A Real-Time, Path Guidance Cue John R. Newport, Ph.D. Newport Systems Inc. Indianapolis IN newport~newport-sys.com www. ne wport-sys. com Introduction: This paper describes an implementation of some simple control laws for following a predefined path. The application might be generation of an aircrew cue or an autopilot capability. 1 Even in the simplest physical representation, there are two complicating factors. These are: ⢠Lead time to avoid overshooting the centerline of the next path, and ⢠Spiral path due to wind drift. This paper describes the algorithms involved and some lessons learned from the implementation. (Among those lessons are the appropriateness of Ada for complex applications.) Overview: The control reference provides steering c o m m a n d s that allow a system to navigate among predefined waypoints. 2 The algorithm of Figure 1 designates the steering commands as the "guidance equations". These operate on the principle of aligning the ground track with the centerline of the nominal path. Specifically, if x_p., is the next waypoint and x_~,,.1is the previous, then: (1) - As the aircraft approaches a waypoint, some lead time is necessary to avoid overshooting the centerline of the subsequent path. The next topic describes
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A real-time, path guidance cue
Newport, John R.
Follow ACM SIGAda Ada Letters
, Volume XIX (1)
Association for Computing Machinery – Mar 1, 1999
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