contact between the aircraft landing gear and the runway.
System 800 includes a weight module 802 that receives an aircraft weight. In some embodiments, weight module 802 may include manual inputs for entering data, an aircraft sensor, or a sensor external to the aircraft.
System 800 includes a ground speed module 804 that receives an aircraft ground speed. Ground speed module 804 may include a true airspeed indicator and a computer for determining the vector sum of the aircraft's true airspeed and the current wind speed and direction.
System 800 includes an autothrottle retard initiation height module 806 that determines an autothrottle retard initiation height based on information received from the weight module 802 and the ground speed module 804. In some embodiments, autothrottle retard initiation height module 806 may include a computer.
System 800 includes a height module 808 that receives an aircraft height above ground. In some embodiments, height 808 may include a radar altimeter or a barometric altimeter coupled with a GPS system.
System 800 includes an autothrottle initiation module 810 that initiates autothrottle retard when the aircraft height above ground and the autothrottle retard initiation height are equal.
In some embodiments, system 800 includes another module (not shown) that adjusts aircraft throttles to reduce airspeed at not greater than two knots per second after the autothrottle initiation module 810 initiates autothrottle retard. In some embodiments, system 800 includes another module (not shown) that discontinues autothrottle retard when airspeed has decreased by ten knots or greater after the autothrottle initiation module 810 initiates autothrottle retard. In some embodiments, system 800 includes another module (not shown) that prevents throttle advancement after the autothrottle initiation module 810 initiates autothrottle retard. In some embodiments, system 800 includes another module (not shown) that identifies contact between aircraft landing gear and a runway and a further module (not shown) that retards aircraft throttles to idle after contact between the aircraft landing gear and the runway.
One skilled in the relevant art will recognize that many possible modifications and combinations of the disclosed embodiments can be used, while still employing the same basic underlying mechanisms and methodologies. The foregoing description, for purposes of explanation, has been written with references to specific embodiments. However, the illustrative discussions above are not intended to be exhaustive or to limit the disclosure to the precise forms disclosed. Many modifications and variations can be possible in view of the above teachings. The embodiments were chosen and described to explain the principles of the disclosure and their practical applications, and to enable others skilled in the art to best utilize the disclosure and various embodiments with various modifications as suited to the particular use contemplated.
Further, while this specification contains many specifics, these should not be construed as limitations on the scope of what is being claimed or of what may be claimed, but rather as descriptions of features specific to particular embodiments. Certain features that are described in this specification in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable subcombination. Moreover, although features may be described above as acting in certain combinations and even initially claimed as such, one or more features from a claimed combination can in some cases be excised from the combination, and the claimed combination may be directed to a subcombination or variation of a subcombination.
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