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Introduction
Definitions
Navigation: the determination of the position and velocity of a
moving vehicle. The process of measuring and calculating state
vector onboard Vy
X vx x
Vx V vy y
Vz
Six- component vz z
Y state vector
Z
Median section
of the earth,
showing the
reference
ellipsoid &
gravity field
Coordinate Frames (1)
The position, velocity and attitude of the aircraft
must be expressed in a coordinate frame.
Navigation
coordinate frame
Coordinate Frames (2)
1. Earth-centered, Earth-fixed (ECEF): The basic coordinate
frame for navigation near the Earth
Origin is at the mass center of earth
y1, y2 Lie in True equator
y2 Lies in the Greenwhich meridian
y3 Lies along the earth’s spin axis
WT True heading
Angle between acft heading and
T true north
Dead-Reckoning Computation (3)
Fig 2.4
Dead-Reckoning Computation (4)
In the presence of a crosswind the ground-
speed vector does not lie along the acft’s
center line but makes an angle with it
The drift angle can be measured with a
Doppler radar or a drift sight (a downward-
pointing telescope whose reticle can be
rotated by the navigator to align with the
moving ground)
Dead-Reckoning Computation (5)
In the moving air mass:
V north VTAS cos( ) cos( T ) Vwind north
V east VTAS sin( ) sin( T ) Vwind east
Where: The pitch angle
t
Then: y y0 Vnorthdt
0
t
x x0 Veast dt
0
Positioning (1)
Radio Fixes: There are five basic airborne
radio measurements:
1. Bearing: The angle of arrival, relative to the
airframe, of a radio signal from an external
transmitter. It is measured by difference in
phase or time of arrival at multiple sensors
2. Phase: The airborne receiver measures the
phase difference between continuse-wave
signals emitted by two stations using a single
airborne antenna
Positioning (2) (Radio Fixes Cont.)
Acft near the surface of the earth at R si and a radio station that
may be near the surface or in space, at R 0 The slant range,
|R si R 0 |from the acft to the station could be measured by one-
way or two-way ranging
Positioning (4)
Ground-Wave One-Way Ranging: Loran and Omega waves
Assume an propagate along the curved surface of the earth. With a sensor, an
acft position acft can measure the time of arrival of the navigation signal from
two or more two or more station & compute its own position
Fig 2.6
Parallel tracks
through
terrain patch
Terrain-Matching Navigation (2)
Fig 2.7
Measurement
of terrain
altitude
hs hbaro hradar
nA
ms ( ) hm ( x)hs ( x )dx
0
Where: A= length of map patch, the integration is long enough
(n>1),
Course Computation (1)
Range & Bearing Calculation: is to
calculate range and bearing from an
acft to one or more desired waypoints,
targets, airports, checkpoints, or radio
beacons.
Best-estimate Course Computed range &
of the present bearing to other
computation
position of acft vehicle subsystems
Course Computation (2)
Fig 2.8
D ( x x )
1
2
( y y1 ) 2
x xt
BT arctan
y yt
Course Computation (3)
Airway Steering: It calculates a great circle from the takeoff
point(or from a waypoint) to the destination (or another
waypoint).
The acft steered along this great circle by calculating the lateral
deviation L from the desired great circle and commanding a
bank angle:
c K1 L K 2 L K 3 Ldt
The bank angle is limited to prevent excessive control
commands when the acft is far of course. Near the destination,
the track is frozen to prevent erratic steering
As the acft passes each waypoint, a new waypoint is fetched,
thus selecting a new desired track. The acft can then fly along a
series of airways connecting checkpoints or navigation station
Course Computation (4)
Area Navigation:
Between 1950-1980, acft in developed countries flew
on airways, guided by VOR bearing signals
Position along the airway could be determined at
discrete intersections using cross-bearings to another
VOR( )
In 1970s DME, collocated with VOR, allowed acft to
determine their position along the airway
continuously. Thereafter authorities allowed them to
fly anywhere with proper clearance a technique
called RNAV (random navigation) or area navigation
Course Computation (5)
Area Navigation
Plan view of
area-navigation fix
Measure Triangle
ρ1, ρ2 P1V1V3
Position
(distances
to DME P1
stations
V1, V2)
Course Computation (6)
Area Navigation
RNAV uses combinations of VORs and DMEs
to create artificial airways either by
connecting waypoints defined by lat/long or
by triangulation or tri-lateration to VORTAC
stations(doted lines to A1)
The on-board flight-management or
navigation computer calculates the lateral
displacement L from the artificial airway and
the distance D to the next waypoint A1 along
the airway
Course Computation (7)
Assume P1 based Area Navigation: An artificial airway is defined
on prior nav.
information by the points A1 and A2. D and L are found
interatively: End
Calculate ρ1, ρ2 using the range
equation i Is small
enough
Correct the measures ranges for the Estimate ρ1 along the vector k
altitudes of acft and DME station
whose components along 1and
3 are 1and 3
Terrestrial Radio-Navigation
Systems
General Principles
1. Radio Transmission and Reception
If an antenna with length of L is placed in space and
excited with an alternating current with wave
length of λ and;
If L=λ /2 then almost all the applied AC power will be
radiated into space
Display of
Modular Transmitter Receiver Processor data bus
interface
With
counterpoise
Without
counterpoise
Vertical reflection path
Line-of-Sight Waves (3)
Maxima of signal strength occur where the two path
lengths produce in-phase signal
The number of nulls per vertical degree of elevation
increases with the height of the antenna & frequency
Line-of-sight systems on the earth are subject to the
limitations of the horizon
Beyond the line of of sight, signal strength at these
frequencies drops off almost as suddenly as does
visible light when passing from day to night. Very
large powers & antenna gains are needed and such
systems don’t have much value in aircraft CNS
systems
Line-of-Sight Waves (4)
Line-of-sight range
Position determination methods
Fig4.8
Common geometric
position fixing scheme
Direction finding (1)
Ground-based direction-finders: Take bearings on
airborne transmitter & then advise the acft of its
bearing from the ground station.
The operation is time cumbersome & time-consuming, and
requires an airborne transmitter & communication link
Airborne direction-finders & homing adaptors: Take
bearings on ground transmitter and typically can
afford only the simplest of systems and must tolerate
large errors.
Direction-finding continues to be used as a backup aid to
more accurate systems
Direction finding (2)
Loop antenna Direction-Finder Principles: No longer
in production but is principles still apply to the
current generation of equipments
Measures the differential distance to a transmitter from two
or more known points
Is a rectangular loop of wire whose inductance is resonated
by a variable capacitor to the frequency to be received
The signal is assumed to be vertically polarized & it induces
voltage in the arms AB & CD
Currents in AB&CD are equal in amplitude & phase when the
plan of the loop is 90deg to the direction of arrival of the
signal (null position)
Physically rotating the loop to the null position indicates the
direction to the transmitting station
Loop Antenna Direction
Finding
Fig 4.9-
Direction
finding loop
Airborne VHF/UHF Direction-
Finder Systems
VHF equipment used by Coast Guard for air-sea
rescue on the 225 to 400 MHz communication band
on the distress frequency of 343 MHz
Equipment designed only for hominguse a fixed-antenna
system that generates two sequentially switched cardioid
patterns whose equisignal crossover direction is found by
turning the acft toward transmitting station
Equipment designed for both direction finding and
hominguses a rotating antenna that generates a similar
pair of cardioid patterns, whose equisignal crossover
direction is found
Civil-aviation communication118-156 MHz, Military-
aviation communication 225-400 MHz
Non directional Beacons
Aircraft use radio beacons to aid in finding the initial approach
point of an instrument landing system as well as for
nonprecision or precision approach systems
Operating in the 200 to 1600 kHz, they have output power
ranging from as low as 20 watts up to several kilowatts
They are connected to a single vertical antenna & produce a
vertical pattern
Cone of
silence
Fan-marker
pattern
Marker Beacons (2)
Fig 4-13
Fan-marker
pattern
VHF Omnidirectional
Range(VOR) (1)
Adopted for voice communication & navigation
The VOR operates in 108 to 118 MHz band, with
channels spaced 100 kHz apart
The ground station radiates a cardioids pattern that
rotates at 30rps, generating a 30 Hz sine wave at the
airborne receiver. Ground station also radiates an
omnidirectional signal, which is frequency modulated
with a fixed 30 Hz reference tone. There is no sky-
wave contamination at very high frequency & no
interference from stations beyond the horizon,
performance is relatively consistent
VHF Omnidirectional
Range(VOR) (2)
Transmitter Characteristics
VOR adapted horizontal polarization, even though acft VHF
communication uses vertical polarization. Each radiator in
the ground station transmitter is an Alford loop. The Alford
loop generates a horizontally polarized signal having the
same field pattern as a vertical dipole
Fig 4.14
Alford loop
VOR Block Diagram
Fig 4.15
VHF Omnidirectional
Range(VOR)
Receiver characteristics
The airborne equipment comprises a horizontally polarized
receiving antenna & a receiver. This receiver detects the 30
Hz amplitude modulation produced by the rotating pattern &
compares it with the 30 Hz frequency-modulated reference.
Fig 4.16
Doppler VOR
Doppler VOR applies the principles of wide antenna aperture to
the reduction of site error
The solution used in US by FAA involves a 44-ft diameter circle
of 52 Alford loops, together with a single Alfrod loop in the
center
Reference phaseThe central Alford loop radiates an
omnidirectional continuous wave that is amplitude modulated at
30 Hz
The circle of 52 Alford loops is fed by a capacitive commutator
so as to simulate the rotation of a single antenna at a radius of
22ft
Rotation is at 30rps, & a carrier frequency 9960 Hz higher than
that in the centeral antenna is fed to the commutator
With 44-ft diameter & a rotation speed of 30 rps, the peripheral
speed is on the order of 1400 meters per second, or 480
wavelengths per second at VOR radio frequencies
Distance-Measuring
Equipment (DME) (1)
DME is a internationally
standard pulse-ranging
system for acft,
operating in the 960 to
1215 MHz band. In the
US in 1996, there were
over 4600 sets in use
by scheduled airlines
and about 90,000 sets
by GA
DME Operation
Distance-Measuring
Equipment (DME) (2)
The acft interrogator transmits pulses on one of 126
frequencies, spaced 1 MHz apart, in the 1025 to 1150
MHz band. Paired pulses are used in order to reduce
interference from other pulse systems. The ground
beacon(transponder) receives these pulses & after a
50 sec fixed delay, retransmits them back to the
acft. The airborne automatically compares the
elapsed time between transmission and reception,
subtracts out the fixed 50 sec delay, & displays the
result ona meter calibrated in nautical miles.
Hyperbolic Systems
Named after the hyperbolic lines of
position (LOP) that they produce rather
than the circles
Measure the time-difference
Loran-C between the signal from two or
more transmitting station
Omega
Decca Measure the phase-difference
Chayka between the signal transmitted
from pairs of stations
Long-Range Navigation(Loran)
A hyperbolic radio-navigation system beginning
before outbreak of WW II
1. Uses ground waves at low frequencies, thereby securing an
operating range of over 1000 mi, independent of line of
sight
2. Uses pulse technique to avoid sky-wave contamination
3. A hyperbolic systemit is not subject to the site errors of
point-source systems
4. Uses a form of cycle (phase) measurements to improve
precision
All modern systems are of the Loran-C variety
Long-Range Navigation(Loran-
C) (1)
Is a low-frequency radio-navigation aid operating in the
radio spectrum of 90 to 110 kHz
Consists of at least three transmitting stations in groups
forming chains
Using a Loran-C receiver, a user gets location information
by measuring the very small difference in arrival times of
the pulses for each Master -Secondary pair
Each Master-Secondary pair measurement is a time
difference. One time difference is a set of points that are,
mathematically, a hyperbola. Therefore, position is the
intersection of two hyperbolas. Knowing the exact location
of the transmitters and the pulse spacing, it is possible to
convert Loran time difference information into latitude and
longitude
Loran-C (2)
Signal shape
Position determination
Loran-C (2)
Omega (1)
Eight VLF radio navigation transmitting stations trough out the
world
1. Continuous-wave (CW) signals transmitted on four common
frequencies, and
2. One station unique frequency
Sub-ionosphere
They are propagated between the earth’s surface and the
ionosphere
VLF signal attenuation is low Omega signals propagate to
great ranges (typically 5000 to 15,000 nmi
Primary interest to navigation users is the signal phase which
provides a measure of transmitter-receiver distance
Omega (2)
Omega receiver provides an accuracy of 2 to 4 nmi
95% of the time for navigation purposes
When a receiver utilizes Omega signal phase corrections
transmitted from nearby monitor stationposition accuracy
comes down to 500 meters
Thus the resulting system has an accuracy that is
comparable to the high-accuracy navigation aid
Commonly used in oceanic civil airline configurations,
combined with an inertial navigation system, so that
the Omega system error effectively ‘bounds” the
error of the inertial system
Omega (3)
Fig. 4.34
Omega
system signal
transmission
format
Omega (6)
Position determination
Fig 4.37
Hybrid geometry
for phase-difference
measurements
Decca
Developed by British and used during World War II.
Based on the measurment of differential arrival time(at the vehicular
receiver) of transmissions from two or more synchronized stations
(typicaly 70 mi apart)
Ranging satellite
radio-navigation
solution
Basics of Satellite Radio
Navigation (2)
The measurements are not range & range rate (or change in range),
but quantities described as pseudorange & pseudorange rate (or
change in pseudorange). This is because they consisits of errors,
dominated by timing errors, that are part of the solution. For example,
if only ranging type measurments are made, the actual measurement is
of the form
Ri X si X u Ysi Yu Z si Zu
2 2 2
Universal
coordinated
Time(UTC)
signals
Navigation
messages
Wide Area Augmentation
System(WAAS)
Developed by the FAA in parallel with European Geostationary
Navigation Overlay Service (EGNOS) & Japan MTSAT Satellite-
Based Augmentation System
A safety-critical system consisting of a signal-in-space & a
ground network to support en-route through precision
approach air navigation
The WAAS augments GPS with three services all phases of
flight down to category I precision approach
1. A ground integrity broadcast that will meet the Required
Navigation Performance (RNP)
2. Wide area differential GPS (WADGPS) corrections that will provide
accuracy for GPS users so as to meet RNP accuracy requirements
3. A ranging function that will provide additional availability &
reliability that will help satisfy the RNP availability requirements
WAAS Concept (1)
Fig 5.34
WAAS Concept (2)
Fig 5.35
Air-Data Systems
Introduction (1)
An air-data system consists of aerodynamic &
thermodynamic sensor & associated electronics
The sensors measure characteristics of the air
surrounding the vehicle and convert this information
into electrical signals that are subsequently processed
to derive flight parameters including
Calibrated airspeed,true airspeed, mach number, free-stream
static pressure, pressure altitude Baro-corrected altitude,
free-stream static pressure, pressure altitude, baro-corrected
altitude, free-stream outside air temperature, air density,
angle of attack, angle of sideslip
Introduction (2)
Measured information is used for flight displays,
autopilots, weapon-system fire-control computation,
and for the control of cabin-air pressurization
systems
Since 1990s, all computations & data management
are digital & based on microprocessor technology.
New avionics architectures are incorporating air-data
functions into other subsystems such as inertial/GPS
navigation units or are packaging the air-data
transducers into the flight-control computers
Each type pf acft has unique challenges, primarily in
regard to the accuracy of measuring the basic
aerodynamic phenomena
Air-data Measurements (1)
All of the air-data parameters that are relevant to
flight performance are derived by sensing the
pressure, temperatures, and flow direction
surrounding the vehicle
Because air is moving past the acft, the pressure at
various places on the acft’s skin may be slightly
higher or lower than free stream
Airborne •Pressure
Sensors •Temperature Air-data parameters
•Flow direction relevant to flight
performance
Air-data Measurements (2)
The probes deployed around the skin of acft,
sample the static pressure (via static ports),
total pressure (via the pitot tube), total
temperature (via the temperature probe), and
local flow direction (via the angle-of-attack &
sideslip vanes)
All of these sensing elements, except for the
flush-mounted static port, are intrusive
because they disturb the local airflow
Air-data System
Probes & vanes in
acft body
Typical nose-
mounted air-data
boom with pressure
probes & flow-
direction vanes
Air-data (1)
Static pressure is the absolute pressure of the still air
surrounding the acft.
To obtain a sample of static air in a moving acft, a hole (static port)
or series of holes are drilled in a plate on the side of the fuselage
or on the side of the pilot tube probe which extends into the free
air stream
Total pressure refer to the pressure sensed in a tube that is
open at the front & closed at the rear
PT PS 1 / 2 V 2
f T
m V /C
C f (T , , )
Air-data (2)
Outside air temperature, referred to as static
air temperature and is required for the
computation of true airspeed, air density
(which is required for some types of fire-
control aiming solutions)
Angle of attack is the angle, in the normally
vertical plane of symmetry of the acft, at
which the relative wind meets an arbitrary
longitudinal datum line in the fuselage
Chapter Seven
Doppler
navigation
system
Principles & Design Approach
Doppler effect: change (Doppler shift) in
observed frequency when there is relative
motion between a transmitter & a receiver
If the relative velocity is much smaller than speed
of light: VR f VR
v
If the value of c
λ is known & v v Doppler shift
is measured, f frequency of the transmiss ion
the relative
velocity can be c speed of light
calculated VR relative velocity between tr ansmitter & receiver
c f waveleng th of transmiss ion
Doppler Radar Beam
Geometry
Basic Doppler
Radar beam
geometry
VR 2V cos 2Vb
or
2Vf 2V
v cos cos
c
angle between th e velocity vector V and
the beam centeroid b unit vecto r along the
beam centroid •Also used for ground proximity warning system.
• Combine with GPS digital terrain database for
enhanced ground proximity monitoring
Three beam Doppler Radar
To measure all three orthogonal components of
velocity
Three-beam lambda
Doppler radar
configuration
The Doppler Spectrum
Fig 10.6
Chapter Nine
Landing Systems
Introduction
Every successful flight culminates in a landing.
Although the majority of landings are conducted
solely with visual cues, acft must frequently land in
weather that requires electronic assistance to the
pilot or the autopilot
On the vicinity of the destination the acft begins its
decent & intercepts the projected runway center line,
then makes a final approach & landing with position
errors of a few feet in each axis at touchdown
The catastrophic accidents occur during these flights
phases of which two-thirds are attributed to errors
made by the flight crew
Low-Visibility Operations (1)
Considerable interference to civil & military
operations result due to reduced visibility in
terminal areas
i.e the visibility at London’s Gatwick Airport
requires Category II operational capabilities
for 115 hours per year & Category III
capabilities for 73 hours per year during
primary operating hours
Low-Visibility Operations (2)
While the successful landing of acft depends on many factors
other than ceiling & visibility, such as crosswinds & storm
activity, the term all-weather operations often refers only to
operations in condition of reduced visibility
Instrument meteorological conditions (IMC) are times in which
visibility is restricted to various degrees defined by regulations
in certain countries
Acft operating in IMC are supposed to fly under Instrument
Flight Rules also defined by regulations
During a landing, the decision height (DH) is the height above
the runway at which the landing must be aborted if the runway
is not in sight. The better the electronic aids, the lower is the
DH
Visibility Categories (by ICAO)
(1)
Category I
Decision height not lower than 200 ft; visibility not
less than 2600 ft, or Runway Visual Range (RVR)
not less than 1800 ft with appropriate runway
lighting.
The pilot must have visual reference to the
runway at the 200ft DH above the runway or abort
the landing.
Acft require ILS and marker-beacon receiver
beyond other requirements for flights under IFR.
Category I approaches are performed routinely by
pilots with instrument ratings
Visibility Categories (by ICAO)
(2)
Category II
DH not lower than 100 ft & RVR not less than
1200 ft (350m)
The pilot must see the runway above the DH or
abort the landing
Additional equipment that acft must carry include
dual ILS receivers, either a radar altimeter or an
inner-marker receiver to measure the DH, an
autopilot coupler or dual flight directors, two
pilots, rain-removal equipment (wipers or
chemicals), and missed-approach attitude
guidance. An auto-throttle system also may be
required
Visibility Categories (by ICAO)
(3)
Category III subdivided into
IIIA. DH lower than 100 ft and RVR not less than
700 ft (200m)-sometimes called see to land: it
requires a fail-passive autopilot or a head-up
display
IIIB. DH low than 50 ft & RVR not less than 150 ft
(50m)-sometimes called see to taxi; it requires a
fail-operational autopilot & an automatic rollout to
taxing speed
IIIC. Zero visibility. No DH or RVR limits. It has
not been approved anywhere in the world
Decision Height
Acfts are certified for decision heights, as are
crews
When a crew lands an acft at an airport, the
highest of the three DHs applies.
An abort at the DH is based on visibility
Alert height is the altitude below which
landing may continue in case of equipment
failure
Typical Alert height is 100 ft
Standard lighting Pattern
Airports at which Category II landings are permitted must be
equipped with the standard lighting pattern
Category III
runway
configuration
The Mechanics of Landing (1)
1. The approach
Day & night landings are permitted under visual
flight rules (VFR) when the ceiling exceeds 1000 ft
& the horizontal visibility exceeds 3 mi, as juged by
the airport control tower
In deteriorated weather, operations must be
conducted ubder Instrument Flight Rules (IFR)
An IFR approach is procedure is either non-precision
(lateral guidance only) or precision (both lateral & vertical
guidance signals)
Category I, II, and III operations are precision-approach
procedures
The Mechanics of Landing (2)
An afct landing under IFR must transition
from cruising flight to the final approach
along the extended runway center line by
using the standard approach procedures
published for each airport
Approach altitudes are measured
barometrically, and the transition flight path is
defined by initial & final approach fixes (IAF &
FAF) using VOR, VOR/DME
Radar vectors may be given to the crew by
approach control
The Mechanics of Landing (3)
From approximately 1500 ft above runway, a
precision approach is guided by radio beams
generated by ILS. Large acft maintain a speed of
100 to 150 knots during descent along the glide path
beginning at the FAF (outer marker)
The glide-path angle is set by obstacle-clearance and
noise-abatement considerations with 3 deg as the
international civil standard
The sink rate is 6 to 16 ft/sec, depending on the
acft’s speed & on headwinds
The Mechanics of Landing (4)
The ICAO standard: glide path will cross the runway
threshold at a height between 50 & 60 ft. Thus, the
projected glide path intercepts the runway surface
about 1000 ft from the threshold.
Fig 13.3
Wheel path
for instrument
landing of a
jet acft
The Mechanics of Landing (5)
2. The flare Maneuver
Land-based acft are not designed to touch down
routinely at the 6 to 16 ft/sec sink rate that exits
along the glide path. Thus a flare maneuver must
be executed to reduce the decent rate to less than
3 ft/sec at touchdown
During the approach, the angle of attack is
maintained at a value that causes a lift force equal
to the acft’s weight, & the speed is adjusted for a
specified stall margin, typically 1.3 times the stall
speed plus a margin based on reported wind speed
& shear
The Mechanics of Landing
(Decrab Maneuver)
1. The Decrab Maneuver & Touchdown
In a crosswind Vcw, an acft will approach with a
cab angle b such that its ground-speed vector lies
along the runway’s centerline. At an approach
airspeed Va & a headwind Vhw,
Log-periodic
dipole antenna
used in many
localizer arrays
The Localizer (2)
Fig13.7
Category IIIB
capture-effect
glideslope & Tasker
transmissometer
The Glide Slope (3)
Fig 13.9
Glide-slope pattern
near the runway. DDM
counters are
symmetrical around
the vertical, but signal
strength drops rapidly
off course
The Glide Slope (4)
The cable radiators of the end-fire array are installed on stands
40 in. high & are site alongside the runway near desired
touchdown point
Fig 13.10
Fig 13.11
Fig 13.12
Data Links
Automatic Dependent
Surveillance - Broadcast (ADS-B)
A technology designed to address both airspace and
ground-based movement needs.
Collaborative decision making is possible through
ADS-B surveillance information available to both ATC
and aircrews.
ADS-B combined with predictable, repeatable flight
paths allow for increased airspace efficiencies in high
density terminal areas or when weather conditions
preclude visual operations.
Additionally, ADS-B allow for enhanced ground
movement management (aircraft and vehicles) and
improved airside safety
ADS-B