US 12,130,644 B2
Roll-biased skid-to-turn terminal guidance with rudder integrator feedback
Scott David Davis, West Hills, CA (US); and Drew David Mitchner, Chatsworth, CA (US)
Assigned to AEROVIRONMENT, INC., Arlington, VA (US)
Appl. No. 18/564,534
Filed by AEROVIRONMENT, INC., Arlington, VA (US)
PCT Filed May 27, 2022, PCT No. PCT/US2022/031294
§ 371(c)(1), (2) Date Nov. 27, 2023,
PCT Pub. No. WO2022/251598, PCT Pub. Date Dec. 1, 2022.
Claims priority of provisional application 63/314,597, filed on Feb. 28, 2022.
Claims priority of provisional application 63/194,762, filed on May 28, 2021.
Prior Publication US 2024/0264607 A1, Aug. 8, 2024
Int. Cl. G05D 1/48 (2024.01); G05D 1/49 (2024.01); G05D 109/20 (2024.01); G05D 111/10 (2024.01)
CPC G05D 1/484 (2024.01) [G05D 1/49 (2024.01); G05D 2109/20 (2024.01); G05D 2111/10 (2024.01)] 19 Claims
OG exemplary drawing
 
1. An aircraft autopilot guidance control system for guiding an aircraft having a body, the system comprising:
a processor configured to determine if a yaw angle difference and a pitch angle difference meet corresponding angle thresholds;
a skid-to-turn module configured to generate a skid-to-turn signal if the corresponding angle thresholds are met;
a bank-to-turn module configured to generate a bank-to-turn signal having a lower bandwidth than the generated skid-to-turn signal;
a rudder integrator module configured to add a rudder integrator feedback signal to the bank-to-turn signal, wherein the rudder integrator feedback signal is proportional to a rudder integrator; and
a filter module configured to filter the generated bank-to-turn signal, wherein the filter module comprises a low-pass filter configured by a set of gains to pass the bank-to-turn signal if a side force on the body meets a side force threshold.