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    Systems and methods of adjusting position information
    2.
    发明授权
    Systems and methods of adjusting position information 有权

    公开(公告)号：US11061145B2

    公开(公告)日：2021-07-13

    申请号：US16195669

    申请日：2018-11-19

    Applicant: THE BOEING COMPANY

    Inventor： Brian K. Rupnik ,  Brian T. Whitehead

    IPC: G01S19/49 ,  G01S19/40 ,  G01C21/36 ,  G01S19/03 ,  G01S19/25 ,  G01S19/41 ,  G01S19/07 ,  G01S19/47 ,  G01S19/48 ,  G01C21/28 ,  G01C21/16 ,  G01C21/00 ,  G05D1/02 ,  G01C23/00 ,  G01S17/933 ,  G01C21/20

    Abstract: A system includes a memory and a processor. The memory is configured to store map data indicating positions of landmarks. The processor is configured to receive image data from an image sensor. The processor is also configured to determine, based on the image data, a first estimate of a position, relative to the image sensor, of a landmark identified in the map data. The processor is configured to determine orientation of the image sensor based on inertial measurement unit measurements. The processor is also configured to determine, based on position information, the orientation, and the map data, a second estimate of the position of the landmark. The processor is configured to determine position offset data based on a comparison of the first estimate and the second estimate. The processor is also configured to generate, based on the position offset data and the position information, an output indicating an adjusted position.

    FORMATION FLIGHT CONTROL
    3.
    发明申请
    FORMATION FLIGHT CONTROL 有权
    形成飞行控制

    公开(公告)号：US20140214243A1

    公开(公告)日：2014-07-31

    申请号：US13752119

    申请日：2013-01-28

    Applicant: The Boeing Company

    Inventor： Brian T. Whitehead ,  Stefan R. Bieniawski ,  David Halaas ,  Eugene Lavretsky

    IPC: B64C19/00

    CPC classification number: B64C19/00 ,  G05D1/0202 ,  G05D1/0825 ,  G05D1/104

    Abstract: An apparatus for controlling the formation flight of a trailing aircraft relative to a vortex generated by a leading aircraft includes a position module, peak-seeking module, limiter module, and control module. The position module is configured to determine a position of the vortex relative to the trailing aircraft. The peak-seeking module is configured to determine a desired position of the trailing aircraft for providing desired vortex-induced aerodynamic benefits based on the position of the vortex relative to the trailing aircraft and a mapping function of an individual performance metric. The limiter module is configured to modify the desired position of the trailing aircraft to avoid unintended crossings of the trailing aircraft into the vortex. Finally, the control module is configured to control flight of the trailing aircraft based on one of the desired position of the trailing aircraft and modified desired position of the trailing aircraft.

    Abstract translation: 用于控制尾飞机相对于由主飞机产生的涡流的飞行的装置包括位置模块，寻峰模块，限制模块和控制模块。 位置模块被配置成确定涡流相对于后方飞行器的位置。 峰值寻求模块被配置为基于相对于后方飞行器的涡流的位置以及单个性能度量的映射函数来确定拖尾飞行器的期望位置，以提供期望的涡流引起的空气动力学优点。 限制器模块被配置为修改拖尾飞行器的期望位置，以避免尾随飞机进入涡流的意外交叉。 最后，控制模块被配置成基于拖尾飞行器的期望位置和后方飞行器的修改的期望位置之一来控制尾翼飞行器的飞行。

    Sensor fault detection and identification using residual failure pattern recognition
    4.
    发明授权
    Sensor fault detection and identification using residual failure pattern recognition 有权

    公开(公告)号：US11385632B2

    公开(公告)日：2022-07-12

    申请号：US16230938

    申请日：2018-12-21

    Applicant: The Boeing Company

    Inventor： Brian T. Whitehead ,  Sherwin C. Li ,  Brian K. Rupnik ,  Kioumars Najmabadi

    IPC: G01C21/16 ,  G05B23/02 ,  G01R19/00 ,  G05D1/00

    Abstract: Systems, methods, and apparatus for sensor fault detection and identification using residual failure pattern recognition are disclosed. In one or more embodiments, a method for sensor fault detection and identification for a vehicle comprises sensing, with sensors located on the vehicle, data. The method further comprises performing majority voting on the data for each of the types of data to generate a single voted value for each of the types of data. Also, the method comprises generating, for each of the types of data, estimated values by using some of the voted values. In addition, the method comprises generating residuals by comparing the estimated values to the voted values. Further, the method comprises analyzing a pattern of the residuals to determine which of the types of the data is erroneous to detect and identify a fault experienced by at least one of the sensors on the vehicle.

    SYSTEMS AND METHODS OF ADJUSTING POSITION INFORMATION
    6.
    发明申请
    SYSTEMS AND METHODS OF ADJUSTING POSITION INFORMATION 审中-公开

    公开(公告)号：US20200159224A1

    公开(公告)日：2020-05-21

    申请号：US16195669

    申请日：2018-11-19

    Applicant: THE BOEING COMPANY

    Inventor： Brian K. Rupnik ,  Brian T. Whitehead

    IPC: G05D1/02 ,  G01C23/00 ,  G01C21/20 ,  G01S19/40 ,  G01S17/93

    Abstract: A system includes a memory and a processor. The memory is configured to store map data indicating positions of landmarks. The processor is configured to receive image data from an image sensor. The processor is also configured to determine, based on the image data, a first estimate of a position, relative to the image sensor, of a landmark identified in the map data. The processor is configured to determine orientation of the image sensor based on inertial measurement unit measurements. The processor is also configured to determine, based on position information, the orientation, and the map data, a second estimate of the position of the landmark. The processor is configured to determine position offset data based on a comparison of the first estimate and the second estimate. The processor is also configured to generate, based on the position offset data and the position information, an output indicating an adjusted position.

    Formation flight control
    7.
    发明授权
    Formation flight control 有权
    形成飞行控制

    公开(公告)号：US08949090B2

    公开(公告)日：2015-02-03

    申请号：US13752119

    申请日：2013-01-28

    Applicant: The Boeing Company

    Inventor： Brian T. Whitehead ,  Stefan R. Bieniawski ,  David Halaas ,  Eugene Lavretsky

    IPC: B64C19/00 ,  B60R16/023 ,  G05D1/02 ,  G05D1/08 ,  G05D1/10

    CPC classification number: B64C19/00 ,  G05D1/0202 ,  G05D1/0825 ,  G05D1/104

    Abstract: An apparatus for controlling the formation flight of a trailing aircraft relative to a vortex generated by a leading aircraft includes a position module, peak-seeking module, limiter module, and control module. The position module is configured to determine a position of the vortex relative to the trailing aircraft. The peak-seeking module is configured to determine a desired position of the trailing aircraft for providing desired vortex-induced aerodynamic benefits based on the position of the vortex relative to the trailing aircraft and a mapping function of an individual performance metric. The limiter module is configured to modify the desired position of the trailing aircraft to avoid unintended crossings of the trailing aircraft into the vortex. Finally, the control module is configured to control flight of the trailing aircraft based on one of the desired position of the trailing aircraft and modified desired position of the trailing aircraft.

    Abstract translation: 用于控制尾飞机相对于由主飞机产生的涡流的飞行的装置包括位置模块，寻峰模块，限制模块和控制模块。 位置模块被配置成确定涡流相对于后方飞行器的位置。 峰值寻求模块被配置为基于相对于后方飞行器的涡流的位置以及单个性能度量的映射函数来确定拖尾飞行器的期望位置，以提供期望的涡流引起的空气动力学优点。 限制器模块被配置为修改拖尾飞行器的期望位置，以避免尾随飞机进入涡流的意外交叉。 最后，控制模块被配置成基于拖尾飞行器的期望位置和后方飞行器的修改的期望位置之一来控制尾翼飞行器的飞行。

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