Post on 24-Oct-2014
Mai 2009
Pilotage - Guidage FMS
Piloting-Guidance:Flight Management System
Guidance along the lateral flight path
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Mai 2011Pilotage - Guidage FMS
FMS in Piloting - GuidancePiloting function:
• allows to control the Aircraft movement around the Centre of Gravity (CG)
=> CDVE, inner loop of the Auto Pilot (AP)
Guidance function:• allows to control the Aircraft on a pre-planned path
=> Outer loop of the AP , HPATH and VPATH modes of the FMS.
Flight Management function:• allows to define an optimized lateral and vertical profile
=> FMS
Navigation function:• aircraft position computation (Nav sensors), optimal nav sensors (or fusion of nav sensors) selection
=> FMS
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Mai 2011Pilotage - Guidage FMS
A F-PLN is a combination of elementary element :
FMS – What is a Flight plan ?
Departure airport
Arrival airport
Each airport is identified by an ICAO code / four-letter
LF - FRANCE
LFBO (TLS) – Toulouse / Blagnac Airport
LFPG (CDG) – Paris / Charles de Gaulle Airport (Roissy Airport)
LFPO (ORY) – Paris / Orly Airport
EG – UNITED KINGDOM
EGKK (LGW) – London / Gatwick Airport
EGLL (LHR) – London / Heathrow Airport
The three-letter code (IATA code) is more commonly known to the public.
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Mai 2011Pilotage - Guidage FMS
A F-PLN is a combination of elementary element :
FMS – What is a Flight plan ?
Departure airport
Arrival airport
Departure procedure
A Departure procedure contains 3 optional elements : - RWY (runway and runway transition)
- SID (Standard Instrument Departure)
- TRANS (SID enroute transition)
EnrouteSID enroute TRANSSID
Runway
RunwayTRANS
Search downstreamFirst point of enroutein reference F-PLN
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Mai 2011Pilotage - Guidage FMS
A F-PLN is a combination of elementary element :
FMS – What is a Flight plan ?
Departure airport
Arrival airport
Departure procedure
Engine Out procedure
An Engine Out procedure or EOSID is a standard procedure to use if an engine fails just after take off.
Runway
Search downstream
EOSID diversion point
3000 A
B
C
D
E
EOSIDA
EOSIDB
EOSIDCEOSIDD
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Mai 2011Pilotage - Guidage FMS
A F-PLN is a combination of elementary element :
FMS – What is a Flight plan ?
Departure airport
Arrival airport
Departure procedure
Engine Out procedure
Arrival procedure
An Arrival procedure contains 4 optional elements : - APPR (Final approach including runway & missed approach)
- VIA (Approach transition)
- STAR (Standard Terminal Arrival Route)
- TRANS (STAR enroute transition)
Enroute STARenroute TRANS
Approach and missed approach
Search upstream Last point of enroutein reference F-PLN
STAR
Search upstream
Runway
Search downstream
Approach TRANS (VIA)
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Mai 2011Pilotage - Guidage FMS
A F-PLN is a combination of elementary element :
FMS – What is a Flight plan ?
Departure airport
Arrival airport
Departure procedure
Engine Out procedure
Arrival procedure
Waypoints
5 means to identify a waypoint : - An Ident ex : BEROK
- A Latitude/longitude ex : 44°09.9N/010°21.1E
- A place/bearing/distance (PBD)ex : BEROK/100/10
- A place-bearing / place-bearing (PB/PB)ex : BEROK-090/SIPLO-045
-A place-distance or Along Track Offset (ATO)ex : BEROK/10
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Mai 2011Pilotage - Guidage FMS
A F-PLN is a combination of elementary element :
FMS – What is a Flight plan ?
Departure airport
Arrival airport
Departure procedure
Engine Out procedure
Arrival procedure
Waypoints
Airways
An Airway is a published route.
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May-June 2010Navigation Page 9
A F-PLN is a combination of elementary element :
Departure airport
Arrival airport
Departure procedure
Engine Out procedure
Arrival procedure
Waypoints
Airways
Holding pattern
Due to traffic, the pilot may define holding pattern.
The FMS includes the Holding pattern into the flight plan
3-2-1) Lateral Flight planning - What is a Flight plan ?FMS – What is a Flight plan ?
H O L D A T AI N B C R S
3 4 0 °T U R N R E V E R T T O
L D A T A B A S E →
T I M E / D I S T
1 . 0 / 4 . 0
L A S T E X I T
U T C F U E L
- - - - - - - . -
← E R A S E I N S E R T *
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Mai 2011Pilotage - Guidage FMS
A F-PLN is a combination of elementary element :
FMS – What is a Flight plan ?
Departure airport
Arrival airport
Departure procedure
Engine Out procedure
Arrival procedure
Waypoints
Airways
Holding pattern
Alternate airport
An alternate airport is a stand-by destination usedin case of non-landing on primary destination.
PrimaryDestination
AlternateDestination
AlternateF-PLNportion
Departure
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Mai 2011Pilotage - Guidage FMS
FMS – Flight plan skeleton
After this initialisation a skeleton of the complete F-PLN is available
Navigation Display (SA/LR) F-PLN page on MCDU (SA/LR)
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Mai 2011Pilotage - Guidage FMS
3 classes of legs are used :
FMS – Construction of the flyable lateral path
Fixed path legs(1/2)
These are characterized by the fact that their geographic location is perfectly fixed.
IF : Initial Fix
TF : Track to a Fix
CF : Course to a Fix
FM : From a fix to aManual termination
FA : Fix to an Altitude
PI : 045/180 procedure turn
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Mai 2011Pilotage - Guidage FMS
3 classes of legs are used :
FMS – Construction of the flyable lateral path
DF : Direct to a Fix
HA/HF/HM : Holding pattern
AF : Arc a Fix
RF : Constant radius Arc
These are characterized by the fact that their geographic location is perfectly fixed.Fixed path legs
(2/2)
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Mai 2011Pilotage - Guidage FMS
3 classes of legs are used :
FMS – Construction of the flyable lateral path
Fixed path legs
Heading legs
These are characterized by a heading to follow from the preceding leg. They end when given conditions are met.
VD : Heading to aDME distance termination
VI : Heading to anIntercept
VM : Heading to aManual termination
VR : Heading to aRadial termination
VA : Heading to analtitude termination
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Mai 2011Pilotage - Guidage FMS
3 classes of legs are used :
FMS – Construction of the flyable lateral path
Fixed path legs
Heading legs
Course legs
These are characterized by a Course to follow from the preceding leg. They end when given conditions are met.
CR : Course to aRadial termination
CD : Course to aDME distance termination
CI : Course to anIntercept
CA : Course to analtitude termination
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Mai 2011Pilotage - Guidage FMS
Ex – SID SAM3P on EGKK airport with 08R runway :
FMS – Construction of the flyable lateral path
Leg type Fix Couse/Heading Altitude Turn DirectionFA : From fix to an altitude 08R 80° 700A CF : Course to a fix D265B 80° 1200A TF : Track to a Fix D080C DF : Direct to a fix DET26 2500A LeftTF : Track to a Fix DET36 3000 TF : Track to a Fix DET43 4000 TF : Track to a Fix SAM
700
Course 080°
EGKK08RD265B
DET26
D080C
DET36
FACF
08R
TF
TF
DFTF
DET43
SAM
TF
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Mai 2011Pilotage - Guidage FMS
Transitions between legs :
FMS – Construction of the flyable lateral path
Transition between two leg is dependent of :
- type of both legs
- A/C parameters (Ground speed and Roll angle)
- The course change between both legs
700
080°
EGKK08RD265B
DET26
D080C
DET36
FACF
08R
TF
TF
DFTF
Geometric path
D015J
D231L IF
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Mai 2011Pilotage - Guidage FMS
Transitions between legs :
FMS – Construction of the flyable lateral path
- type of both legs
- A/C parameters (Ground speed and Roll angle)
- The course change between both legs
- FMS manufacturer design for comfort and performance
- Maximum Turn Anticipation Distance (TAD)
- Phi nominal (altitude, speed, ….)
- Phase of flight
- Engine (engine out consideration)
- ……
No predictable and repeatable path is specified
Optimum path varies with various parameters:
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Mai 2011Pilotage - Guidage FMS
Transitions between legs :
FMS – Construction of the flyable lateral path
For fly-by transition, regulation defines predictable and repeatable boundaries of the transition area are defined (DO-236)
The boundaries is defined with the following parameters:
- Radius of turn (R) in NM :
- Turn Initiation Boundary Distance (Y) in NM :
Where : V+W is the maximum Groundspeed assumed for the transition in Kts.
α = track change, in degrees
Ф is the maximum aircraft bank angle, in degrees.
For Low altitude transitions (<FL195 )
(V+W) = 500 kts
Ф = min(α/2 ; 23°)
.
For High altitude transitions (>FL195)
(V+W) = 750 kts
Ф = 5°, by default.
If 5° results in Y > 20 NM, then
Y = 20 NM and R = 20/tan(α/2)
.
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Mai 2011Pilotage - Guidage FMS
FMS Navigation Function
Departure Runway
Departure Procedure
(SID)
Destination
Runway
Arrival Procedure
(STAR)
En Route Phase
?Where am I?
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Mai 2011Pilotage - Guidage FMS
Conventional sensors/means onboard AIRBUS aircraft
A/C Position computation
Autonomous Navigation
- Time
- Air Data
-Inertia
-Radio-altimetry
RADIO-NAVIGATION
Cruise :
- ADF
- VOR
- DME
- GPS
Approach/Landing :
- ILS/MLS/DGPS/SBAS
FMS Navigation Function
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Mai 2011Pilotage - Guidage FMS
Autonomous Navigation means• Inertial units :
• outputs : AttitudePosition : Latitude / LongitudeVelocity
FMS Navigation Function
• Radio-altimeter :
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Mai 2011Pilotage - Guidage FMS
• ADF (Automatic Direction Finder) :• Outputs : azimuth of ADF Navaid wrt aircraft axis.
Radio-Navigation
Bearing
Navaid direction
FMS Navigation Function
• VOR (VHF Omni Range) :• Outputs : magnetic radial of the navaid
Azimuth
Nm
Nm
Heading
VOR Navaid
Radial
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Mai 2011Pilotage - Guidage FMS
• DME (Distance Measuring Equipment) : • outputs : direct distance between A/C and the DME navaid
Radio-Navigation
R E Answer delay 50μs
DME ground station
ρ
FMS Navigation Function
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P O S I T I O N M O N I T O R
F M G E C 1 4 6 1 0 . 2 N / 0 0 6 1 8 . 3 E3 I R S / D M E / D M E
F M G E C 2 4 6 1 0 . 2 N / 0 0 6 1 8 . 8 E3 I R S / D M E / D M E
R A D I O 4 6 1 0 . 1 N / 0 0 6 1 8 . 2 E
M I X I R S 4 6 0 9.72N / 0 0 6 1 8 . 0 EI R S 1 I R S 2 I R S 3
N A V 0 . 4 N A V 0 . 2 N A V 0 . 4
S E L
← F R E E Z E N A V A I D S >
Mai 2011Pilotage - Guidage FMS
Inertial
Radio
GP(IR)S
IRS 1, 2, 3
DME
VOR
MMR
LOCposition FMS
Position computation in FMS – General principle
ρ/ρ position
ρ/θ position
Navigation
Function
FMS Navigation Function
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Mai 2011Pilotage - Guidage FMS
Navigation modes automatic/optimum selection
IRS Position
Available + reasonable
GPS Position
Available + reasonable
Radio Position
Available + reasonable
NO NAV
GPS/INERTIAL
RADIO/INERTIAL
INERTIAL ONLY
No
No
No
Yes
Yes
Yes
DME/DME VOR/DME
FMS Navigation Function
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Mai 2011Pilotage - Guidage FMS
P O S I T I O N M O N I T O R
F M G E C 1 4 6 1 0 . 2 N / 0 0 6 1 8 . 3 E3 I R S / D M E / D M E
F M G E C 2 4 6 1 0 . 2 N / 0 0 6 1 8 . 8 E3 I R S / D M E / D M E
R A D I O 4 6 1 0 . 1 N / 0 0 6 1 8 . 2 E
M I X I R S 4 6 0 9.72N / 0 0 6 1 8 . 0 EI R S 1 I R S 2 I R S 3
N A V 0 . 4 N A V 0 . 2 N A V 0 . 4
S E L
← F R E E Z E N A V A I D S >
NAV mode
Available
positions
IRS drift
HMI – Synthesis of Position computation function
FMS Navigation Function
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Mai 2011Pilotage - Guidage FMS
Flight planning : the path to follow
Navigation : I know where Iam
FMS – Guidance along the lateral path
Departure Runway
Departure Procedure
(SID)
Destination
Runway
Arrival Procedure
(STAR)
En Route Phase
Guidance along lateral path
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Mai 2011Pilotage - Guidage FMS
Lateral guidance :- is controlled by pilot or by FMS depending onlateral guidance mode.
- is based on the Active leg (leg A/C is supposed to fly)of the Primary F-PLN.
- takes into account a notion of F-PLN sequencing (leg switching when specific condition between two legs is reached)
FMS – Guidance along the lateral path
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Mai 2011Pilotage - Guidage FMS
FMS – Guidance along the lateral path
Two lateral guidance mode are availableManaged modeManaged mode is engaged by pushing the HDG/TRK selector knob on FCULateral guidance is controlled by the FMS to follow the trajectory as defined onMCDU (MFD).
Selected modeSelected mode is engaged by pulling the HDG/TRK selector knob on FCULateral guidance is controlled by pilot selection on the FCU
FCU on A380FCU on SA/LR
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Mai 2011Pilotage - Guidage FMS
LateralGuidancemode
FMS – Guidance along the lateral path
SA/LR
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Mai 2011Pilotage - Guidage FMS
FMS – Guidance along the lateral path
Managed modes Engagement logic
RWY • During TO up to 30 ft RA
NAV
• 3 submodes : Heading (if Active Leg = Heading Leg)Track (if Active Leg = Course Leg)HPATH (if Active Leg = Course Leg) : roll command
APPNAV
LOC
LAND
Depending on precision or non precision approaches
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Mai 2011Pilotage - Guidage FMS
In NAV Managed mode, depending on active leg type the FMSsteering commands are :
- Roll targets for fixed path legs (TF, CF, DF, …) : HPATH Submode
- Heading targets for heading legs (VD, VI, VM, …) : HDG Submode
- Track targets for course legs (CD, CI, CA, …) : TRK Submode
FMS – Guidance along the lateral path
DET26
DET36DF
D015J
Active leg
D080C is the FROM wpt
DET26 is the TO wpt
DET 36 is the NEXT wpt
Command=
Roll target
D080C
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Mai 2011Pilotage - Guidage FMS
The HPATH Law
HPATH
law
XTK
TKE
Phi target
Ground speed
Phi commandé
GS
Desired course
XTK
TKE
GS*TKE
Phi target
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Mai 2011Pilotage - Guidage FMS
HPATH Law input
Phi target computation
)_
arctan(2
arg radiusturngGSsignsegmentett ×
×=φ
0arg =ettφStraight segment & final RAD =>
Curved segment & initial RAD =>
RAD = Roll Anticipation Distance
= distance from the termination of the leg at
which the phi target is modified to reach the
phi target of the next segment at the entry point
= f(Δroll angle , roll rate, ground speed)
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Mai 2011Pilotage - Guidage FMS
HPATH Law in FMS
HPATH
law
XTK
TKE
Phi target
Errors
computation
Phi target
computation
Navigation
Ground speed
Ground speed
Segment
sequencing
Aircraftposition
Aircraft position
Activesegment
Active & nextsegment
Trajectory
Model construction
Aircraft
states
Phi
commandé
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Mai 2011Pilotage - Guidage FMS
FMS – Guidance along the lateral path
NAV guidance mode
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Mai 2011Pilotage - Guidage FMS
FMS – Guidance along the lateral pathNAV guidance mode is armed (1/3)
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Mai 2011Pilotage - Guidage FMS
FMS – Guidance along the lateral pathNAV guidance mode is armed (2/3)
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Mai 2011Pilotage - Guidage FMS
FMS – Guidance along the lateral pathNAV guidance mode is engaged (3/3)
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Mai 2011Pilotage - Guidage FMS
F-PLN Sequencing :
FMS – Guidance along the lateral path
An automatic sequencing occurs when :- A/C overflies TO waypoint or crosses with specific condition for fixed path legs.- conditions linked to the leg are met for heading and Course legs.
In this example, A/C is in selected mode,ABADI has been passed with a Crosstrack error less than 5NM. TO waypoint is now BOKNO
XTRKerror
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Mai 2011Pilotage - Guidage FMS
F-PLN Sequencing :
FMS – Guidance along the lateral path
When conditions for automatic sequencing are not met the F-PLN must be sequenced manually.
The FROM is cleared
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Mai 2011Pilotage - Guidage FMS
F-PLN Sequencing :
FMS – Guidance along the lateral path
When conditions for automatic sequencing are not met the F-PLN must be sequenced manually.
ABADI becomes the FROM WPT
A HDG/TRK is selected on FCU to intercept the active legbefore TMPY F-PLN insertion
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Mai 2011Pilotage - Guidage FMS
FMS – Guidance along the lateral path
F-PLN Sequencing :
When conditions for automatic sequencing are not met the F-PLN must be sequenced manually.
Managed Mode is armed
PNEP
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Mai 2011Pilotage - Guidage FMS
Guidance – Flight Technical Error
Flight Technical Error (FTE) :
The navigation error introduced by the pilot’s (or autopilot’s) capability to utilizedisplayed guidance information to track the desired flight path is commonlyreferred to as flight technical error (FTE).
In the RNP environment, the overall navigation performance must account for thecontribution of FTE.
During real time operation of the system, the FTE can be measured, however duringthe system certification, an estimated system FTE shall be established.
ED75 – DO236B
Minimum Aviation System Performance Standard :
Required Navigation Performance for Area Navigation
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Guidance – Flight Technical Error
Flight Technical Error (FTE) :
FTE should not exceed 1.0 nmi for en route, 1.0 nmi for terminal or approach transition, or 0.25 nmi (for equipment using GPS data) or 0.5 nmi (for equipment not using GPS data) for approach operating modes on a 95 percent basis.
FAA Advisory Circular AC20-130A:AIRWORTHINESS APPROVAL OF NAVIGATION ORFLIGHT MANAGEMENT SYSTEMS INTEGRATINGMULTIPLE NAVIGATION SENSORS
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RNP Concept: Navigation Performance DO-236 Definitions
Desired Path
Defined Path
Path Steering Error (PSE) or Flight Technical Error (FTE)
Path Definition Error (PDE)
Estimated Position
True Position
Total SystemError (TSE)
Position Estimation Error (PEE) or Navigation System Error (NSE)
Example of use : RNP Operation
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Example of use : RNP Operation
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November 2010RNP AR flight operations and Services presentation Page 49
Example of use : RNP Operation
Required Navigation Performance (RNP) approach
Navigation accuracy :RNP values