US3776455A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Terminal guidance system
Assignee: National Aeronautics and Space Administration
•
Filing: 1972-03-06
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Granted: 1973-12-04
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Expires: 1992-03-06
Abstract
Abstract A terminal guidance system including a heading command subsystem and a glide-slope command subsystem which develop command signals for use in guiding an aircraft or other vehicle into a preselected heading and/or altitude at a terminal point. The heading command subsystem is responsive to certain input data and continuously develops command signals for use in directing the aircraft from a remote location to a terminal point in such a manner that upon arrival it has a preselected terminal heading. The glide-slope command subsystem is responsive to certain other input data and continuously develops command signals for use in controlling the rate of descent of the aircraft in such a manner that it will have a preselected altitude and glide-slope upon arrival at the terminal.
Inventors
- 👤 S Gee
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-25 17:24
CPC Classifications
G; G01; G01C; G01C23/00; G01C23/005
Claims Analysis
Total Claims: 22
Claim 1
Independent Claim
240 words
A system for guiding a vehicle to a point T'' comprising: means for determining the heading angle ( theta ac) of said vehicle and developing a signal proportional thereto; means for determining the bearing angle ( theta V) of said vehicle from said point T'' and developing a signal proportional thereto; means for selecting a desired heading angle ( theta T) at T'' and developing a signal which is proportional thereto; means for selecting a desired glide-slope angle ( phi des) to T'' and developing a signal porportional thereto; means for determining the glide-slope angle ( phi ''ac) of said vehicle with respect to T'' and developing a signal proportional thereto; computer means for generating a heading command signal (HC) and a glide-slope command signal (GC) for use in directing said vehicle to said point T'' so that upon arrival at said point T'' the vehicle heading angle is coincident with said selected heading angle, said computer means being capable of solving the following equations - theta E 2 theta V- theta T- theta ac phi E phi ''ac- phi des HC theta E- d theta E/dt GC phi E- dE/dt ; and display means comprising a fixed heading reference and a movable heading command indicator positioned responsive to said heading command signal such that the displacement of the movable heading command indicator relative to said fixed reference indicates the magnitude of the correction necessary to intercept the desired heading.
Claim 2
Independent Claim
240 words
A system for guiding a vehicle to a point T'' comprising: means for determining the heading angle ( theta ac) of said vehicle and developing a signal proportional thereto; means for determining the bearing angle ( theta V) of said vehicle from said point T'' and developing a signal proportional thereto; means for selecting a desired heading angle ( theta T) at T'' and developing a signal which is proportional thereto; means for selecting a desired glide-slope angle ( phi des) to T'' and developing a signal porportional thereto; means for determining the glide-slope angle ( phi ''ac) of said vehicle with respect to T'' and developing a signal proportional thereto; computer means for generating a heading command signal (HC) and a glide-slope command signal (GC) for use in directing said vehicle to said point T'' so that upon arrival at said point T'' the vehicle heading angle is coincident with said selected heading angle, said computer means being capable of solving the following equations - theta E 2 theta V- theta T- theta ac phi E phi ''ac- phi des HC theta E- d theta E/dt GC phi E- dE/dt ; and display means comprising a fixed heading reference and a movable heading command indicator positioned responsive to said heading command signal such that the displacement of the movable heading command indicator relative to said fixed reference indicates the magnitude of the correction necessary to intercept the desired heading.
Claim 3
Dependent Claim
58 words
A system as claimed in claim 1 wherein said display means further comprises a fixed glide-slope reference and a movable glide-slope command indicator positioned responsive to said glide-slope command signal such that the displacement of the movable glide-slope command indicator relative to said fixed glide-slope reference indicates the magnitude of correction necessary to intercept the desired glide slope.
Claim 4
Dependent Claim
83 words
A system as claimed in claim 2 wherein said vehicle comprises an aircraft and said point T'' lies along the centerline of a runway on which the aircraft is to land, said computer calculating a wind correction angle ( theta WC) representative of the wind correction required to cause the aircraft to track along said centerline of said runway, said wind correction angle being algebraically added to a runway heading angle ( theta RW) to determine the terminal heading angle ( theta T).
Claim 5
Independent Claim
310 words
A system for guiding a vehicle to a point T'': means for determining the heading angle ( theta ac) of said vehicle and developing a signal proportional thereto; means for determining the bearing angle ( theta V) of said vehicle from said point T'' and developing a signal proportional thereto; means for selecting a desired heading angle ( theta T at T'' and developing a signal which is proportional thereto; means for selecting a desired glide-slope angle ( theta des) to T'' and developing a signal proportional thereto; means for determining the glide-slope angle ( theta ''ac) of said vehicle with respect to T'' and developing a signal proportional thereto; said point T'' being the apex of an imaginary inverted right circular cone having a cone half angle of (90* - phi des); computer means coupled to said theta ac, theta V, theta T, theta des, and phi ''ac signals for generating a heading command signal and a glideslope command signal; means coupled to said computer means and responsive to said command signals for, when operative, automatically guiding said vehicle to said point T'' so that upon arrival at said point the heading angle of said vehicle coincides with said selected heading angle, the path followed by said vehicle being on the surface of said cone; and display means comprising a fixed heading reference, a movable heading command indicator positioned responsive to said heading command signal such that the displacement of the movable heading command indicator relative to said fixed heading reference indicates the magnitude of the correction necessary to intercept the desired heading, a fixed glide-slope reference, and a movable glide-slope reference command indicator displacement of responsive to said glide-slope command signal such that the displacement of the movable glide-slope command indicator relative to said fixed glide-slope reference indicates the magnitude of correction necessary to intercept the desired glide-slope.
Claim 6
Independent Claim
310 words
A system for guiding a vehicle to a point T'': means for determining the heading angle ( theta ac) of said vehicle and developing a signal proportional thereto; means for determining the bearing angle ( theta V) of said vehicle from said point T'' and developing a signal proportional thereto; means for selecting a desired heading angle ( theta T at T'' and developing a signal which is proportional thereto; means for selecting a desired glide-slope angle ( theta des) to T'' and developing a signal proportional thereto; means for determining the glide-slope angle ( theta ''ac) of said vehicle with respect to T'' and developing a signal proportional thereto; said point T'' being the apex of an imaginary inverted right circular cone having a cone half angle of (90* - phi des); computer means coupled to said theta ac, theta V, theta T, theta des, and phi ''ac signals for generating a heading command signal and a glideslope command signal; means coupled to said computer means and responsive to said command signals for, when operative, automatically guiding said vehicle to said point T'' so that upon arrival at said point the heading angle of said vehicle coincides with said selected heading angle, the path followed by said vehicle being on the surface of said cone; and display means comprising a fixed heading reference, a movable heading command indicator positioned responsive to said heading command signal such that the displacement of the movable heading command indicator relative to said fixed heading reference indicates the magnitude of the correction necessary to intercept the desired heading, a fixed glide-slope reference, and a movable glide-slope reference command indicator displacement of responsive to said glide-slope command signal such that the displacement of the movable glide-slope command indicator relative to said fixed glide-slope reference indicates the magnitude of correction necessary to intercept the desired glide-slope.
Claim 7
Independent Claim
345 words
A system for guiding a vehicle to a point T'' located a desired height (hT) over point T comprising: means for determining the altitude (h) of said vehicle over T and developing a signal which is a function thereof; means for determining the distance (d) between said vehicle and T, and developing a signal which is a function thereof; means for determining the heading angle ( theta ac) of said vehicle and developing a signal which is a function thereof; means for selecting a desired heading angle ( theta T) at T'' and developing a signal which is a function thereof; means for selecting a desired glid-scope angle ( theta des) to T'' and developing a signal which is a function thereof; means for selecting said desired height (hT) and developing a signal which is a function thereof; means using said d, h, and hT signals for determining the glide-slope angle ( theta ''ac) of said vehicle with respect to T'' and developing a signal which is a function thereof; computer means for generating a heading command signal (HC) and glide-slope command signal (GC) for use in directing said vehicle to said point T'' so that upon arrival at said point T'' the vehicle heading is coincident with said selected heading angle, said computer means being capable of solving the following equations - theta E 2 theta V- theta T- theta ac phi E phi ''ac- phi des HC theta E- d theta E/dt GC phi E- d phi Eldt ; and display means comprising a fixed heading reference, a movable heading command indicator positioned responsive to said heading command signal such that the displacement of the movable heading command indicator relative to said fixed heading reference indicates the magnitude of the correction necessary to intercept the desired heading, a fixed glide-slope reference, and a movable glide-slope reference command indicator positioned responsive to said glide-slope command signal such that the displacement of the movable glide-slope command indicator relative to said fixed glide-slope reference indicates the magnitude of correction necessary to intercept the desired glide slope.
Claim 8
Independent Claim
345 words
A system for guiding a vehicle to a point T'' located a desired height (hT) over point T comprising: means for determining the altitude (h) of said vehicle over T and developing a signal which is a function thereof; means for determining the distance (d) between said vehicle and T, and developing a signal which is a function thereof; means for determining the heading angle ( theta ac) of said vehicle and developing a signal which is a function thereof; means for selecting a desired heading angle ( theta T) at T'' and developing a signal which is a function thereof; means for selecting a desired glid-scope angle ( theta des) to T'' and developing a signal which is a function thereof; means for selecting said desired height (hT) and developing a signal which is a function thereof; means using said d, h, and hT signals for determining the glide-slope angle ( theta ''ac) of said vehicle with respect to T'' and developing a signal which is a function thereof; computer means for generating a heading command signal (HC) and glide-slope command signal (GC) for use in directing said vehicle to said point T'' so that upon arrival at said point T'' the vehicle heading is coincident with said selected heading angle, said computer means being capable of solving the following equations - theta E 2 theta V- theta T- theta ac phi E phi ''ac- phi des HC theta E- d theta E/dt GC phi E- d phi Eldt ; and display means comprising a fixed heading reference, a movable heading command indicator positioned responsive to said heading command signal such that the displacement of the movable heading command indicator relative to said fixed heading reference indicates the magnitude of the correction necessary to intercept the desired heading, a fixed glide-slope reference, and a movable glide-slope reference command indicator positioned responsive to said glide-slope command signal such that the displacement of the movable glide-slope command indicator relative to said fixed glide-slope reference indicates the magnitude of correction necessary to intercept the desired glide slope.
Claim 9
Dependent Claim
186 words
A terminal guidance system, comprising: means for determining the heading angle ( theta ac) of a vehicle and developing a vehicle heading signal commensurate therewith; means for determining the bearing angle ( theta V) of said vehicle from a selected terminal T'' and for developing a vehicle bearing signal commensurate therewith; means for selecting a terminal heading angle ( theta T) and developing a terminal heading signal commensurate therewith; computing means programmed to determine an error angle ( theta E) defined by the equation - theta E 2 theta V- theta T-theta ac and to develop therefrom a heading command signal (HC) in accordance with the equation HC theta E- d theta E/dt for use in directing said vehicle so that upon arrival at said terminal T'' the vehicle heading is coincident with the selected terminal heading ; and display means comprising a fixed heading reference and a movable heading command indicator positioned responsive to said heading command signal such that the displacement of the movable heading command indicator relative to the fixed reference indicates the magnitude of the correction necessary to intercept the desired heading.
Claim 10
Dependent Claim
186 words
A terminal guidance system, comprising: means for determining the heading angle ( theta ac) of a vehicle and developing a vehicle heading signal commensurate therewith; means for determining the bearing angle ( theta V) of said vehicle from a selected terminal T'' and for developing a vehicle bearing signal commensurate therewith; means for selecting a terminal heading angle ( theta T) and developing a terminal heading signal commensurate therewith; computing means programmed to determine an error angle ( theta E) defined by the equation - theta E 2 theta V- theta T-theta ac and to develop therefrom a heading command signal (HC) in accordance with the equation HC theta E- d theta E/dt for use in directing said vehicle so that upon arrival at said terminal T'' the vehicle heading is coincident with the selected terminal heading ; and display means comprising a fixed heading reference and a movable heading command indicator positioned responsive to said heading command signal such that the displacement of the movable heading command indicator relative to the fixed reference indicates the magnitude of the correction necessary to intercept the desired heading.
Claim 11
Dependent Claim
216 words
A terminal guidance system as recited in claim 6, further comprising: means for determining the altitude (h) of said vehicle relative to a terminal T below terminal T'' and for developing an altitude signal commensurate therewith; means for determining the distance (d) between said terminal T and said vehicle and developing a signal commensurate therewith; means for selecting the height (hT) of terminal T'' above terminal T and developing a terminal height signal commensurate therewith; means for selecting a desired glide-slope angle ( phi des) to terminal T'' and developing a signal commensurate therewith; means for computing phi '' ac from said signals commensurate to h, d, and hT wherein phi '' ac is the real glide-slope angle of said vehicle with respect to T''; means for determining the glide-slope error angle ( phi E) wherein phi E ac- phi des; and means to develop a glide-slope command signal (GC) in accordance with the equation GC phi E- dE/dt for use in directing said vehicle to terminal T'';said display means comprising a fixed glide-slope reference and a movable glide-slope command indicator positioned responsive to said glide-slope command signal such that the displacement of the movable glide-slope command indicator relative to said fixed glide-slope reference indicates the magnitude of correction necessary to intercept the desired glide slope.
Claim 12
Independent Claim
208 words
A system for guiding a vehicle to a point T'' located a desired height (hT) over point T comprising: means for determining the altitude (h) of said vehicle relative to point T and developing a signal proportional thereto; means for determining the distance (d) between said point T and said vehicle and developing a signal proportional thereto; means for selecting said height (hT) and developing a signal proportional thereto; means for selecting a desired glide-slope angle ( phi des) to point T'' and developing a signal proportional thereto; means for computing ac from said h, d, and hT signals wherein phi ''ac is the actual glide-slope angle of said vehicle with respect to T''; means for determining the glide-slope error angle ( phi E) wherein phi E phi ''ac- phi des; means to develop a glide-slope command signal (GC) in accordance with the equation GC phi E- d phi E/dt for use in directing said vehicle to point T''; and display means comprising a fixed glide-slope reference and a movable glide-slope command indicator positioned responsive to said glide-slope command signal such that the displacement of the movable glide-slope command indicator relative to said fixed glide-slope reference indicates the magnitude of correction necessary to intercept the desired glide slope.
Claim 13
Independent Claim
208 words
A system for guiding a vehicle to a point T'' located a desired height (hT) over point T comprising: means for determining the altitude (h) of said vehicle relative to point T and developing a signal proportional thereto; means for determining the distance (d) between said point T and said vehicle and developing a signal proportional thereto; means for selecting said height (hT) and developing a signal proportional thereto; means for selecting a desired glide-slope angle ( phi des) to point T'' and developing a signal proportional thereto; means for computing ac from said h, d, and hT signals wherein phi ''ac is the actual glide-slope angle of said vehicle with respect to T''; means for determining the glide-slope error angle ( phi E) wherein phi E phi ''ac- phi des; means to develop a glide-slope command signal (GC) in accordance with the equation GC phi E- d phi E/dt for use in directing said vehicle to point T''; and display means comprising a fixed glide-slope reference and a movable glide-slope command indicator positioned responsive to said glide-slope command signal such that the displacement of the movable glide-slope command indicator relative to said fixed glide-slope reference indicates the magnitude of correction necessary to intercept the desired glide slope.
Claim 14
Dependent Claim
164 words
A terminal guidance system, comprising: means for determining the heading of a vehicle and developing a vehicle heading signal commensurate therewith; means for determining the bearing of said vehicle from a selected terminal and for developing a bearing signal commensurate therewith; means for selecting a terminal heading and developing a terminal heading signal commensurate therewith; computing means responsive to said vehicle heading signal, said bearing signal and said terminal heading signal, and operative to develop a heading error signal for use in directing said vehicle toward said terminal, so that upon arrival at said terminal, the vehicle heading is coincident with the selected terminal heading; and display means comprising a fixed heading reference and a movable heading command indicator positioned responsive to a command signal related to said heading error signal and the rate of change thereof such that the displacement of the movable heading command indicator relative to the fixed reference indicates the magnitude of the correction necessary to intercept the desired heading.
Claim 15
Dependent Claim
164 words
A terminal guidance system, comprising: means for determining the heading of a vehicle and developing a vehicle heading signal commensurate therewith; means for determining the bearing of said vehicle from a selected terminal and for developing a bearing signal commensurate therewith; means for selecting a terminal heading and developing a terminal heading signal commensurate therewith; computing means responsive to said vehicle heading signal, said bearing signal and said terminal heading signal, and operative to develop a heading error signal for use in directing said vehicle toward said terminal, so that upon arrival at said terminal, the vehicle heading is coincident with the selected terminal heading; and display means comprising a fixed heading reference and a movable heading command indicator positioned responsive to a command signal related to said heading error signal and the rate of change thereof such that the displacement of the movable heading command indicator relative to the fixed reference indicates the magnitude of the correction necessary to intercept the desired heading.
Claim 16
Dependent Claim
89 words
A terminal guidance system as recited in claim 9 wherein said heading error signal is commensurate with a heading error angle theta E, said terminal heading signal is commensurate with a terminal heading angle theta T, and said bearing signal is commensurate with vehicle bearing angle theta V, and said vehicle heading signal is commensurate with a vehicle heading angle theta ac, and wherein said computing means develops said heading error signal in accordance with the equation - theta E 2 theta V - theta T - theta ac.
Claim 17
Dependent Claim
179 words
A terminal guidance system as recited in claim 9 and further comprising: means for determining the altitude of said vehicle relative to a reference and for developing an altitude signal commensurate therewith; means for determining the distance between said terminal and said vehicle and developing a distance signal commensurate therewith; means for selecting a desired glide-slope and developing a glide-slope reference signal commensurate therewith; means for selecting a desired terminal height and developing a terminal height signal commensurate therewith; and further computing means responsive to said altitude signal, said distance signal, said terminal height signal and said glide-slope reference signal and operative to develop a glide-slope error signal for use in directing said vehicle so that upon arrival at said terminal said vehicle is at said desired terminal height, said display means further comprising a fixed glide-slope reference and a movable glide-slope command indicator positioned responsive to said glide-slope error signal such that the displacement of the movable glide-slope command indicator relative to said fixed glide-slope reference indicates the magnitude of correction necessary to intercept the desired glide slope.
Claim 18
Dependent Claim
91 words
A terminal guidance system as recited in claim 11 wherein said glide-slope error signal is commensurate with a glide-slope error angle phi E, said altitude signal is commensurate with an altitude h, said distance signal is commensurate with a distance d, and said glide-slope reference signal is commensurate with a desired glide-slope angle phi des, and wherein said further computing means developing said glideslope error signal in accordance with the equation phi E phi ''ac-phi des, where phi ''ac is the glide-slope angle of the vehicle with respect to said terminal.
Claim 19
Dependent Claim
215 words
A terminal guidance system for use in guiding a vehicle from a remote point to a terminal point in a manner such that the vehicle has a predetermined terminal heading upon reaching said terminal point, comprising: means for continuously determining the heading of the vehicle and developing a vehicle heading signal commensurate therewith; means for continuously determining The bearing of the vehicle from said terminal point and developing a bearing signal commensurate therewith; means for developing a terminal heading signal corresponding to said predetermined terminal heading; first comparator means responsive to said vehicle heading signal and said bearing signal and operative to develop a difference signal commensurate with the difference between said vehicle heading signal and said bearing signal; second comparator means responsive to said bearing signal and said terminal heading signal and operative to develop a reference angle signal; third comparator means responsive to said difference signal and said reference angle signal, and operative to develop a heading error signal for use in guiding said vehicle; and display means comprising a fixed heading reference and a movable heading command indicator positioned responsive to said heading error signal such that the displacement of the movable heading command indicator relative to the fixed reference indicates the magnitude of the correction necessary to intercept the desired heading.
Claim 20
Dependent Claim
215 words
A terminal guidance system for use in guiding a vehicle from a remote point to a terminal point in a manner such that the vehicle has a predetermined terminal heading upon reaching said terminal point, comprising: means for continuously determining the heading of the vehicle and developing a vehicle heading signal commensurate therewith; means for continuously determining The bearing of the vehicle from said terminal point and developing a bearing signal commensurate therewith; means for developing a terminal heading signal corresponding to said predetermined terminal heading; first comparator means responsive to said vehicle heading signal and said bearing signal and operative to develop a difference signal commensurate with the difference between said vehicle heading signal and said bearing signal; second comparator means responsive to said bearing signal and said terminal heading signal and operative to develop a reference angle signal; third comparator means responsive to said difference signal and said reference angle signal, and operative to develop a heading error signal for use in guiding said vehicle; and display means comprising a fixed heading reference and a movable heading command indicator positioned responsive to said heading error signal such that the displacement of the movable heading command indicator relative to the fixed reference indicates the magnitude of the correction necessary to intercept the desired heading.
Claim 21
Dependent Claim
275 words
Apparatus for use in guiding a vehicle at a first altitude to a terminal point T'' at a second altitude located a desired height (hT) over point T comprising: means for determining the altitude (h) of said vehicle above point T and developing an altitude signal proportional thereto; means for determining the distance (d) between said vehicle and said point T and developing a distance signal proportional thereto; means for selecting a glide-slope reference angle ( phi des) to said point T'' and developing a glide-slope reference signal proportional thereto; means for selecting said desired terminal height (hT) and developing a terminal height signal proportional thereto; means responsive to said altitude signal and said distance signal for developing a first glide-slope angle ( phi ac) signal defined by the expression phi ac sin 1h/d ; (h -means for developing a signal proportional to B wherein B d cos phi ac; means responsive to said altitude signal, said terminal height signal, and said B signal for developing a second glideslope angle ( phi ''ac) signal defined by the expression phi ''ac tan116 1 (h hT/B) ; means responsive to said glide-slope reference signal and said second glide-slope angle signal for developing a vehicle error signal commensurate with a vehicle glide-slope error angle ( phi E) defined by the expression phi E phi ''ac- phi des ; and display means comprising a fixed glide-slope reference and a movable glide-slope command indicator positioned responsive to said vehicle error signal such that the displacement of the movable glide-slope command indicator relative to said fixed glide-slope reference indicates the magnitude of the correction necessary to intercept the desired glide slope.
Claim 22
Dependent Claim
275 words
Apparatus for use in guiding a vehicle at a first altitude to a terminal point T'' at a second altitude located a desired height (hT) over point T comprising: means for determining the altitude (h) of said vehicle above point T and developing an altitude signal proportional thereto; means for determining the distance (d) between said vehicle and said point T and developing a distance signal proportional thereto; means for selecting a glide-slope reference angle ( phi des) to said point T'' and developing a glide-slope reference signal proportional thereto; means for selecting said desired terminal height (hT) and developing a terminal height signal proportional thereto; means responsive to said altitude signal and said distance signal for developing a first glide-slope angle ( phi ac) signal defined by the expression phi ac sin 1h/d ; (h -means for developing a signal proportional to B wherein B d cos phi ac; means responsive to said altitude signal, said terminal height signal, and said B signal for developing a second glideslope angle ( phi ''ac) signal defined by the expression phi ''ac tan116 1 (h hT/B) ; means responsive to said glide-slope reference signal and said second glide-slope angle signal for developing a vehicle error signal commensurate with a vehicle glide-slope error angle ( phi E) defined by the expression phi E phi ''ac- phi des ; and display means comprising a fixed glide-slope reference and a movable glide-slope command indicator positioned responsive to said vehicle error signal such that the displacement of the movable glide-slope command indicator relative to said fixed glide-slope reference indicates the magnitude of the correction necessary to intercept the desired glide slope.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1976-12-03 | 1977-06-04 | 1977-12-04 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1980-12-03 | 1981-06-04 | 1981-12-04 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1984-12-03 | 1985-06-04 | 1985-12-04 | $7700.00 | Window Closed / Lapsed |