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BAE SYSTEMS
BEI Systron Donner Inertial Division
Honeywell International, Inc.
QINETIQ (formerly DERA)
Rockwell International, Collins Avionics Division
Royal Aeronautical Society Library
Schlumberger Industries
Smiths Industries
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29 .................. +
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32 . . . . . . . . . . . . . . . . . . . . . . . . IQF9ayG ?y9I Q9gWASG ?}d!C 2.1.1
34 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?I;Cp G ?}d!C 3.1.1
35 . . . . . . . . . . . . . . . . . . . . . . ,FQ9BG D9gyG Q9gWASG ?}d!C 4.1.1
37 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . e9%CG ?AEC ?}d!C 5.1.1
45 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . fGQ+ayG J9+!hQAwyE ?8+< 2.1
45 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . )!O}G fR(yG 1.2.1
46 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?+8+=yG J9=zaACG 2.2.1
47 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?+s(C(yG 3.2.1
49 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . JGOI(yG Q9+ALG 3.1
51 . . . . . . . . . . . . . . . . . . . . . . . ? y6 Gh f 9T! G #+< {f9qAy Gh J 9V9Wy G : P9Dy {Zqy
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54 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . h q @Q CG SCQyG J9V9V 2.2
54 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?|OtCG 1.2.2
58 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?+S9S}G O9=CG 2.2.2
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94 ............................................ C ?|Ot 1.3.2 G
96 .............................. (B ~+}Z@ {| (f 2.3.2 IP G G
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119 ............................................ ?|Ot 1.4.2 C G
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127 ................................ ^qM "C G SC Qy G J 9V9V 6.2
127 ............................................ ?|Ot 1.6.2 C G
128 .......... +! C (Zt}zy ^qM"C Qy 9V9V 2.6.2
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133 . . . . . . . . . . . . . . . . . ?*QwTgy ^qM"C Qy 9V9V 3.6.2 G G SC G J
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147 ......................................... J 9 9 =y !+ G L 9|O 7.2 ! G
151 ................................... +
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153 ......................................... J9V9WyG ?+"t@ 9.2
153 ............................. hq@QCG SCQyG J9V9V 1.9.2
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155 . . . . . . . . . . . . . . . . . . . . . . . . . . . ^qM"CG SCQyG J9V9V 3.9.2
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165 ......... QR+zyG ?JS9| JGP ?atTCG J9V9WyG 6.3.9.2
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168 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?|OtCG 1.10.2
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168 .......................... ?+T}zyG ~wJAyG J9I(y 2.10.2
169 ....................... QV9=CG J(ZyG d9LOE e9d! 3.10.2
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174 . . . . . . ?+T}zyG/?+@(ZyG J;LO}vyG h| ?V9WyG H|O 5.10.2
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175 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . _gyG h=A@ ?}d!C 6.10.2
178 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?+p9\E JGAGQs
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179 ............................ IQF9ayG ~w;h ?+FG(%yG 9w+|9"*OyG : Ey9DyG {ZqyG
179 ................................................. ?|OtCG 1.3
179 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?+FG(%yG 9w+|9"*OyG J9+S9SC 2.3
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179 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . K=wyGh hpQyG 1.2.3
181 ....................... e(G%yG ?*hGR/W(tTyG ?*hGR 2.2.3
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182 ........................ K=wyG {|9g|h hpQyG {|9g|
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185 ..... ?+FG(%yG 9w+|9"*OyG J9+S9SC ^f ,J+\(@ d9D| 4.2.3
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188 .... , (%FG yG ,w+|9"*OyG RvQCGh QGOJ!:G/uzTAyG eRf 5.2.3
188 ................................. {*PyG KaS e9%SE 6.2.3
191 ......................................... IQF9ayG QGQtASG 3.3
192 .................................. [( ayG QGQtAS:G 1.3.3
k k
195 ................. 9+FG($ 9+w+|9"*O IQtATCG Q+i IQF9ayG 2.3.3
198 ............................... ~T@G hpQ J9|9%SE 3.3.3
198 ......................................... IQF9ayG 9w+|9"*O 4.3
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198 ............ YQ9TAyGh ?fQTyG J9=vQ| v v v IQF9ayG Qh9I 1.4.3
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202 ........................................ LGQg!:Gh
204 ............. IQ+jZyG J9<GQa\;y ?vQAG J:O9g| 3.4.3
207 ............ ?+FG(%yG ?+w+|9"*OyG I(tyGh eRgyG J9tAW| 4.4.3
210 .......................... ?+y(ayG ?vQAG J9tAW| 1.4.4.3
213 ........................... ?+=!9@G ?vQAG J9tAW| 2.4.4.3
220 ................... ?+=!9@Gh ?+y(ayG ?vQAG J:O9g| 5.4.3
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224 .............................. ?<9GAS:Gh [(ayG ~wJAyG 5.3
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224 .................................... [( ayG ~wJAyG 1.5.3
226 ................................ g /IO9+tyG 9Zf I(s 2.5.3
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228 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . hpGQyG
230 .... ?A<9C ?+|9|C ?fQS VGQAp9< ?*QGOJ!:G ?<9GAS:G 4.5.3
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240 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?*QGOJ!:G
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249 ..................................... ?pOy9< ~wJAyG 2.6.3
250 ..................... IQAqyG IQ+Zs ?+FGQg!:G ?vQAG 3.6.3
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253 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?|Ot 1.7.3 CG
255 ..................... Oty ~w OI 9tA IQ G 2.7.3
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258 ................................... 6 QtAS: ?}d 8.3 [ G QG G !C
258 . . . . . . . . . . . . . . . Qa Ty I + O 6 QtAS: ?}d 1.8.3
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262 .. OJ ;y b T<
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265 ................ Qa Ty ?z|9v 6 QtAS: ?}d 2.8.3
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266 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ? p9 \ Qs + E JGAG
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267 ..................... c;S}G ?aSG(< fGQ+ayG ?zIQ< ~wJAyG : h<GQyG {ZqyG
267 ................................................. ?|Ot CG 1.4
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269 .......................................... ;S c }G
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277 .............. ;S ?aS < Q ay ~w R 2.2.4
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288 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ~wJAy s 3.4 G #+!G(
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294 ........................ OJ : Og| Q| < ~wJAy 1.3.4
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300 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?vQ AG
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306 . . . . . . . . . . . . . . . . . . . . . . . . ~wJAy Qf p 9qzMAy 2.3.4 G Ih , J G
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313 ........................ OJ : Og| Q| < ~wJAy 3.3.4
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314 .. 9 ay ?aS < ?DJAT 9<P<Py Qa Ty 9qY 4.3.4
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318 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?D O ~wJAy ? Qd 5.3.4 * AG G * !
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319 G # A Gh I ( G
319 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?|;Ty 9| 1.4.4 Gh f }G
321 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Qp y Of 2.4.4 I ( G JGOG E
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323 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . O+I(AyGh B*(ZAyG 3.4.4
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329 ................................. ,f9<QyG e9d"yG ?+"< 4.4.4
330 ........................
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332 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?"*9=ACG IQp(yG 6.4.4
335 .......................................... ,}sQyG P+q"AyG 5.4
335 .............................. ,}sQyG P+q"AyG JGR+F 1.5.4
337 ............................ + !+
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337 ...................................... aGOQAS:G 1.2.5.4
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339 .................................... ! + #$h 2.2.5.4
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340 ......................................... f (}wyG 3.2.5.4
340 ......................................... J9 +HQ=yG 3.5.4
340 ..................................... ? | Ot G C 1.3.5.4
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346 ...................... J9 +HQ=yG Q*(a@ ?+z}f 3.3.5.4
349 ........ J9 +HQ=yG ?+I;Yh ?JY #| utJAyG 4.3.5.4
350 . . . . . . . . . ?"*9=ACG hC QGOY G IOOgA G J9C +HQ=yG 5.3.5.4
351 ...................... +z
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352 .......................... A(]y9< fGQ+ayG ?zIQ< ~wJAyG 6.4
352 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?|OtCG 1.6.4
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355 ............... A (]y9< fGQ+ayG ?zIQ< ~wJAyG ?}d!C 2.6.4
358 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?*QZ=yG JGQgWAT G C 3.6.4
361 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?+p9\E JGAGQs
363 . . . . . . . . . . . . . . . . . . h\ yG ( b9tAVGh O GPyG Q (ZtyG JGQgWAT| : U|9 B
G {ZqyG
363 ................................................. ?|Ot G C 1.5
364 ............................. YQ9TAyG U +*9t|h JGhQ +@G 2.5
364 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?|OtCG 1.2.5
16
q
366 ...................... jhGRyG cQJAyG ?+}v JGhQ+F 2.2.5
366 .................... ? S9S G O9= Gh ?|Ot G 1.2.2.5
+ } C C
k n
370 . . . . . . . . . . . . . . . . . . . . . 9 w |9 O ryG G hQ G 2.2.2.5
+ + "* (C +@
?v y69v < IQGO G IRv Av G ?v zv Av wv yG JGP ?v v fQv Tv yG JGhQv v G 3.2.5
C %C + +@
376 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?t sOyG +
381 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ? QZ=yG JGhQ G 4.2.5
* +@
381 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?|Ot G 1.4.2.5 C
n
386 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . tz G QR zyG hQ F 2.4.2.5
, A + +
395 . . . . . . . . . . LGOAyG S9 t G hP jQZ=yG r zyG hQ F 3.4.2.5
\ + C + +
407 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . YQ9TAyG U 9t| 5.2.5 +*
407 . . . . . . . . . . . . . . . . . . ? f yG I tyG S9 s v v v ?|Ot G 1.5.2.5
+ (" ( + C
k
408 . . b T=yG 9 vQ= R O t G hO =yG YQ9TAyG S9 t| 2.5.2.5
v
+ + ! + C [ " +
eRv vf fGRv v v v| Y v v hP hOv v v v=v vyG YQ9v vTv vAv vyG S9v v v vtv v| 3.5.2.5
+ (! [ " +
410 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . fGQhOyG
414 . . . . . . . . . . . . . . . . Qh9J G ry9MA G QgWAT G JGOGOfE 6.2.5
C C C
416 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . h\ yG b9tAVG 3.5 (
416 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?|Ot G 1.3.5 C
417 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . IQtAT G ?Z G ?}d C 2.3.5 C "C !
n o
420 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ~wJ}vyG B =DAyG ?}d C 3.3.5 + !
422 . . . . . . . . . . . . . . . . . . . . . . . . . h\ yG J9 |RQG L 1.3.3.5
( + (
n
?vv}vv wvv Jvv}o v v yG y?vv8vv p9vv w G IQvvtvv AvvT G ?vv Zvv Gz O y vv @ 2.3.3.5
C C "C + (
429 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B =DAyG +
432 . . . . . . . . . . h\ yG J9 |RQG ( + ? }sQyG ? 9g G 3.3.3.5
(B + @ C
434 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ? _hQM G ?vQ G 4.3.5+ C A
,? y9v v v }v v v Wv v v yG ? zv v v J G Qh9v v v J G E ?v v v =v v v Tv v v v v v y9v v v < hv v v \ v v v yG 5.3.5
+ + C C ] " (
436 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ? zqTyGh ,? sQWyGh+ +
436 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?|Ot G 1.5.3.5 C
q
438 . . . VQ G fGQhOy ? hGRyG ?fQTyG J9J JZ@ 2.5.3.5
} * +
17
439 n G J 3.5.3.5
. . . . . . . . . . . . . . . . . . . . ?=vQC ?fQS 9J+JZ@
442 C G G G 4.5.3.5
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?+S Qy ?=s QC
443 G G G 5.5.3.5
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?+A}Ty ?=s QC
444 e G
........................... G 6.3.5
9AAC K+VQAy #f ?|Ot|
x
448 E JGAG
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?+p9\ Qs
449 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?I;Cp G ?}d!C : SO9TyG {ZqyG
449 G O Gh G 1.6
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?+S9S} 9=C ?|OtC
449 G 1.1.6
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?|OtC
459 p G J G 2.1.6
. . . . . . . . . . . . . . . . . . . . . . . ?I;}zy ?+S9S} 9q*QgAy
462 k G G p G C 3.1.6
. . . . . . . . . 9+<9TI hs(C Q*OtA< ?+S9S} ?I;C ?}d!
465 G GQ p G 2.6
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . O Py (Zty9< ?I;C
465 G 1.2.6
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?|OtC
467 h G O G 2.2.6
. . . . . . . . . . . . . . . . . . . . . Qy(V r+y(@ ?+S9S} 9=C
480 G Qh 3.2.6
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?Z"C 9I
481 q hG G G
. . . . . . . . . . . . . . . ?* Oh 1.3.2.6
Ry ?fQTy K+JZ@ OI
482 YQ G
...................... Oh 2.3.2.69TAy K+JZ@ OI
485 h g G h FG G a
......... Q+@9< 9:: O*O; G 4.2.6, O A< : 9qaY:
490 G h G aG G 5.2.6
. . . . . . . . . . . . . . . . . . . . . . . . ,A}Ty Q+@ QG! Q+Cz@
491 C G G I 6.2.6
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ? + S Q y ? I; C 9"s
496
n p G J G E JGQ 7.2.6
. . . . . . . . . . . . . . . . . . . . . . . . . . ? I; C 9+C OI 9 +L
497 o
G vG G GQ
. B+=DAy ~wJ} y O Py pG e 8.2.6
r
(Zty9< ?I;C 9d! ?=S(I
499 f J h o v G G G Q
... 9C9v 9JVQ| ?!9g} y
p G C 3.6
O Py (Zty9< ?I;C ?}d!
511 g Gh
........................ G G 4.6
9 :: h\(zy ?+gFQC ?}d!}
511 G 1.4.6
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?|OtC
518 G eG
. . . ,T+_9"j| ,$9: hFQ| G G G 2.4.6 OMAS9< ?+A}Ty ?=s QC
527 G G G G e G 5.6
. . . . . . . . . . . . . . . . . . . . ,p Qj@ hs(C O*OJAy ,C9gy 9d"y
18
527 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?|OtCG 1.5.6
529 . . . . . . . . ,pGQj@G hs(CG O*OJAy ,C9gyG e 9d"yG rYh 2.5.6
hvvvvvs(CG Ovvvvv*OvvvvvJvvvvvAvvvvvy ,C9vvvvvgvvvvvyG e9vvvvvdvvvvv"vvvvvzvvvvvy ?vvvvv+vvvvvS9vvvvvS}G 9 =CG 3.5.6
O vvvvv
532 ......................................... ,pGQj@G
539 .............................. ?I;Cp G J :O9g| {I 4.5.6
9 dvv!h ,vvpGQvvjvv@G hvvs(CG Ovv*OvvJvvAvvy ,C9vvgvvyG e9vvdvv"vvyG {vv|9vvwvv@ 5.5.6
e vv
541 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . OGPyG Q( Zty9< ?I;CG
542 . . . . . . . \\9qAyG ,pGQj@G hs(CG O*OJAy ,C9gyG e 9d"yG 6.5.6
542 ..................................... ?|OtCG 1.6.5.6
543 . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?+S9S}G O 9=CG 2.6.5.6
v
549 ...... ?+z=tATCG IR RgCG ,f9"ZyG Q}ty9< ?I;CG ?}d!C 7.5.6
552 . . . . . . . . . . . . . . . . . . . . . . . . . . U*Q9]AyG ^f IO}AgCG ?I;CG 6.6
552 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?|OtCG 1.6.6
554 . . . . . . . . . . . . . . . . . . . . . . . . . . . . U*Q9]AyG ?%=F ?I;| 2.6.6
556 . . . . . . . . . . . . . . . . . . . . . . . . U*Q9]AyG [F9ZL ?t<9a| 3.6.6
556 . . . . U*Q9]AyG ^f IO}AgCG ?I;}zy POCG d ;jAS:G 4.6.6
557 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?+p9\E JGAG Qs
559 . . . . . . . . . . . . . . . . . . . . . . . ?*(@G J9!9+=yG ?}d!Ch ?*(@G J9!9+=yG : h<9TyG {ZqyG
559 ................................................. ?|OtCG 1.7
560 ................... 9%|GOMASGh ?*(@G J 9!9+=yG J 9|(zg| 2.7
560 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?*(@G J 9!9+=yG S 9+s 1.2.7
563 . . . . . . . . . . . . . . . . . . . . . 9%A+GCh ?*(@G J 9!9+=yG J 9+}v 2.2.7
563 .............. Q 9+azy ?*(@G J 9!9+=yG J 9|(zg| 1.2.2.7
?vvv*(vvv!9vvvDvvvyG ?vvv}vvvdvvv!~vvvy ?vvv*(vvv@G 9 9 =y
J vvv! vvv+vvv vvv G J vvv 9 |(vvvzvvvgvvv| 2.2.2.7
566 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?|9%yG
570 . . . . . . . . . . . . . . . . . ?*(@G J 9!9+=yG J 9s;fh #+!G(s b9tAVG 3.7
571 . . . . . . . . . #v9TyG bj]yGh Y 9q@Q:G bj\ #+< ?s;gyG 1.3.7
19
w
578 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?+\Q}G bj\ Q+j@ 2.3.7
580 ................... Y9q@Q:Gh AG(%yG ?p9Dv #+< ?s;gyG 3.3.7
581 ..................................... J(ZyG ?fQS 4.3.7
584 ..................... ?fQTyGh bj]yG #+< J9s;gyG 5.3.7
588 .......................................... N9| OOf 6.3.7
n
590 .............................. IQ*9gCG ?*(@G ?fQTyG 7.3.7
592 . . . . . . . . . . . . . . . . . . . . . . . . . #v9TyG AG(%yG IQGQI ?FQO 8.3.7
594 ............................. ?+t+tAG ?*(@G ?fQTyG 9.3.7
594 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . bj]yG A9aLC 10.3.7
596 . . . . . . . . . . . . . . . . . . . . ?=S(AGh ?*(@G J9!9+=yG JGQgWAT|
p
4.7
596 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?|OtCG 1.4.7
597 . . . . . . . . . . . . ?*(@G J9!9+=yG e9d"y bj]yG JGQgWAT|
p
2.4.7
597 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?sOyG J9=zaA| 1.2.4.7
600 . . . . . . . . . . . . . . . . . . . . . . . . . bj]yG JGQgWAT| ?+"t@ 2.2.4.7
609 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?*(@G J9!9+=yG ?=S(I 3.4.7
613 ......................... W(tTyG ?*hGR JGQgWAT|
p
4.4.7
614 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?+p9\E JGAGQs
615 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?zIQyG IQGOEh [6 9+ay G Q G !
?}d C : #|9Dy G {ZqyG
615 ................................................. ?|OtCG 1.8
618 ...................................... [6G Q9+ayG ?}d!C 2.8
618 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ?+S9S}G O9=CG 1.2.8
w
619 .................................. Y9q@Q:9< ~wJAyG 2.2.8
v
621 ........................ g9::9< ~wJAzy [6G Q9+ayG 3.2.8
w
623 .. g9::9< ~wJAzy [6G Q9+ayG ^f d(zI d9D| 1.3.2.8
w
e9vdv!/[6G W(v=v%vyG e9vdv"v< fQvAvtCG [6G Q9v+vavy9v< ~vwvJvAvyG 4.2.8
634 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ,q*hhQw+CG W(=%yG
20
634 ....................... d( Y(yG O9VQE ?}d!C 1.4.2.8
638 ......................... Q ayG bL ?+vQI 2.4.2.8
fG +
x o
639 .. [ 6G W(=%yG e9d"y hs(CG OOI LGhORG IhQf 3.4.2.8
x
= y 9 dv v"v vy ,v vS}G QGOv vJv v!:G LGhORG IhQv vf 4.4.2.8
W(v v v v%v v G e v v
641 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . [6G
642 ....................................... [ 6G W(=%yG 5.2.8
642 ..................................... ?|OtCG 1.5.2.8
645 ........... [6G Q9+ayG J9=zaA|h ?*DQyG J98p 2.5.2.8
= z y ?vv+vv=vv*QvvGvvAvvyG IOvvI(vvzvvy [6G W(vv=vv%v yG e9vvdvv! 3.5.2.8
W(vv vv%v vv
646 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . )}f}G
w
648 ........................ O O}Ay9< [6G ~wJAyG 4.5.2.8
651 .............. ?+f9"ZyG Q9}s}9< W(=%yG O9VQE ?}d!C 6.2.8
w
653 ................ [ 6G u!9BG ?}d!Ch ?fQTy9< ~wJAyG 7.2.8
654 ...................................... ?zIQyG IQGOE ?}d!C 3.8
654 ............................................ ?|OtCG 1.3.8
659 ..................................... ?zIQyG b+a< 2.3.8
662 .................................. O 9VQ Gh ?I;Cp G 3.3.8
664 .................. =@
AGO}G JG| " h fG + Q ayG bL _T; 4.3.8
w
666 ............... , SCQyG fGQ+ayG bL >!G(G< ~wJAyG 5.3.8
668 .................................. ?+z+jWAyG W9}!}G 6.3.8
669 ........................ O 9g<}G ?+f9<QyG ?zIQyG IQGOE 7.3.8
672 ............................................. ?+p9\E JGAGQs
673 ........................... fGQ+ayG J9+!hQAwyE ?}d!C {|9w@ : hS9AyG {ZqyG
673 .......................................... ?+qzLh ?|Ot| 1.9
685 ..................................... J ! +9 9 =yG {t! ?}d!C 2.9
685 ....................... ?+F9<Q%wyG J9!9+=yG {t! ?}d!C 1.2.9
686 ............ MIL STD 1553 J ! +9 9 =yG {t! e9d! 1.1.2.9
21
695 .................... ?*QZ=yG J9!9+=yG {t! ?}d!C 2.2.9
703 . . . . . . . . . . . . STANAG 3910 J9!9+=yG {t! e9d! 1.2.2.9
,vavBG Qv*Qv}vAvyG hP ?vfQvTvyG [9vgvyG J9v!9v+v=vyG {vs9v! 2.2.2.9
704 . . . . . . . . . . . . . . . . . . . . . . . . . . . ?*R|QyG JGQ9V5y
705 ........................ ?+z=tATCG J9!9+=yG {t! ?}d!C 3.2.9
705 ............................ ?*RG(ACG J9!9+=yG J;s9! 4.2.9
?z|9wACG ?+zFr RyG fGQ+ayG J9+!hQAwyE )"n <o 3.9
w
706 ................
x
714 ................................. 9*k Q9: IR$9@G J9!(wCG 4.9
716 ............................................. ?+p9\E JGAGQs
+ *(@
n
n
717 ................................ Q9 _ fhO< ? G J9=vQ}vyG : QV9gyG {ZqyG
n
717 ...................... 9 _ fhO< ?*(@G J9=vQ}n vyG ?+GC 1.10
Q +
n
723 ......... 9 _ fhO< ?*(@G J9=vQ}n vyG fGQ+_ J9+!hQAwyE 2.10
Q +
727 ............................................................... ,* q QgAyG B=DyG
741 ................................................................. ( R |QyG ?}F9s
759 ........................................................... JGQ9ZAL:G ?}F9s
763 ............................................ jR+ ! N
zG E vvvvv C
Qf J9JzaZ G B=C
777 ............................................ N + !
Qf vvvvv jR zG E J9JzaZ G B=CC
793 ..................................................................... SQvvvvvvvv %
p
22
rvvv=bN)
ZT B T ) )0 E XT R N@ 9 Y@ 8 ZP EP0 G G J G
w (dK 9 u @ C QP 9 t P9 b? 4 pP Q9 X? : G i G G IQO
JGP ?+"t@ :9G| ,p 9 $ 9tA! QF ,Ay ?zTzTy P% y Os v ,y >+ a*
v v v J v v v v D v v v G i v v v G v v v v v G g v v e v C fC v v v v
( } " z y 9 + S 9 S 9 vQ J | ? pQ g } y & + p B J = Y Q Z f , p , <Q g y 9 t z y ? *( y
k k
vvv vvv vvv vvv vvv vvv vvv C vvv vvv vvv vvv vvv vvv vvv G vvv vvv vvv vvv vvv C vvv vvv vvv vvv vvv vvv G Q vvv vvv vvv vvv vvv hC
x z } y ? " * O | # + < 9 g A y9 < ? z T z T y P $ Q W ! , @ z * , " t A y
vvv vvv vvv G 9 Z A s: vvv vvv vvv vvv vvv fh vvv vvv vvv vvv vvv vvv vvv vvv vvv G g vvv vvv vvv vvv vvv h , vvv vvv vvv vvv Gh jO vvv vvv vvv G
OO f ? + = z @ 9 _ , p h t * ? } F Q A z y ? + <Q g y ? } d " } y ? + " t A y ( z g z y R *R g y O = f
vv vv vv vv vv Q vv E vv vv vv h , vv vv vv vv vv vv vv vv vv G vv vv vv vv vv Gh vv vv vv vv vv Gh e vv vv vv vv vv vv vv G vv vv
9 %" | (z gy ?+< Qgy ?j zy9 < )"g@ ,Ay 9 +Y (Ay 9S 9+ Ty # | : h ,e Gh G G J Gh J G
k
v vvv $ p O t g " } y , <Q g y ? } t y Q } @| } y , | 9 A M y 9 + = y :h C
1428 V 9 *Q y vv vv G , vv vv vv vv vv vv G vv vv vv G vv vv vv G vv vv vv vv vv vv vv vv G f vv vv vv G :
EJ=y ?jy ,$ (w@ vv ? + <Q g y ? j z y9 < 9 } A $:
vv vv Q \ O v| * P y
G vv vv vv f vv vv fCh , vv vv vv vv G vv vv vv vv e vv vv vv G I Qh vv vv vv j vv G e2007
, p ? + <Q g y ? j z y (]I (F ,z* 9| )zf [! E+I ; |9 g } y , } z g y q
vv vv vv vv vv G vv vv vv G Q vv vv H vv h( : vv vv vv vv vv vv vv vv J vv vv vv vv Gh vv vv vv vv G
. 9$ Q +i B ! Q A! ;f ) 9 Z@ : { 9S x y ,p 9 }< # * 9 +} y h +}F h Gh ,e Gh ,d G F h P , O G
k
, Ay ?* (gTy ?+<Qg y ?wz}}y ,p ?+"tAy (zgzy ?+"_(y ?S9+T y 9v+v!9vC
v v G v O v v v G v v v v G v v v v v G v y v v v v v Gh e v v v v v v v v G v v v v Gz :
,R 9jy QA=y 9+}y ,$ ?+G+@ QAS ?+"t@ QWf OI 9}Af 9%"f uD=!
vv vv Gh dh vv vv vv Gh ,g vv vv vv G : vv vv vv vv vv G vv vv E vv vv vv vv I vv vv i vv E O vv vv vv G vv vv vv vv vv vv G
? + " t @ ? *( + J y ? + " t A y
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24
ا اول
Introduction
1.1
Importance and role of avionics
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303.15 K = 30 273.15 K = 0 °C 9 =9 .273.15 ' 5 @
Q
.−273.15 °C = 0 K X' 4 + O ;! °C
/(Newton (N))
+ SI
' ",
"
0 0 1
, '
%
+ ( 0% $G
",
+
f /
/',
/((lb) 0
)
5 0 .
5 = (3
B »
?
A,
.0, 0.22 +
, "( J , 3
/
" J G RB « % 3
3 D
!
E + ;- (7.1) 0!
! 0.22 5
$ B
3 4
* 1 9 (N/m2) 2 /
O
SI $ , A E5
10−3 bar = 1
=+ (millibar (mb))
.(Pascal (Pa))
« » « »
(bar) 61 * J5
9 ,\$/1
% K1 [ A % = E5 *TB
$% .(BARometric)
49
100 =
1
$% 100 kPa 9 105 N/m2 =
1
=
.100 Pa 9 N/m2
. 1
%
&' (
! "# $
:(7.1)
*2 $/1 "$% L+ # (foot) ,$ <
P Q &
' P Q & O
(Air Traffic Control)
% 2 1
.,$2# F
,
"$%
# "$%
&
* ,\$/10 "$% L+ # (knot) "\$ q J5
9 F
! 1
(nautical ! 1 * 3$% 3
% I
3
= 1 "$% "\$ q ! .%I- ' 61
1 ;! O * = 1
3$% 3
% I
3
mile (NM) per hour)
> # 1 O "$%
2$ $
* > #
.* > / " F
*
% .(
J
1852 9) ,$2 6076.1155 =
1
= % *
1
O ;! 1 knot = 0.5144 m/s 2I
;
B/ ; "$
1 knot ≈ 0.5 $
Q
*
% .1 m/s = 1.9438 knots X'
.1 m/s ≈ 2 knots 9 m/s
50
ا
ا
Displays and Man–Machine Interaction
Introduction
1.2
$ $
$'
* +' (%& )
!"#
$
1-
2 4
3 5 6 ,
7 8 +7 .,
-.
$
/
:+
94'" +
: " 9
., " "2 ,= <
.,=>! <
. '=
<
. 5' 7
<
.,
<
:
.: = = ,2 !"# <
. <
51
., ' ' ,
<
.,="2 ? <
.
<
9 $ ' @ ' " A ?" $ & $
$' B = , ?. C $ D $ E
F
+ , 5 " , G H8= ?. ' 9, "
$ 5 J $ "= .I ., 5 : F =
$ . = . - .2 ,
$2 " :.K 87 9,
: L87 ,M 2
.NJ O <
.8P + , Q' <
.H ,
R <
.
& Q
,
R
,'=
P <
.,
F , <
,
"
+'8 %
,
%P" <
.(intelligent knowledge based system (IKBS))
$ , 5 + $ P C , 5 5M 2 % J <
. % 2 5=
+ :" = 51 ' % :+ $
,
5 6 + %'= Q , " 7 «,S $ "
K $ 5 J»
E 48 5 . 7 87 9TP .
5 PK $
'
= 8 H D J = . "
52
H ,
.N" 5' $S %UP"* H
, "
D J
«
5 P » %
? ' + ' V
,=
$S 6 +
>'
$S " "/ % + 8
K ,
., '" $
. 5 . +
N
. A
,
.,
, '" $
5' + . 5'
' YJP Z = $
$'
* , "
/, >WP#
," , D"
8 ,
. /, $
. 5 . + 5
: + .
%P" 5
4. +
5 PK TP2 5 " .=
.$ N[
87 ?
. N
. , 6 = 5 ,= "
= + $'
G $
%
7F - ' % 98 .?' ]"# ^
$ $'
48 \
:, N
+ ,
R
, " "2 _
= ,
%
.(2.2 %") NJ O <
.(3.2 %") 8P + , Q' <
.(4.2 %") ' $ # 4 % <
%") 8P + , Q' 5 NJ O ,&
<
.(5.2
.(6.2 %") YJP
O <
.(7.2 %")
V
<
.(8.2 %") , '8 <
.(9.2 %") ,
<
.(10.2 %")
5 P %`'= <
53
Head up displays !
"
2.2
Introduction 1.2.2
+
Y + $S = . % %[ $ C $
O V
5 ) .NJ
O , +. 5 PK $ '
,
. + 1962 % ,
P + P 9N& + 9NJ
.(=
,'
+ (Buccaneer) «
' »
$ "
K $ 5 J + ' $["= Z = NJ
O , =
a & D B = (man-machine interaction (MMI)) ,S
,
2 !"#
," Q
, " "2 ,=
% , b
5
' 4 - ' : N
NJ
E" + .
.+. P %
P + R"#
YU "c " " % NJ
O , $
,
$
5
d ' , b $
$'
B = NJ
O +
2
$'
F Y " , " "2 ,
72 .& OJ
+ +. P %
-Q'#
4 9R"#
Y $
R 2 . ' 5 J a=F = % " 7 '/
F , -
, b , - $c 9(, , "
) ,
F
N
9"
9,
, W'
-
$ B = O ,'= N
6
% : $
>
e ' T $ a & 8 $' .+. P %
L . 6 ,. = $ = & + ,
+. P
: " ? -
9
H>P : P . F .$
- '
, W'
, , = + ,="2 ? $ P E1.
%W]
U 7
5 =) . O ,'= $
H 9 «H »
C= 8 «H » $ H=
" ? ,
> .8
,
> %P"
.(
H>P +7 7 L87 –
. O
54
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) *
.
! % & '( $$
! "#
2- 345 +
,
#- # / -0 1!
!!9 * 5# 45 .8# ( 9 55 67
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9; < /2- =+
,
$$
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,
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A57
B 54 - . 59 !
&
.
-
> /2- CD
B E59 %"# ! #
&
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.(BAE SYSTEMS )
:(2.2)
$c 9: = = ,2 , 2 , b !"# %P"
+ = % ?' $ $' % , '
D" P ,' .NJ O , D" P ,'
% : = = ,2 , 2 , b " $ ,
-J
+. P % N = =
- NJ O , "
56
87 .5 O + 5 + YJP
T" $ $ $' *
, " ,
, 2 , . >! +& + %. ,
'
,3 9," , b 5 . 8 $' $ ? NJ O , . "
. a=F E= % " ' 95 =
:5M
? "2 ,
+ $S ' % NJ
O ,
,=
NJ
O +
Y ,/
-
-1
9 $ P E.
4 H C8 +
, " "2
D f
[ & 5M
H -
$
N 5 C 4b
., . ,'=/O 4 J
(wind shear)
+ $
/ $
$ '
+S Y -2
%
, &
%' 9? ,.
. ,J , b H
+ L8P % (taxiway) +
. VU]
U K Y .+S
. F
NJ
O , D"
P ,'
%P" ,
R"=#
, b -3
% :
= = ,2 ,
2 , b , "K
+ ?Q'#
:
= = ,2 ,
2 , b !"#
$
+. P
!"#
$
,.
+. P % ,
9
L87 ,
R"=#
, b ,
. + ,
2 , b 4
H + $
$'
*" , J 7 4.
E . ,
/ -R .
G
+ ,
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%
) (ILS) +S %
5M
O 5= N
. , "
.((MLS) +J '
.,
NJ
O , ' (3.2) 5' $3
57
BAE SYSTEMS VGS
:(3.2)
.(BAE SYSTEMS ) 800737 '
!"
#$ %&
Basic Principles
2.2.2
G
.(4.2) $ *
C =+
,
$$ *; <
,
$$ (combiner glass) *##" =AH#B IJ *#
J /
M
7
7 *##" =AH#B .((windshield) *; C
<#9) =+
5!
N-O E9 7
F+-> %+ « IJ
»
-; AH#B 6 .*; C
<#9 *##" =AH#B IJ &
. IJ *&
*#
J / = 5P5B $$ "
=# /!
?$B 2- 5 $$ "
0
1(4.2) $ 6 > )#
/ ( # - /2- (INS) *F
! 9I? /2- )
&
$$
9
N F 5 / .(CRT) 5 $ <- C 67
7
% J; Q C9 $$
/! A9H
B 57 2- IJ
P9H
B $$
N F 5 , - ./2- *
G
J !
2 *
58
55 /! * 55 57 6 > / 1@*R M
90o
4 "
;
# 6 > *##" =AH#B 5
, - * $$
* S -T 5-7 -U
2 $$ "
5!
.
<
67 9 9 *O @* M
+2 .O55 5-7 5 / 5$
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- 9 4 =+
,
$$ VS$V E9 S
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:(4.2)
$ - Z=" NJ O , 42 " , " "2 , 72
.g
% V = $ 8 : 5.2 D
R= 4b # 8 4 %
E
/ 1"# HR#
4b T" ,
R ,
$ : , .4b T"
$ , &
' 9,2 $ , - , . ' " %
$ VP
.,
F
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(?) ( ) (5.2) $>' $3
4b T" D ,
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$ , "
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$ % \ .+
59
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TP2 ,2 .«H=
G \ » E
/ E "'
F "
.1"# $ .P H=
G \ , - . ,
$
$ N
* 9N& + 9 " ," $ K .
.=
$ , G ? $ 5
-h 5'
7! # $ ( ) (5.2) 5' $ =>
$ $'
, - C B A $ N
O ,
T " 4 =
.4 = $ $ ,=- F O ,
, b
, - $ (?) (5.2) 5' $ =>
$ $' 9, OJ
F C B A $ N "J
+7 D ,
!7 # $
.5
F
.
:(5.2)
" " E 9N& + 9, "'
F NJ
O , 4 %
$ 5. $
,2 "
%" % .(6.2) 5' + $3
4 " %
A
$ N
N
, E O D
!7 #
T
$
"J
+7 E O D
, b
- $ , =>
$'
.C B
60
) N
F 8 R"#
,
.C B A
9 " a
.
, -
$ (5
, ,
4
3 $
,M
,2 $2 9,
F
' ,
. " %
$
.P , -
.
.D = 5' 7 " ?. , $ K .
,
$
% :
%UP"# D
(decollimation) ">
.," D" 5
' -
4 %
C F , ,
3
4b
«H :+" » C8 9ZJ 9N
. $ : $'
87 ZP $ =2 Y + . O C=
, «%]
U»
.$ MG 4b $ = $'
N
. , = + 9i % C"
(field of view
& '(
) ! "! ! # $ %(FOV))
* !
,/ 0 "! .* +&, (
- *("
5 6
-7 «1*- 2/ 3»
00 8- 9: 4!
" 8- +& 2 2 ; 0 *0 +
' !
. <07 9' 1'
.*+
"
, -
& :(6.2)
(instantaneous field of , = , b 5 . $ - % $
, (total field of view (TFOV)) , ' , b 5 . view (IFOV))
61
4 "'
F \
, = + Y
5M
" $
MF $2 NJ
O
.NJ
O ,
b $' + ,3 - , 6 7 , = , b 5 .
+ " + P %" + ,
3 +7 ,
3 , = 4
3
!7 # ,"
+
9L 9, " 9D 9 " ," & $ "= $' .( ) (7.2) 5'
. " ," $ !7 #
IFOV = 2 tan −1 D / 2 L
+ CRT , , ' ,3 - , 6 7 , ' , b 5 .
$ TFOV ? "= $' .!7 # +
N C = Z $ b $'
.F 9 " ," 5 3J 4b 9A 9, &
TFOV = 2 tan −1 A / 2 F
5' + D 7 ' , = , b 5 . - L , & YJP
$ , J' E !7 # , $ N ? $3 48 (?) (7.2)
O 87 $c 9C8 N .TFOV N IFOV T " $ 5. $ " ,"
. "'
F %P" NJ O , $ 4 \
N &
,= " & $ N ,"
7 & ? " 87
.TOFV +MM = +7 IFOV $c % 5' . " ," &
O C = E
(V) (7.2) 5' $ =>
$ $'
5 . $ aJP :-. T $ $' !7 # $c ?
. 5J"
. 6 F , = , b 5 . $ $ %G 9, ' , b
62
.(TFOV)
0 (IFOV)
/
0 :(7.2)
- PW @H9 IJ
2- O
U
( * J $ FO .(8.2) $ *
( O 155 5
5!
# 1( !- = ! ) - I *&
29
#
.
# 1* 67 6- G
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29
+ Uj # %*P 5>P $ %& ' 7
:. $'
# G NJ O , , b 5 . f P L87 9V "
.(knot hole effect) «U# %*P M/» %"
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P -.
NJ
O , %
+ ,
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63
?
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9,
3
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4
3 2
5= . " ," %
5 3J 4b (CRT) M ' ,
4b # CRT , 6 & 7 ?
$c 9+ %.= $-
' & 8 " ," ,. = 5
- % 5
L87 . &
$ =
" $ 8 9 ' 4b # , = , b 5 .
& 5=
75 mm $
=
% 5' " ," & .,k&! & 5=
,= "
& ," ( 7 3) 175 mm
= "' ,UR
. , M ' " ., J F
., =
. 0 1 :(8.2)
+ " " &! NJ O , N1 .
U # 5W6U
%.= .\" ? .=
, 2 , b P -' +
9 ,"
7 , G , b 5 . 5>P $ = N1 .
U #
4= NJ O , +" "2 %". . N& P
64
+ +' - .2 ,= HP
L
G ?.
'K
N.) ,
N :
M ,
R
G ,= , b
.((8.2) 5'
5>P $ = NJ O , , $ N
+ 9YJP
O ,
- . , b i
C
7 9, + .+. P % T , b Z = & OJ
," «$ ' 6 » $' $ $ ?
. H8 P f*P
., $ N & $ - 9H8
NJ O ,
18o 13o = $ J , .8
, = , b F .
, ' , b 5 . .25o 20o = $ , ' , b F . 5
? %P" 18o = E - $' NJ O , ,
% 9 .(venetian blind) ,3 "
J " = E N1 .
U # V-
. $ =- $ P $ 3*'
O , % $ 7 ,"
7 ,= " & M/
, » 9 \
$ \
5' «? ?"= » $' $ ?. NJ
\
$ T $ 5 , & $'" + «, " NJ O
. = " ,JP
,U j
W E , "'
F NJ
O , + 4 +. .- N1
.
U #
$
' :-. 8!J
j * R"#
, $
:-. O'
$
48 .. 6 , b + J $' B = 9+. P %
\" , "
+ = % 7 " L87 NJ
O , + N1
.
U #
5>P
?
\" $
,
+ 30 , "
R"#
, ?' B = ,
+ 70
D
N 87 .(O '
F 8 J
l , .8
: J' 8P N
) M ' ,
\" $
,
+ 30 , "
= jW %
" " 7 (9.2) 5' +
65
7 ,
+ 70 $
' 9(, "
N m '
)
+ = %
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2 ,
3 -4& 5 6$ :(9.2)
)+
T 5-7 % 8# $$
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5! $$ ) 3!9
-0 1 $B 9 8# *
.5 $ <- (10,000 ft L) 5-7 (2
/ 5-4) 30,000 Cd/m2
5 5 $ <- /5J 5 F O ) < 0 1 !!9 *
* 5#
%+ = 69 1YI!
4 Q
.(holographic) P#B
- IS !!9
, b 5 . D $ $' G7 Q ,
%P"
5 . , = , b 5 . 4 " N 9M' $
M L& 5 - $/
$' +. P % , b + 5U # n WJ . , " ., ' , b
66
5>P + 4 8 J
K .+ %" + E= % "
' 9 =
. "
6 H72 -= $
YJP +' ?
N1
.
U #
«
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W + B = $ 9C8 N
9 K .
NJ
O 1
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,R
+ ' 5- (Rugate)
5
o 8n J
c . , " 5= D $ $'
, , "'
F
, j
W .,
R".
NJ
O 9N& + 9,
+. P %
. 6 "'
5
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W +7 + ' 5- .
$
. = , ,
-= 8 O '
, j
W N
$
$'
U *
C
#" N
, ?
2 J"J B
8
15 nm = + 9+.
5
F ,
R".
j , 8 J
K O '
F % & OJ
, j
Q C
.M '
., V
N " F
. 3 / 0 :(10.2)
67
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&
/
0 :(11.2)
N1
.#
%P" , "'
F NJ
O , , = , b 5 .
5M
E - $'
F 9 "J
+
5- F + ' 5- . , j
W
.(+G ) %R".
NJ
O ,
, b 5 . , & & $' + E
c 9C8 $ %G
%P" , "'
F NJ O , $c 9aF 20o = , =
.. , "
F
a = %1# $ $' + ' 5- . j
W
Holographic HUDs
3.2.2
O , %P" \ ' , b 5 . 5= ?
, 2 , b !"# VUPU $ R"# ,
-J Y NJ
, , b 5 . 5>P $ «T » $ $ $ ' : = = ,2
., + = E. 9,J , b H + NJ O
$' : = = ,2 , 2 , b !"# $ K .
68
, $2 «,
R"=#
, b» , H $
? 5P $
% N
,& = = , "
?' :
= = ,2 ,
2 , b
"
,
," , b 5 .
,. = .+ =
,
" , b 5 .
.(11.2) (10.2) $ ' + b $'
,JP
, =
4
U p .I ) . J
+ T +' , " " * N"2
+
D ?. = (Hyde Park Corner) C 7 $' 5= " &
.(8
5>P %P
?M =
C b N
%Q=
H J
. 8( -& 7
:(12.2)
% 9," , b 5 . 8 ,M = , R". NJ O , +
% B = (:
=
) , R-U # N1 .# ," , " :.
O , +" "2 ? (12.2) 5' D ., " 8 J
M ' , ?
, - ' % .= N1 .# 8 ,M = , R". NJ
R-U # N1 .# b
, " $ ' ,1=# " ,
,"
5 87 .N1 .# +
] q $ , " C8 O'
.
P2 : O' 4' D" ,JW , R". , j
Q $2 1"# '
N R"# , $ ' % M ' , ?
, $
. , $
69
' .O' 4' D" " 5
, (13.2) 5' D1
.O' $
?'" 4 ?
9N& + 9+7 " 5
., 9"
"
:(13.2)
M' ?& $' 3' $c 9N1 .# + N "
$2
$' "
., "'
F NJ O , 5M % $
$ , "'
F NJ O , " ," $ M' ' E.
5 E - $' + , = , b 5 . . OJ
$2 9$ " % 5' , ' , = , b + . $ 9M' $
M L&
., b 3' 5P 7
%" $ =2 Y + E NJ O , $ \
87
.b b 5 ' %" «,& " 3' 8 NJ O , »
8 .«O ,'= Z
» $ 7 $' 9N& + 9,
N 5= rJ + 2 +M>M Z
V P O $
'=
, =' & D . P" 8
, $c 9 O 4
70
%
% .O ,'= Z
=
«$S 77 F – $S 77 »
95
%.= 48 O ,'= Z
,M = ,
R".
NJ
O
' (14.2) 5' D .%>
G =
3
$' F B =
.O ,'= Z
. ; 6$ :(14.2)
, = , . .- D J $ E.2 , - $ N1 .# $3'
, j
Q .
4' +
D" , R". , j
W , " , "
, " , = , . .- ,= J 4' D"
' % , R".
, R". , j
Q U" $' B = G = +. .- D" 5'#
: O' B = = , R". , j
Q H % .N1 .# $ % '=c
, " '
M ' , ?
, $ = = +. 5 P2
: J' TP2 , . 52 N . : 8!J
*
' , + 80 $
% 5' M ' , ?
, %UP" J"J) ., + 90 =
9540 nm -7
" +. 5 P2 : B P53 P43 7
.(+. 5 87 , R". H %
71
E.2) .N1
.#
5>P +. P % . . a8 J
+ " 87
4 L C
7 $' F B = , -
+. .- N1
.#
, . P
P 4 $ N1
.#
5>P $
+
+. P % .(+. P
8J
U F 540 nm -7
+.
5 +. P % P2 T=
$2 .
-
, & 9N& + 9,
"
R .
NJ
O .N1
.#
5>P $
.N1
.#
P2 M2 ,"
C
7 $ F , " % N1
.#
O' 4' D"
L87 4 s - : P . = = ?. 7 ' 4 s - : P
4 =
P $ ' =
V P , - ,.
+7
= = Y :. $'
.NJ
O , ? $
A
N1
.
= . F E
F ,1=#
" ,
," , r - L8
:. $ , ,
E = $'
48 D =
,
Q
j
Q $
, P %P" E % 48 7 87 ., ' D"2
D =
'
B = , j
Q $
, 5 P ,
'
4
] 9 G7
m '
M/ V
c R-#
,
R".
, j
Q % .s - : P ,
s - : P D = N1
.#
O' 4' D" :
=
+ , =
[ 6
,
R".
, j
Q - % ., "
: = Z $
N - 5 ." "
4 %
%P" Z $ ,"' C" B = ,
.5 & 87 i % " .N
,
:
M N1
.#
D" Q
4
,
R".#
,
. P
Y % +
%
.,
, " "2 _
$ ,
' : K
O
5U &! $
1947 % + \P (holography) %R".
$ F .=
,'
+ 5
4 "
% 7 9(Denis Gabor) .
+
$ $
" + T" % % \PF 8 ,
72
H -. (Emmet Leith) B t 1
9$ '
$
%P"
$
(coherent light) a
: 9(Joseph Upatnieks) O'
.,
R".#
5 5 ." aM = R
-
+ , R".# O '
F , R". NJ O %!P"
Z & + >7 : G $ ,.
"'
F 5 [ 6 9 + 9
9 = --= 7 , = + 87 .V .- $ $ = J $ \
% ., = NJ O 7 ,
2 L8 ,& M'2 %"F $c 8
+
M %>7 $ Z & : G Y Z $ , R".# O '
F , j
Q 5 '
, ,.
. - : $ $ -= : O "= '
5 ' 5>P ,P ?72 $ ,"" $' $ & " ,2 + -=
$ " ?72 L87 5= 9 , :
M .+ > : 6 Z
$c 9 ?&2 .: 6 D" , - ,JP
, "'
F >
(step ,R .
p U , O' + . 7 " $ "'
F 5 [ 6
A!
* 9 , :
M . Q , = function)
H Z= .HW +. 5 + - , > P J
F
+ 9C [" YJP 5 48 : 6 -] P
W 5>P $ , R".#
+ %1 % ., M "'
F > 8 " $ "
.-] P
W " ,
3 , -
+
p +. 5 =
$'
"'
F 5
[ 6 "
(15.2) 5' D
.,
R".
, j
Q +
," = 4- O '
F T (bandwidth) , -= Y
, :
M E %'= $' [ 6 87 . "'
F 5 + [ 6
.(hologram modulation) , R". $ H
73
.7
&
< "
% :(15.2)
T $ 3 +. 5 , j
Q O'" D" ,
4
3
, " '
F YJP
" 9 - $ T 87 V P ." - $ 6
,= 7 L87 ., j
Q 5>P +. 5 C8 : 8J
" = 5'
n ' G =
$ & 3 1 $ .(17.2) (16.2) $ ' +
$ H
, , -
" 2 \
9 " '
% θ O '
F , -
.E" '
%
. + = > #!3 + :(16.2)
74
-
+ + ,
R".#
, =
G TP -
C
7
HW
+.
5 6 +7 C 94 %
+ ,
R
$ ?. O '
F , j
W $ (12.2) 5' $3 .O '
F D" %
5'
C $
Nu
.#
\ &
,JP
" , -
, +.
5 O'
' $'
E
2 ,
R".#
M/ 87 Z = $'
$
.2
+
.,
$ N
$
.7
&
< "
% ? :(17.2)
L87 .L
P ,P
R-
%R".
N1
.#
V
,
:,
7 5=
B>M ,
(computer ' Q , R". ,
% <
.generated hologram (CGH))
., " , R". V
<
.%R". N 1.
vU"*
,J <
Z P % :
p ' Q , R".
D " ., " , R". V
K , Q ,.
75
D 8 9N1
.#
= --=
%`'=
' Q
,
R".
" ,
V
4b
4 L $
T"
D =
.,"
,1=U #
% $3 :/ ' Q , R". %
= %M $ N1 .# : = %UP"# 87 .,1=U # ," 5RJ
M' ,. $ , . ,
+ 48 9:
p :
= , ' '/ , . ' Q , R". = =
, = + ' Q , R". .5= N . + 5= Z=
," +. .- ? " D" %' $ , + J= = --= +7
.
'K $ , -=
,R."
,.
%P" , " ,
R".
Z P %
V
K ? ' %UP"* 94' +. .- ? " D" ,
>7 ,
.N1
.#
+' D" % B = +=" Y ,
,JU , %!P"W
D" N E % & 48 H! ? " D" - , -=
., " , R". O > ,P"*
V
K +" ? "
,
+7 ,
R".#
, ,
2 %
$ K .
.
$
. ,
,
.
$ % $ $'
F 9, -Q'
,
'
%2 $
?Q , %
.
., %
: P ,
' = 7 %R".
4 %
$
' 9, .
N
w
Z J . Z M 5
5 F .$ =
NJ
O , , G (18.2) 5' $3 .+" "
,
R".#
. R-
%R".
N1
.
=
V P = N1
.
8 ,M = ,
R".
76
6!" #$ % +
0 7
:(18.2)
.(BAE SYSTEMS ) Eurofighter Typhoon
N1 . 8 NJ O , ? % 7F - ' % &
7 87 $2 R- , R". %P" = V P =
, ' 2 = F + ,M = , E
4. 48 ?
.2000 % N + , P 5P" +
= N1 . 8 , R". NJ O C
7 $ K .
L87 $ F . , $ + , P + = V P
., $ , R". a %!P"
%P" , = E K ?. 95 = ,3
. ' s - : P T J L87 .
%R".# N1 .
30o =) ," , b 5 . Z = $ $' * = V P +
O '
, R".
%!P" .5 O ,'= Z
(+ "
, ,
? 95 = ,3 9
F ., $ , " , R".
77
% , b Z $ $'
48 ,M>M
N1
.#
. ,
P
6 $
Y .,
3
H + +. P
$
5>P $
E7
% +. P % $2 +. P % 8 J
+
.N1
.
+ $
"
R .
V P = N 1. $ + 5 . H
?Q $
- 8 J
K f P N R- , R".# 56" + =
., E $ >
a J M' =
4b
HUD electronics
4.2.2
, +
'K %
, " "2 , 3J
(19.2) 5' $3
, %
$ B = J 6 $'
, 3J ,
M = L87 .,M = NJ
O
H 6 ? 87 .= = + Lb= $'
>
a
' NJ
O
a .(smart HUD) «, '8 NJ
O , » %" $ =2 Y + E
F
.
'K = , = 4
] 9$ =' %
$'
9C8 $
, ?
9NJ
O , , ,
.
$
, =
.YJP
. + . &
>
a
,
' 9M '
+
9-
9, ,.
%
-.
'K =
. ,
2
' % + . 5 . H 6 B M ? C
7
9 L87 5M
+ .,
'
,
$
' ,
/
NJ
O , ,.
% + ,
(modules) >.#-/'
' ,
U-P
! = + H +
-P % " -
%
. ,
Q'=
$
O ,
'K , " "2 , 3J
H L
%
.- . c NJ
78
CJ (data bus interface)
N " 5&
+
%
5&
)
N " 5&
$
,""
,
&
J
,
2 $
, "
5= (MIL STD 1553B
., At
L87 5 P ,
M
%
$
, " "2 ,=
,P#
5
," 9, . ," 9\ JF 5M
9+8 ,=>!
%
, .
E.
9$ P 9L .F 9+
. 5]
, - 9=
F , - 9, "
%
+S %
5
TP2
.,"
, = + ,="2 ?
9$- P
9+J '
.v 9
9
2 5M
,J
K 9,
.(HUD) @ :(19.2)
, 5 ' Z F ,WP#
L87 ,. , At %
.sU
! 9>! 5 = 9= 5 = 5M % -.
p
9, "
:, H + %`'= At % 9C8 H
79
.+8 f=J <
.(,JP
\" "
, P ,J % 7) \" %`'= <
.
?*& 8 J
<
<
. %`'= <
$ ' ( &) , +. 5' V
, 8 J
- %
' $ (v 9, &<, . 9 9P >
a M ) , "
, -
.M ' , ?
2 NJ O , (stroke) ]
W 5'
, D" , "
$ 5 , " P NW&! $ - $3'
- . 5 J2 ?' + «
$ 5!» , E ?" +
(? ?"= % .=/ ) 9, , P 9, &<, . 2 5M 9, M
$ , > = .? ?"= - '8 +
-P %
5 '2 VPc % 48 - + 78 J
% 4
+ &
, . 5 '2 «N "» 4
y x H=
F . , "
, .
.M ' , ?
2 NJ O , = %'=
, P - " N
% 8 M ' , ?
, -=
, ' ]
W 5' , ' %" , ,. +7 9, "
.(cursive writing) ,
,
5 6
2 ,
, , " ,
, '
.NJ
O , ,
, " , V
K , ,
, ' %
V = ,
30,000 \" : , =" , JP L . E b $'
48 9, J' E
.(10,000 ft L) , "
(2
/,
&) Cd/m2
80
?' ,
-
,M
a-
? ,
,
-J D"
P ,' :
= = ,2 ,
2 , b
,' ," Q
-
.NJ
O , ,
9 ]
W 5' , ' -
$ M' HP $ $'
D"
P
, ' , %UP"* .
>
a ,M
-
7
$ ?G
,
-
%U"* + +
+ 8 «, " ,
»
= , ?W'* .D"
P ,' :
M , ,"
Y ,
7 ?
5. 87 9, ,
, ' , ,"
$
6 8P/ .H=
F %h
(bandwidth) ,
-=
$c 9aF
. aP $ = + 9 5J" $
P
.+ %P"> ,
-J Z ' $'
'/ ,
-
, D"
P ,' \" $c 9, , ' "
+ \" , %P"F "
2 _ + $ ' , " ,
, '
9M ' , ?
"= 5 P $c 95 = ,3 .YJP
+.
5 8 ,
F 1
.
9P53 5M
, M' J"
N " 5
\" D"
P ,' - =
" & 5 J
.
%P"> 5 & 7 48 (1,000 ft L) 3,000 Cd/m2=
5 6 ?. E 48 =
" \" "
. N" T
\" "
., =>
. NJ
O , + /4
90.3 Cd/m2 30,000 Cd/m2 $
J M ' , ?
,
.1 105 , "
T
7
?
2 NJ
O ,
' N
. , = 4=
.YJP
. + . &
= C8 +
M ' ,
,
y x H=
F 1 '
, ,
-= Y + H JF
.,
, '
NJ
O , ,Q&! N
Z
81
$
,
' + .
% 4 J +
'
.,
-J D"
P ,'
5.
, " ' %P"* ,M = NJ
O ,
D .v 9L .F 9N 9, . ," 9\ JF 5M
, " "2 ,=
2 .
Vp= ,
>" %
8 NJ
O ,
O .NJ
O ,
,JP
JF +
9+ 94. ,
, '" $
5' ,M = NJ
1×10−9 = + +7 ,
P
Y 5
= $ B =
5. 8 ,
NJ
O , $
= = .5&
+
2 "
, &
H $'
.Vp= ,
>" %
M
% + 2 , = + 7 , . 7 $ $ +JP
,
' + ,.U # , & - . %
," 7
.(19.2) 5' + ,
3 NJ O
! " !# 5.2.2
Worked example on HUD design and display generation
, , .8
>!
a " F
a =
F
a M
+
Y"
:, J ' D , "'
F NJ O
NJ O , ," , = , ' , b F . ? "= -1
. ,"
7 9 " 9M ' , ?
2
.+. P % N , $' N , - V
-2
% Z 5>P $ , "
7 , : K 7 5 M 87 $ H
., " % "&^ +J T= - - , & ,
82
:,
(
2) 50 mm(
) CRT
HUD
20o
(TFOV)
(
5) 125 mm
(
4) 100 mm !"
#$%
&
"'
( *
+ , )
(
16) 400 mm !"
#$%
&
*
#-
(#$%
" ./
/ , )
Z?-W y x '
9-T "# 59 ±100 *# $ ? Q
<# O#T *
5 $ <- ! /#9 Y
9-
.( $$ "
5-7 =! O ; !-) OY OX
9 67 <
x " ," ? 4b 7 -1
x(IFOV) , = , b 5 . 7 -2
T $ ?. ,
. 9, J" 9, O ,'= %' -3
x20o s (TFOV) , ' , b 5 . 5 '
$ N $' $ ?. + 9N1 . , " ?& +7 -4
x, ' , b 5 . 7 7
5] , - 9θ =
F , - ,F Z2 P Y F Z -5
-' $ Z2 P $' + θ0 , - 9Φ +
.
.4" % " $ + ,
=
F , - $'
Z2 P ,
+
M= +7
-6
+ 50 56U Z2 P $/ % N
9+10o +
. 5
, - −3o
83
-'
$
4o
Z2 P $ 9,
" , b 5 .
$
,
x4"
% "
$ + ,
, - 5
48 ," E.
$3 9, P >
a ' %" -7
.+2 P 5J" 4o
P V
K -
k
$
VUP#
+.
5' P >
a ' %" -8
.L> % Z2
A B = 9 TFOV = 2 tan −1 A / 2 F 7 , ' , b 5 .
:(1)
5' N.) " ," +J 4b F 9, &
.((?)(7.2)
950 mm
A M ' , ?
& 20o , ' , b 5 .
98
:,&> # F ?
+J 4b $c
50
F=
2 tan 10
.F = 141.8 mm $ 4
D B = 9 IFOV = 2 tan −1 D / 2 L 7 , = , b 5 .
:(2)
+
$
" ," , # L 9 " ," &
.((8.2) 5' N.)
.D = 125 mm L = (100 + 400) = 500 mm :
$
. IFOV = 2 tan −1 125 / 2 × 500 rads = 14.25 $c 98
9, O ,'= $c 920o , ' , b 5 .
7
:(3)
:,&> ,
. 9, J"
⎛ 20o − 14.25o ⎞
500 tan ⎜⎜ ⎟
⎟
⎝ 2 ⎠
.( , 1) 25 mm 4
]
84
?. $ N
$c 920o , ' , b 5 .
7
:(4)
:, ,&> Z , "
N1
.#
=
125
= tan 10
2(500 − Z )
.( , 5.7) Z = 145 mm $c
(x2, (x1, y1) M=K $c 9(20.2) 5' \. :(5)
% "
$ + 48 92a 5 Z2 P ,
+
y2)
:, &> 9, -'
$
θ0
4"
⎧ x1 = − a cos Φ
⎨
⎩ y1 = −(θ 0 + θ + a sin Φ )
⎧ x2 = a cos Φ
⎨
⎩ y2 = −(θ 0 + θ − a sin Φ )
.
:(20.2)
85
.Φ = 10o 9θ = −3o 9θ0 = 4o $ #
:(7) (6)
.a = 5o $c + .,
" , b 5 .
× 0.5 = 2a
:$c
⎧ x1 = −5 cos 10 = −4.92
⎨
⎩ y1 = − [4 + ( −3) + 5 sin 10] = −18.7
⎧ x2 = 5 cos 10 = 4.92
⎨
⎩ y2 = − [4 + ( −3) − 5 sin 10] = −0.13
(4.92, (−4.92, −1.87) +7 Z2 P ,
+
M= $c 98
.(21.2) 5' + ,
3
, L87 .−0.13)
.
:(21.2)
5' + ,
3
Y X $ =
H=
F , .
5 '2 :(8)
.(22.2)
- %
M ' , ?
, 5
' %.= H=
F A
.-
$
= ±100 7
c Y X H=
F 1 '
86
7 X =
H=
F +.
5' $c 9
% Z2 P %" 98
Y =
H=
F +.
5' 9= +49.2 = −49.2 $
=
.= −1.3 = −18.7 $
=
7
.Y X ! :(22.2)
Civil aircraft HUDs
6.2.2
+ NJ O 5J 87 + a "
'8
% +6 9 ' 5 J 7
' i %" 87 .,
.,
5 6 , = ,
V
+
F +
$ + $
5U &! $
NJ
O , %P" $
500 = C
7 $/ 2000 % + 1*& & 9 "
,M = ,"
5-
-
,
87 .% 5= , K ,
P + NJ
O ,
NJ
O 5 "
.% 5= , '" NJ
O , 10,000
87
+ T
,
=
Z" . -
9C8 N
9 . ,
.%
40,000 = + $' $/ R
:+7 ,
+ NJ
O , , " "2 -
%'= 5 + + % 5>P $ - , >" -1
,= - NJ O + Y ,"
.+. P % N , $' B = , " "2
.5J 87 , + a " , " "D f
[ &" H 5'
[ &" /
H ' (23.2) 5' $3
& . P + 5' "D f
+ 7= , ' 2 = F + ?' 700 - 5!*&
."D f
[ &" ? " P2
" + B=
." $
# % :(23.2)
! " #$ .
,-/ */) *0 * $ $( ."$& "$ () *))+ '& % A $ (down-draught)
.3 $% "$ :;# 8 9 7 6 $&1 2- " $%3 ! 4$5 $ (
) .=
- "
++
7*)) > ;# 7B $ 7"<0-
.& *)&1
+ :;# ! "$& "$ () > 4$5 C $ 7+ *&
88
48 $ P E1.U #
% $ $'
NJ
O ,
," 9 ," E.
,
$
D f
3 & M $ B=
.+ +'
C" 9\ JF 9, .
:
M ,
>" $
- $ $'
NJ
O ,
., . ,'= 4 J
9O
. ,
3 & , P ,
+7 (GPWS) Y2 $
?&F 8
K ,
U--R
Y2 $
?&F 8
K ,
$
' 9O 4 J
:
M 95 = ,3 9H + . ' =
,
= L87 N""
E.
$c 9,
O $' B = O $
?
O , Y
(flight path vector (FPV)) $ P
8 .F % O #j % " 8
= %R NJ
%" $c ,
O $ P E.
?W'
$
F
a Pq :. 8 P %& $ ?. , = L87 + 9
.B= "
, b «
F»
(TCAS)
'
#( .
%
&
! "
#$
')"* +,-
/
0
& 1 2 3 4
'5
6
+,-
% 3 #
# :
.
7
8
9 5
&
.% 3
!)
$
9- 0& "
8
";< 9
/ 9 , 5 5=2 =8
8
(Flight Safety Foundation) 9
/ =8 88> /8& ?#@
+,- % 3 #
# 9 8 8 .(
( B )
,
5 0 9 30 F
&
$
DE
" 9
:*
.1989 +$ 1958
- 9 , GD D
/
&
89
= +
N " Z $ -
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5.2
Discussion of HUDs vs HMDs
Introduction 1.5.2
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Further reading % &' ( )
Bartlett, C.T. A Practical Application of Computer Generated
Holography to Head Up Display Design. Butterworth:
Heinemann, 1994. Displays volume 15 number 2 1994.
Burgess, M. A. and R. D. Hayes. Synthetic Vision – A View in
the Fog: IEEE Proceedings of 11th Digital Avionics System
Conference, Seattle 5-8 October 1992.
Flight Safety Foundation study of 543 total loss and 536 partial
loss jet transport accidents, including 30 years prior to 1989.
Rowntree, T. “The Intelligent Aircraft.” IEEE Review: January
1993.
Tidewell, M. [et al.]. The Virtual Retinal Display – A Retinal
Scanning Imaging System. Seattle: Human Interface
Technology Laboratory, University of Washington.
“Tomorrow’s Cockpit Displays.” Aerospace (Royal Aeronautical
Society): November 1991. pp 12-14.
178
ا
ا
/ /0
Aerodynamics and Aircraft Control
Introduction 1.3
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5.2.3
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. D'# "1 * $7 E0 I E0 (downwash)
93 ; 1 &1 "1 < 0.95 0.65
D'# &I
.f J
$ &Y #
D'#
K
# D'# 90 $ ; * (<
D'# ($* (#
2
g (St lt)
< # . kt 12 ρVT2C Lt ( St lt )
.(tailplane volume)
:"1 * 1
2
ρVT2 Sc "1 (3.9)
< ,0' 6A #
x (S l )
C M = − C L − C M 0 + kt t t C Lt (3.12)
c Sc
.," * %/E"# (1
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190
(# ,0 R*L (# ) .'# 9 ," * % (1
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9 ," * %/E"# (< C
# &
dCM
., ,
#% &
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dα
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Aircraft stability / 3.3
hR'L < "7 R
* < K (
. # (
.
g (
. R0 K C'L%
* ,0
< # (
.
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191
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.
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Longitudinal stability
1.3.3
(# ' E* $/ &
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192
.
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,
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.(trim angle of incidence) αT -$
-
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:(10.3)
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&
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* % (1 +*
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2
# * % (1
< >0 αT 7
193
>0 .αT '# 'L &
' &
<#
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CM = 0 , ' ,
# #% $/
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1
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(static margin and neutral point)
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:(11.3)
2.3.3
Aerodynamically unstable aircraft
25
,
- 6
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? @ -$ .( 8 (
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195
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5 6-
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196
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.(BAE BIOSYSTEMS (Arthur Gibson)
)
197
Body lift contributions
3.3.3
S P .&
' '#
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((#$ /) &
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S3 V /
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@
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Aircraft dynamics / 4.3
6
p L /
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.&
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Aircraft axes – velocity and acceleration components
&
<
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&
1 * &
' *
.
)
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; , (body axes) (#$
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:
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#
#
3 &
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d; W
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1# @$ ; *" 3 @<?#
.((strapped-down) @; X *O K
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198
' "1 ,
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199
1# @
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I& * t = ∆t
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−Uq∆t (- (0 I8: ( - I
" .( r∆t q∆t p∆t
K# I8: ;?0
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.Wq −Wp −Vr Vp Ur −Uq (- (0 #
E?: L I-J
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3 0 +
2
* 5+
36 :(16.3)
200
, 1# R$ ,0 $
1# @
V ,0 @]
:, P 1# @
V ] @%< ., "1 ∆W ∆V ∆U
dW dV dU ΔW ΔV ΔU
. D * (#
,
dt dt dt Δt Δt Δt
:,
, ,' W
# @
V
U − Vr + Wq = OX ' "1 W
# (3.13)
V + Ur − Wp = OY ' "1 W
# (3.14)
W − Uq + Vp = OZ ' "1 W
# (3.15)
"1 r q p , OZ OY OX * K ] W
# @
V
d
.E
?6 , , < P "1 '
.,
dt
dp dU
. p = U = >0
dt dt
"L
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3
?
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1 *" ,
;
3 E'
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< .,
: / K/ (#$
W
# × " = &
:D
< P >0 ] *
* ,0
(K
] W
# ) × (, (1) = ( (1 /) (<
201
– 2.4.3
Euler angles – definition of angles of pitch, bank and yaw
; , K ,<$
'U
* #
&
' RQ$
(17.3) ? W$
.(Euler)
+6; '# R< (
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202
q p) /
ψ) $ (
!
"
# $%$ ) (r
θ ψ )
(Ȱ θ
: $ &" $%$'* ( Φ
,
$ " K
:Φ ] < 0
= OX⎫
Φ
⎪ @
V
0 = OY ⎬ ' "1 Φ
0 = OZ ⎪⎭
: θ *
%/E"#" K
] < 0
0 = OX ⎫
⎪
θ cos Φ = OY ⎬ ' "1 θ @
V
⎪
− θ sin Φ = OZ⎭
:ψ T<
6 K
] < 0
−ψ sin Φ = OX ⎫
⎪
ψ cos θ sin Φ = OY ⎬ ' "1 ψ @
V
ψ cos θ cos Φ = OZ⎪⎭
: >0 ,
− ψ sin θ
p=Φ (3.16)
q = θ cos Φ + ψ cos θ sin Φ (3.17)
r = ψ cos θ cos Φ − θ sin Φ (3.18)
,0 M
,0
&
?U (# @
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@$ 9L E
?
1 , @<?# .
/ WL
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203
3.4.3
Equations of motion for small disturbances
!" #$ %& '(
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+ ,
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7/
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=
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),
+ "
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%
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2
r 'q 'p
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@ 2 2
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2
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&
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U0 F" /, * 1 & r 'q 'p 'w 'v 'u .("/& :/
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u + W0 q = OX ارع
ل (3.19)
v − W0 p + U 0 r = OY ارع
ل (3.20)
w − U 0 q = OZ ارع
ل (3.21)
(18.3) ? ,0 ] &
' ,0 &;Y $
S
OY OX ' "1 @
V
S P . 90 D 90
&3 @
V
90 &3 @
V
"0 OZ
.
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204
.
:(18.3)
>0 'L (# K# ' '? #%
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90 C*d# 90 $ OZ OY OX ' ,0 &;Y S "*
_ K
# OZ OY OX * (< "* ._ K
#
@]
1 '0 KL R >0 & @
'L6 .
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* @%
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(< S ,0 & @] .((19.3) ? . )
., "1 r q p w v u ] ]' 1# @] ,0 ,
"1 @
'L% I
;/
S ,0 ] "*
., "1 Za Ya Xa
?O OZ OY OX '
' "1 @
V ,0 & @ 'L * ,0
0
, "1 −mgΦ mgθ
2 K
# OZ OY OX
205
& S "* >0 .@
$ 9L '0 , θ0 /
:, OZ OY OX ' ,0 &;Y
Xa – mgθ = OX ' "1
Ya + mgΦ = OY ' "1
Za = OZ ' "1
:36< ,
3
? ' * @%
<
W
# × " = &
.
:(19.3)
: / K/
X a − mgθ = m(u + W0 q ) (3.22)
Ya + mgΦ = m(v − W0 p + U 0 r ) (3.23)
206
Z a = m(w − U 0q ) (3.24)
S $
&
' ,0 &;Y $
(< "*
L
? C'L% 1 ?
OZ OY OX *
., "1 N M
OZ OY OX
: %
&
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()#* .$
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L = I x p (3.25)
M = I y q (3.26)
N = I z r (3.27)
& )# +,
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()#*
23 4-
( ,93 ;,
'
(2.4.3 6 7- ) %
&
(/
θ ψ = +
<
(
,93 .
,
+
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(Φ θ ψ ) r q p 6>
-#
+
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' ' ;*
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(
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; .6>
-#
+
< (
' ;"? /
'
. r = ψ q = θ p = Φ
+
<
(
,93
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4.4.3
Aerodynamic force and moment derivatives
'
"
#
B
/
*
C
;
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#
&*
+
( 1 )# (N M L) &*
(Za Ya Xa) +#
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207
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1
x3 x2 x1 &< "# @] ,0 F @
1 '<# ∆F "* >0 F = f ( x1, x2 , x3 , ...xn ) K/ xn...
:36<
∂F ∂F ∂F ∂F
ΔF = ⋅ Δx1 + ⋅ Δx2 + ⋅ Δx3 ... + ⋅ Δxn
∂x1 ∂x2 ∂x3 ∂xn
∂F ∂F ∂F ∂F
#
F " $ @
? , , , , ... +*
∂x1 ∂x2 ∂x3 ∂xn
. x1, x2 , x3 , ...xn
1 ,$ E? ^ &
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3
?6 RV ( K
:,
.E*" E'
∂F ∂F ∂F ∂F
= Fx1 , = Fx2 , = Fx3 , = Fxn
∂x1 ∂x2 ∂x3 ∂xn
: >0
ΔF = Fx1 Δx1 + Fx2 Δx2 + Fx3 Δx3 ... + Fxn Δxn
,0 , &
' ,0 &;Y
(< S
@
< $) &
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.( 7 $ &
208
Z Y X OZ OY OX
! " .N M L OZ OY OX
#$% & $
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3 Nv Nr Mq Lp Zw Yv Xw Xu 12
4 */ ( "5 60
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$ E% % ; C'L K/ ;
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?
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< 1 $ >0 ,
."
@# @%
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<
209
1.4.4.3
Longitudinal motion derivatives
*
% (1 @
? <
7 & @
? P
< w < 1# u
7 1# ,0 @ 1 ?
' @
? . w < 1# ,0 < q *
%
:,
, w q v u @6
< $
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:u
7 1#
X u ا ة ا ⎫
⎬
Z u ا ة ا
د ⎭
:w < 1#
X w اة ا ⎫
⎪
Z w اة اد ⎬
M w م ا
ار ⎪
⎭
:q *
% <
Z q ا ة ا
د ⎫⎪
⎬
M q م اار ⎪⎭
: w < 1# ,0 <
Z w ⎫ اة اد
⎬
M w ⎭ م ا ار
:Zw Xw
Zu Xu
I
;/ ;
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7 1# ,0 @
1# α '# ,0 @] KY # ' C'L%
210
@] KY $ 1# '# ,0 @] P .VT $
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.1# '# 9 @6
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7 &
& @
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C*d#
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7
< 1# ,0 $
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) ; D'# lt 0
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W ,0 L D'# ,0 ;Y 90 &3 KY '# ,0 Q
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,0 < 2
L (< ,0 2 %
.*
%
211
.
:(20.3)
? Zq +* Zqq K
# ( D'# ,0 &;Y ) < &
; * k
* % (1 .q * % < $ < &
? .q * % < $ * % (1 ? Mq +* Mqq K
#
( * XO / C'L6 &
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L ,0 ?
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P 2$
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21
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9 ,"# 5$ % < 9
2' C#
D'#
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# k
* % (1 Z w w K
# < & V .J
$ '#
w < 1# < $ < & ? Z w +* M w w
. w < 1# < $ * % (1 E? M w
212
:Mη Zη
$% # .
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( )
$ & ' * +,-
/ 0
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3
& 2'
& '4 * .
* 1 2
)
0 '
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0
'
&5 9 Zη 7
8Zηη 6 (
& '4 * .(:)
'
:
8η 8
.η 8
/ 0
' & '4 * + 9 Mη 7
8Mηη 6
Longitudinal forces and moments
OY OX
* * ' ,0 &;Y #
#7 (< S
:,
*
"1 , ' *" "1
OZ
X a = X uu + X ww (3.28)
Z a = Z u u + Z w w + Z w w + Z q q + Zηη (3.29)
M = M w w + M q q + M w w + Mηη (3.30)
Lateral motion derivatives
2.4.4.3
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Normalization of derivatives $
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Equations of longitudinal and lateral motion
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X u u + X w w − mgθ = m(u + W0 q) (3.34)
Z u u + Z w w + Z w w + Z q q + Zηη = m(u − U 0 q) (3.35)
M w w + M q q + M w w + Mηη = I y q (3.36)
@ " (3.33) (3.32) (3.31) @%
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N v v + N p p + N r r + Nξ ξ + Nζ ζ = I z r (3.39)
220
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m m m ⎬ (3.40)
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221
@ ;6; ' , 7 $ @%
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1 < @%
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⎢ ⎥ ⎢ 2
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:,
(3.41) (3.40)
< 1 < ;
⎡ Xu Xw ⎤
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⎡ u ⎤ ⎢ m m
⎥ ⎡ u ⎤ ⎢ Zη ⎥
⎢ w ⎥ ⎢ Z u Zw
Uo 0 ⎥ w⎢ ⎥ ⎢ m ⎥
⎢ ⎥=⎢ m m ⎥ ⎢ ⎥ + ⎢ M ⎥ [η ] (3.42)
⎢ q ⎥ ⎢ Mw Mq ⎥ ⎢ q ⎥ ⎢ η⎥
⎢ ⎥ ⎢ 0 0 ⎥⎢ ⎥ ⎢ Iy ⎥
⎣θ ⎦ Iy Iy ⎣θ ⎦ ⎢
⎢ ⎥ ⎣ 0 ⎥⎦
⎣⎢ 0 0 1 0 ⎦⎥
222
⎡ Yv ⎤ ⎡ Yζ 0 ⎤
⎢ Wo −U0 g⎥ ⎢ ⎥
⎡ v ⎤ ⎢ m ⎥ ⎡v⎤ ⎢ m ⎥
⎢ p ⎥ ⎢ Lv Lp Lr ⎢ p ⎥ ⎢ Lζ Lξ ⎥
0⎥ ⎡ζ ⎤
⎢ ⎥ =⎢Ix Ix Ix ⎥ ⎢ ⎥+ ⎢ I Ix ⎥ (3.43)
⎢ r ⎥ ⎢ ⎢r ⎥ ⎢ x ⎢ξ ⎥
Np ⎥ ⎥ ⎣ ⎦
⎢ ⎥ ⎢ Nv Nr
0⎥ ⎢ ⎥ ⎢ Nζ Nξ ⎥
⎣Φ ⎦ ⎢ I z Iz Iz ⎥ ⎣Φ ⎦ ⎢ I Iz ⎥
z
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223
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Longitudinal control and response
Longitudinal control
1.5.3
( )
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224
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=
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228
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7 1# ,0 Q 7 %
_ < < 0% .
;
.S7 @
«
&» ,'<
7 ,
(# ,0
L1 (# '#7 ' P
.
< &
' !"# ( * #
@
*"' ,0 &$
4.5.3
Pitch response assuming constant forward speed
D'# J
$ '# *
% <
'
"
%
u
P
/
3
? (# α/η q/η K
` / (90 D'# /)
230
(# ' & @
'L
;
/ 1# 0
7
. # j #
K
Z w w ` / w < 1# ] < $
E
?% *
.Zqq *
2L/ (#
(# M w w
OX &
<
* 1 $ (B#[ (26.3) ? W$
5< &
' ;
1 O
&
' 9 * OZ OY
9 5' OY ' ' R$ 9 5' OX * .&
' *
P
$%) &
' ' ' R$ "1 K 1 OZ &
' *
*
«
#%
* » (#
?O
2
g
* P .(#7 *
C$
. * @%
< ,0 '# I$ D ,
.( ) – :(26.3)
231
(
;) U K
# OX * ' "1 1#
w K
# OZ * ' "1 1# ,0 &
K
# OY * ' "1 1#
q K
# OY *
% * * <
α K
# 'L 3 '# ,0 Q
m K
# &
' "
Iy K
# OY *
% * * &
'" , (1
:OZ * P
$ ,0 &;Y S F
'# ,0 Q $ J
$ ,0 &;Y 90 &3 ,0 Q -1
.Zαα K
# 'L 3 α
D'# ,0 Q $
D'# ,0 &;Y 90 &3 ,0 Q -2
.Zηη K
# 'L 3 η
+* w − Uq K
# OZ * ' "1 K < W
#
.((3.21)
< 3.4.3 (# 9$) w = dw / dt
:, OZ * ' "1 *
<
Zα α + Zηη = m( w − Uq) (3.44)
:; * &;Y (< F
'L 3 η D'# ,0 Q $ * % (1 -1
.Mηη K
#
'L 3 α D'# ,0 Q $ * % (1 -2
.Mαα K
#
232
*
% * * q K
] < $
*
% (1 -3
.Mqq K
#
:, OY * % * * ] *
<
Mηη + M α α + M q q = I y q (3.45)
] W
# K
# q = dq / dt +*
: '# ,0 Q .K
α = w /U (3.46)
@%
< ,'<
"L
@%
< P 9 $
< R
>0 ! 9 .q 5 * '0 η α % / w 5 * '0 u q %
,'< 7 ,'' (#" $ (#
" < P
$ ; /
"F " @
m &
'" ,
!"#" L0/
0 &
:,
&
1 (3.45)
< .α q ' ,
∫ (M α + M q + M η )dt
1
q= α q η (3.47)
Iy
:"1 * C &
1 (3.44)
< ,0 w 1 U α <
⎛ Z Z ⎞
∫⎝
α = ⎜⎜ q + α α + η η ⎟⎟dt
mU mU ⎠
(3.48)
C$ .,'' (# & ,0 (3.47)
< ; (27.3) ?
(# ,0 9 $ '
1
&
?U ( 3 @
? @
? / .*6
Mα +*
2
2
&# &
' 0 (
# Mq .,''
/ ) .
# " ]* ,
Mαα Mqq ]* .
2L/
#
(28.3) ? .(&
?s C#
6
1% ,0 Mα C$
.(3.48)
< ; K ,'' (#
233
36< (#
'# α q \ 1 " SBO1
,0 ] W
"
1
# " " 1 ,0 θi XO θo TBO
: / K/ .(29.3) ?
θo KG ( D )
= (3.49)
θ i 1 + KG ( D ) ⋅ K F GF ( D )
"
# ,
7
#
u KFGF(D) KG(D) +*
., "1
.(3.47)
:(27.3)
:Mqq " &1 F ,
1
q I yD
=
( M ηη − M α α ) 1 + 1 ⋅ M
q
I yD
.KFGF(D) = Mq KG(D) = 1/IyD 7
234
.(3.48)
:(28.3)
q 1 1
= ⋅ (3.50)
( Mηη − M α α ) M q (1 + T1D)
:+*
T1 = I y / M q (3.51)
'# (lag transfer function) ,)"
; P
. 7 $
.
:(29.3)
: α/q " &< '# ;
(28.3) ? W$
235
α 1
= T2 ⋅ (3.52)
q (1 + T2 D )
:+*
T2 = mU / Zα (3.53)
(# . 7 $ S/ )"
;
< P
.(30.3) ? '# ,
(
< ,''
R 7 '#" R0 * ( 3 Zqη/mU XO * / .*6 C$
;Y % R >0 &< ,$
XO R +*
2L/ .S7 *
.C'L6
%
$#% " &1 # ,0
.
:(30.3)
:"1 * (3.49)
< E' (30.3) ? W$
1
Mq
q (1 + T1D)
= Mη ⋅ (3.54)
η 1
Mq T2
1+ ⋅ ⋅ Mα
(1 + T1D) (1 + T2 D)
:
'#
< P
236
q Mη (1 + T2 D )
= ⋅ (3.55)
η I yT2 ⎛1 1⎞ M 1
D 2 + ⎜⎜ + ⎟⎟ D + α +
⎝ T1 T2 ⎠ I y T1T2
: / K/
q K (1 + T2 D )
= (3.56)
η ( D 2 + A1D + A2 )
:+*
Mη M η Zα
K= = (3.57)
I yT2 I y mU
1 1 M q Zα
A1 = + = + (3.58)
T1 T2 I y mU
Mα 1 M M q Zα
A2 = + = α + (3.59)
I y T1T2 Iy I y mU
T2
:"1 *
(3.56)
< ,0 α = ⋅ q <
1 + T2 D
α KT2
= 2
η (
D + A1D + A2 ) (3.60)
.(31.3) ? ,0 ] k
(
< ,'' (#
.
:(31.3)
237
:"1 *
(3.56)
<
( D 2 + A1D + A2 ) q = K (1 + T2 D )η (3.61)
:
"L
< * '<
%
$#%
( D 2 + A1D + A2 ) q = 0 (3.62)
:&^
< $ 6 * C
#* (
(λ2 + A1λ + A2 ) = 0
. λ = − 1 2 A1 ± A12 − 4 A2 / 2 +*
& "1 N $ , $ P " @
' ,0
. ω = 4 A2 − A12 / 2 α1 = A1 / 2 +* − α1 ± jω
: / K/
2#
^ / "
L $
<
* P ,0 *
q = Ae −α 1t sin(ω t + φ )
t 1 q q 3) % '?
#* (
; ø A +*
$ Y
L $ C#* α1(=A1/2) 3 C#* A1
< .(= 0
* C#* A2
< .C'L6
%
$#% ,0 5
.
$#% 1# (; ω = 4 A2 − A12 / 2 I
L " ω
!" #$ % & #'( )%
*& + & ,
-
.
A2 A1 0(
1' 2&
1' 3 . .
@
2
2
&# g &
' >0 ! M < "1
E 6
_ *
_$
_#
] i/ ! ,'<
# A2 KY / $ Mα
. 9
2#
^/
238
"
< % ( D 2 + A1D + A2 ) ,<
< 1 < ,
:+* ( D 2 + 2ζω 0 D + ω 20 ) & "1 K
` / ζ ω0 ]
1
.I
L g ,<' K
# ω 0 = A2
: / K/
A1
ζ = (3.63)
2 A2
$" '? g
$# KY T* Y
L )
.( A12 = 4 A2
1 +* ,
#
; $ (
1 (
.
, C'L%
%
$#%
] / , x
1 ( D 2 + 2ζω 0 D + ω 20 ) x = 0 W
? ,0 # ] K
P . T = ω 0t K<6 ζ Y
L #
(3 S (32.3)
.
; $ (
.
K
] 7
# @
*
D'# /) D'# &
'< K
] / E' "1 #%
* (3
9 $ &
# '# * % <
o
"1 * (90
q >0 (3.61)
< ,0 .
] @%< L , *
ss E*" (B#O .#%
* ,0 K
#
< $ η q
: / K/ h A2 qss = Kη ss R K #%
* (3 &
?s
K
qss = η ss (3.64)
A2
239
.
:(32.3)
R"1 * αss J
$ '# ,0 #%
* ,0 ]
:
36<
'<O (3.60)
< ' M
KT2
α ss = η ss (3.65)
A2
S "1
@
? ,0 @] / .*6
$#% Y
L 1#
o "1 <# ' * ''
J
$ '# #%
* .C'L% / D'# *
%
,
2L/ # &
'< (90 D'# /) D'# * *
% <
. ' * '' S "1 g &
1 &3 #
q/η
5.5.3
Worked example on q/η transfer function and pitch response
L1 "; &1
3 @ , P
/ &
@
( 3 @
P . * @
1#
"
@
'" 2$
240
( * (gearing) «C# » 0< «# < #
» " <
3
?
& @
$# (g/R$ D'# * 6
_ ; ) ' ( * .
/ ,0 ,$
.Y
L #
I
L g ,<' % @
'" "< &
@
#
#/ 9 $
* "*
; 5
I
'1U
' DL - *
( , &
' () * .
., - #% $
*
2L/ &
'" *
%
$#% 1 0<
(
@ 3 9 E
' @
#* @
"1 < ( 3
.f '
L
% @;F
( 2; , ,
!"# '#
&0 # L
E
?% @
* ,0
@
36< < DL P' ( 3 P
/ "*
; .&
1
.
Aircraft Data
(
55,000) 25,000 kg = m &
' "
(
2 &1 500) 250 m/s = U
7 1#
6×105 kg m2 = Iy * % * * , (1
2×107 Nm/radian = Mα '# $ * % (1
8 m = lt D'# (1 W
_1
# kA
[ &1 500
1 J
$ '# ,0 &
1.6o :g/J
$ '#
1g
_ 1
1 1g
_ 1
_1
# kA
[ D'# ] * 1o :g/ D'#
&1 500
241
Questions
.
;
7 1# /
2L q/η
E? H/
$#6 Y
L #
I
L g ,<'
HC
c&
'" *
%
/ C'L%
%
$#% 5
$ #
,
HT
c() * @6XO
q K (1 + T2 D )
=
η ( D 2 + A1D + A2 )
.&
'< @
A2 A1 T2 K E
? C"'
A1
ζ = Y
L #
ω 0 = A2 I
L g ,<'
2 A2
.A2 A1 0<
#*
1
T2 •
Zαα = m(ng) K
# J
$ 90 ,0 &
K < W
# K
# (ng) +*
.&1 500
1 1g
_ 1
_1
# kA
O J
$ '# ,0 Q 1.6o
Zα 1.6/60 = m 10 ,
(g ≈ 10 m/s2 1o ≈ 1/60 radian F)
Zα = 375 m / K/
T2 = mU/Zα = m 250/375 m
T2 = 0.67 s / K/
242
Mη Mq
•
6
_
!* D'# 0
η = Mηη D'# Q $
*
% <
q = ltq/U *
% < $
D'# '# ,0 Q
Mη lt q/U = Mqq *
% < $
*
% (1
Mq = lt /U·Mη
!* D'# ,
U = 8/250 m/s lt = 8 m
Mq = 8/250·Mη = 0.032 Mη
Mq Mη •
K
# *
< 9 E0 250 m/s
/ 1# 1g K < W
#
(g = 10 m/s2 F)
2 2.4o/s K/ 10/250 rad/s
* C"' 1g
_ 1
_1
# kA O J
$ '# ,0 Q 1.6o
1o D'#
.Mηηss = Mααss = Mqqss (ss
)
Mη·1 = (2×107×1.6)+(0.032 Mη×2.4) >0 @
$
<
Mη = 3.5×107 Nm/rad ,
Mq = 0.032×3.5×107 Nm/rad per s
Mq = 1.1×106 Nm/rad per s / K/
T1 •
6 × 10 5
T1 =
1.1 × 10 6
.T1 = 0.55 s / K/
243
A1 •
1 1 1 1
A1 = + = +
T1 T2 0.55 0.67
.A1 = 2.3 / K/
A2 •
Mα 1 2 × 107 1
A1 = + = +
I y T1T2 6 × 10 5
0.55 × 0.67
.A2 = 36 / K/
K •
Mη 3.5 × 107
K= =
I yT2 6 × 105 × 0.67
.K = 87 / K/
q 87(1 + 0.67 D )
=
η ( D 2 + 2.3D + 36) :,
. ω 20 = 36 >0 Z*
ω0 = 6 rad/s (0.95 Hz) / K/ •
ζ = 2.3/(2×6)
2 ζ = 0.2 / K/ •
(32.3)
50 ! " #$% & ' () * +" ,
-
. -
! •
(# ,0 , - #% "1 "*
; ,0 (B#[ 5# @
P
.8.3
244
Lateral control %1 6.3
1.6.3
Aileron control and bank to turn
D'#7 , ,
$ S# ,0 &
'
() *" #
#7
#
90 &
2"L
* ( P .((15.3) ? ]
) '
<
$* (1
$ KY
- J
$ "1 RL *
$ */ "1
.5'<
2
$ &
'
+*
&3 0 / J
$ 90 V O +* 5'<
2
$ &
'
' ' ^ , 5
'<
% *
L C $
1#) K
# k
K C $ W
# .((33.3) ? .
) &
'
K/ (5
'<
% < ) × (&
'
KY K C $ W
# . V Ψ T
. ' &3 K
` / ,# < P
$% ,0
< ( , 3 &3
/0 *, * 1 !
+ 1
, '2 3 4
2 3 4 5 6 0 "
7
1
3 !
.
< 4 1
*
8 9 : ; "
.
:(33.3)
245
,0 &
< ( *" ,#
#/ ,
5
'<
6 ,
$
.*
$7 '#
, & 90 S3 C# ,
$ S#
@
'
* ,0 &
' 5
<L/ <# / 90 &3
D ,
K C $" $
& V .;*
. '3 5
1 g @ @
0
'<
Z sin Φ K
# 90 & 07 V (33.3) ? W$
:"1 *
K C $ W
# P &
# .
Z sin Φ = mVT Ψ
P &
# . Z cos Φ K
# 90 & < V
:"1 * &
'
Z cos Φ = mg
:"1 *
VT Ψ
tan Φ = (3.66)
g
. g tan Φ K
# 5
'<
% *
W
# >0 ,
(33.3)
% 60o
!
" #$ . g sec Φ
+ *
* .2g * 1.73g &' ()
10.4o # 1 !
" #$ ( 0 1 21* 200) ,/ 100
.
4
&
K < W
# 9 *
$7 C"' 90
(#
7 1# @
,0
L !* 90 C"' C*d# ,0 *
246
90 C"' ,
v
1 g K 5
'<
.5
'<
% ,0
"1 .
*
.&
'" #
/,
1 !*
@
1 $ 9 $ ? C"' ,
$ E%
,;* 5
'<
(90 D'# /) D'# '
< D'#7 K
` / ;6; R$ D'#/
(engine !* E
/E
!* ? KL R
/
.0
*
C
$ &
1 90 %
_ /
' ( .!* 90 ( ) *" throttles)
"1 < $* < &
' T* +* '
< D'#7 !*
E*
1 &
1 $* < D ( .&
1 *
1 C*#
2L/
' ( .5
'<
% < "' ,
$
,
J
$ '# &
&
' *
$/ 5'" 5" &
6 ' &3 0 W
% ,0 5
U J
$ 90
C"' C#* 0 @
# "1 '# ' L E'
2L/ ( .&
' 5
'<
%
.'
< D'#n ,"L
C*d# '# T<
% (1 $
,0 &
$ !* 90 &
&L C#* E
!*
2L/ (
.$ 1# "1 .
* ,
90 ,0 &
k
C*d#
,0
_*%
' (# &< $* 7 &
'
$#
L I$ 6 / 0< C
#
* ]/ "1 .4.6.3 (#
.,"
$* * '#
$* (1 kA
[ ξ 9L '
< D'#n ] *
.5'
< D'#" ] * $
$* (1 E? Lξ +* Lξξ K
#
(# 9$) $* < $
$* (1 '# 2
L
:,
, *
< .Lpp K
# K ((23.3) ? 3.4.4.3
Lξ ξ + L p p = I x p (3.67)
.$* * * &
'" , (1 Ix +*
247
:& "1
< P
Lξ
(1 + TR D) p = ⋅ξ (3.68)
Lp
.( Lp #7 85") (Ix/−Lp) 5 "
6 4 TR , 5
R ,
% * 7 $ , #6 (
.
.% '? 6 * @
; A +* p = Ae −t / TR
*
"1
$#% '< ξi 5'
< D'# ,a$Q XO "
:,
p=
Lξ
Lp
(1 − e − t / TR
)ξ i (3.69)
.(34.3) ? ,0 DL
.
:(34.3)
248
* '' S "1 Lξ Lp ? ,0 @Q / .*6
* $* < #
*
$#% 1#
o ,0 ;Y# '
?
,0 /
$ .&
'< 5'
1 D'#
C'L < ,^#7 6* L% 5
7
$*
$#
2L/
.$* <
Rudder control
2.6.3
( * " 1 .T< % (1
$ & 6
p E" 0 *
:,"
,
(B#[ 0 '#
2
$ &
' '
< D'#7 * $
T<
% (1 $ H/
.
_
# J[?
5
'<
6
.,
$ E%
% * $ HC
!* &3 0 6
_ ; $
#
g T<
% (1 $ HT
g *"#//
* / @
* &< @
'
* ,0
.(
" /)
@
'
* ,0 #
'# T<
% (1 .,
$ E%
&
d <
" H
P β ,
$ E%
'# Q KY# 0 *
? .
)
1 &
' C
$
$ &3 KY#
9 .DN'# ,
$ ,3%
5
'<
I$
$ & D .((21.3)
g *N'# @
0
'<
% ,0
< ( ,
$ @
1
# !
* K
] / ,0 .( F? ! ,0 C
(3
' /)
'" *
&
' C
$
1 '# P K ,
$ 90
.(
1 ? 2$ L1 *N'# @
0
'<
I$ '0 D#
1 7 M 3 &?
(drift angle) 5$
% E6'
% HP
$ * K
] / D I$U .D 9
< '
249
@6$1 ,0 &;Y
$ S K
,
T` B #
. 7 M .*
1 (undercarriage) '
1 '# P0 ( ,
$ S# ,0 ,
$% #%
*
v ,
$ E% % 1# >0 (21.3) ? W$
.0
/) &
' 1# R$ β '# 1 &
'" ,
7 ,"
>0
_
# Ja[?
.
$ &3 Q' KY VT (# I 1#
M # I 1# 9 &
' 5
'
$ 1#
.J
&] ,0 ( , '
3.6.3
Short period yawing motion
9: ; ) ) 5 % #7 # &)< = 2> 5
% ; * # ) 2: !9 ) @1
> # ! 8 65 ?!
5 C
! # 5 &)< 95 .0 A@ B
"
.(F ) 5 5
" 59 D #'" < @ E
.G A H I
J I; 0; 7 2: ! * I &
3% @;F & F
$
$#% / &
?U $)
W$
.(4.6.3 (# ,0
_*% R' (# T< %/$*" B
: / .*6 (21.3) ?
(& β 7) VT β = VT sinβ = v ,
$ E% % 1#
.(T< % /) P
$% ,0 Q K
# β=ψ 7 VT ψ =
. N vVTψ K
# ,
$ E%
% $
T<
% (1 >0 ,
'# K
# % ψ T<
% (
1 ? R
/ .*6 C$
* ,
$ S# ,0 , T<
% 0 β ,
$ E%
%
250
1 '0
#
. *" ,"7 P
$% &
'" ,
7 ,"
.&
' 1# R$ P
$ Q (1
:, ; * &;Y (<
. N vVTψ K
# ,
$ E% % $ T< % (1 -1
K
# E% % 1# $ T< % (1 -2
. Nr r = Nr Ψ
:, *
<
=I Ψ
N vVT Ψ = N r Ψ (3.70)
z
: / K/ .T< % * * , (1 Iz +*
⎛ 2 − Nr − Nv ⎞
⎜⎜ D + D+ VT ⎟⎟ Ψ = 0 (3.71)
⎝ Iz Iz ⎠
.
# Nv Nr ? 6A / .*%
I
L g ,<'
; $ (
.
Nr N vVT
.ζ = 1 Y
L #
ω 0 =
2 N vVT I z Iz
$ 9
2# 1
#
6 Y
L #
(2π / ω 0 ) &0
B3A KY 1# &
>0 . VT K
` /
7 1#" ,<
.,
; 10 3 * ,0 , &0 .Y
L
2L/ &
2 m 1
0 ? I
L / $<
% *" & & P
' (# (T<
%
L /) T<
% * , - #% (
.
'#
.7.3 (# ,0 ,0
! " #$
«
- » )* +, 90o % &' (
251
.(
* # - 3 0 ! " * 12*) .(Dutch roll)
*» )* +,
! "
*
*
5 !(6 7 8
(Dutch roll ratio) « -
.9( : 7
8 1 1;% <=>
4.6.3
Combined roll–yaw–sideslip motion
$< % $* * @61
B
3%
.2.4.4.3 (# ,0 @B*a [? 3 $
S (< ,
$ E% %
.
2L/
&
?U ( 3 '
< D'#7 @
* 0 @61
' & @
'L < ,
$ S# ,0 * @%
<
(3.38) (3.37) @%
< ,0 5.4.3 (# ,0 @A [ 3 j # (#
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Further reading
Babister, A. W. Aircraft Dynamic Stability and Response. Oxford;
New York: Pergammon Press, 1980.
Bertin, John J. and Michael L. Smith. Aerodynamics for Engineers.
Englewood Cliffs, NJ: Prentice Hall, 1979.
Blakelock, John H. Automatic Control of Aircraft and Missiles.
New York: Wiley, 1965.
Cook, M. V. Flight Dynamics Principles. London: Arnold; New
York: J. Wiley, 1997.
Dommasch, Daniel O., Sydney S. Sherby [and] Thomas F.
Connolly. Airplane Aerodynamics. New York: Pitman Pub.
Corp.,1957.
Etkin, Bernard. Dynamics of Atmospheric Flight. New York:
Wiley, 1972.
McLean, Donald. Automatic Flight Control Systems. Englewood
Cliffs, NJ: Prentice Hall, 1990.
McRuer, Duane, Irving Ashkenas [and] Dunstan Graham. Aircraft
Dynamics and Automatic Control. Princeton, NJ: Princeton
University Press, 1973.
Nelson, Robert C., Flight Stability and Automatic Control. New
York: McGraw-Hill, 1989.
Pratt, Roger W. (ed.). Flight Control Systems Practical Issues in
Design and Implementation. Herts, UK: Institution of Electrical
Engineers; Reston, VA: American Institute of Aeronautics and
Astronautics, 2000. (IEE Control Engineering Series; 57)
266
ا
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456
7
Fly-By-Wire Flight Control
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#) /: =6 *
: F
4O
%
/: 2 *
: F
]
3>
A)
.
/: = 7
( B <B 5
6
; > 5 =6 5 4
3>
!
@ E ]> & 54
=6 .:W
3>
=6
!) W
S:A F
]
& B <
4 &4
N 9
/: /6 2
3A
.<E B
:
S
4
.*#
#
B
!
@ E 1>
i
B: 3
K <
1 +@2 .!E0 6 %B
D
.%B
D #
!' S ! 7A 3#
!) & 7
i<
6 %B
D G 6 D %B
D -)
7A %B
D G 3 <
1 +@2 .* _ %:A
.!
G !) !2
@ E /4
; 1> <B
!2 #
S %B
D # B: ) ' S /4
; 1
6; !) @Z
Y 9
R .(*
# G G !) 180o
!2 K
@ KE> 4
/4
; 1> .* P #; & 4O
6
%B
D 3 B !) A0 B &6 6 /'
&6 6 /' / ' S /4
; 1> .@ D 4
0 ) %B
D ; 5K G0 # !) : B
D (elevons) 0R: :) D 4 K' 2 K aB
.aB 4
(ailerons) 0R:
298
. "
#
) & '( !"# $
% " &
# 0 ( 1 ,( « -)/ !+ »
, (18.4) *+ !
3
,
4 5
4 .-) *+ *
2
-<) !+
=
(46 , " & &78 9:;
-<) !+ " 9
" ? 4 .
>
2= 5B )D ((18.4) *+ A B $,) -) *3# &
.
(de-stabilising)
. 5) ;%< 7 :(18.4)
299
1.1.3.4
Agile fighter pitch rate command loop
> /' :
/6 =6
4
2 !
! m
S
:
00 A
)
K
A
) !2 /' O
<B .'
!) 12 (
C) <
.
4
& ' G
6 /W
& =
s 5] ; 4Z ; S6 :
4 @2 !)
;
3 -)
D(d/dt) 4Z 6 s 8:
5(Laplace operator)
!) & # /6 % ] ; &
.*: ! S
( . : B & @ A0
&;: !) '
; W 3 :
<
: !) /7 SB ] ; &
): S & @
. S &A
16,000 kg = m
14.5 m = !
11 m = aB
50 m2 = S aB
2.5×105 kg m2 = Iy ;
!
@ E #6
(K
/6 600) 300 m/s = VT B 6
g/B 2/3 = /6 600 6 g/aB •
'
!) 12 < = ! m
S •
5×106 Nm/radian = Mη %B
D G B
; #6
W
•
5×105 Nm/radian per s = Mq ; #6 B
; #6
W
•
300
!) &0
,
R S
5 ;
<
> -
W 5+ 6 &
.U 5* ?
M4$ &W
5 C & 4O
5Y7W
B
:!
!2 Ab
0
" q/η ! :1
T2 T1 •
Iy 2.5 × 105
T1 = =
Mq 5 × 105
.T1 = 0.5 s *
:/6 600 6 g/aB B 2/3 =:
2 1
Zα × = 16,000 × 10
3 60
Zα = 1.44×107 `) !
.(K
g = 10 m/s2 1o = 1/60 radian)
.N/rad
mU 16,000 × 300
T2 = =
Zα 1.44 ×107
.T2 = 0.33 s *
Mહ •
:2
!
ا
ح50
c= =
ااد ا
ح 11
.c = 4.5 m *
301
12 =
−50 m = −0.12×4.5 m =
(!' S ! # = 4 # ) ) × Zહ = Mહ
1.44×107×0.54 =
.Mહ = 7.8×106 Nm/radian *
(19.4) W !) 6 /' !4
!
= 3B ) T2 5T1 5Mહ 5Mq 5Mη Bbc 9 6 > 3
.(X 4 E0 54.5.3 !) (30.3) W
.
:(19.4)
:!
=6 !
B
q/η =6 E
1 / 5 × 105
q (1 + 0.5s )
= 5 × 106 ⋅
η 1 / 5 × 10 5
0.33
1+ ⋅ (−7.8 × 106 )
(1 + 0.5s ) (1 + 0.33s )
:= S
:
+@2
q 60 (1 + 0.33s)
=
η ( s 2 + 5s − 25)
302
:
q 60 (1 + 0.33s )
=
η ( s + 8.1)( s − 3.1)
Y
>J0
!2 N9
< A; : /' B
. et / 0.32 * c 51/3.1 s +> !
# &4 >0
g
c 50.32 s *
:> : =: t×2 : G:RA # X 5 e 0.7 ≈ 2 \
t× 2
= 0 .7
0.32
.0.22 s = : G:RA # `) 54
:2
:
⎛ 1⎞
Gq = ⎜1 + ⎟ qE
⎝ Ts ⎠
O 4 B %B
D &B = Y
< Gq X
/: . ; : O qE 5 ! # &4 T 5 ; :
.!
'2 =6 (20.4) W !)
.
:(20.4)
303
:!2
0
/:
q 60 Gq (1 + Ts )(1 + 0.33s )
= = KG ( s ) (4.8)
qE Ts ( s + 8.1)( s − 3.1)
:!2 7 /:
q KG ( s )
=
qD 1 + KG ( s )
: : @B - 6
;
1 + KG(s) = 0
.
, ! (#B S !7 !
⎛ 60 Gq (1 + Ts )(1 + 0.33s ) ⎞
⎜⎜1 + ⎟q = 0
⎝ Ts ( s + 8.1)( s − 3.1) ⎟⎠
:= S
:
+@2
⎡ 3 2 ⎛ Gq ⎞ Gq ⎤
⎢ s + (5 + 20Gq ) s + ⎜⎜ 60Gq + 20 − 25 ⎟⎟ s + 60 ⎥ = 0 (4.9)
⎣ ⎝ T ⎠ T ⎦
:= S
:
+@2
( s + a)( s 2 + 2ζω 0 s + ω 20 ) = 0 (4.10)
(1 Hz ) 6.3 rad/s ω0
$
) 12 Hz # !"
1 2 " %& "' ' *+
,-. /
0 " g
/
*" 6 7 "8& 9: 1 Hz ω0 .( "' 34
2 <ζ <="& .$ $
/";4 $ "
>" ?
" '@ : A $ ="&
" 9 0.6
.G <#
DE F /".
<B%. : /";C A
$
304
%@B 5 ( s 2 + 7.56 s + 39.7) !
2 <
!:
:
. (−3.8 − j5) (−3.8 + j5)
2
S6 E T Gq > `) 5@B @2 =6 ) :
+@2 .@B ! S
0 B
!) B W /7 5 =6 5S ; .!
<
*
- P b
:f
# C ( 5
2 6 : <
:
.E0 @2 S !) 3B = FB +@2 =6 F ;
/ T Gq > -
W 5 =6 5
.K 6 /6
& +@2 C =6 5
: & :
=6 E # & 4 <
/ ) E
S`) 5 @ 3
.7 /: B
; @B
:=6 E (4.10) : 0
(s 3
)
+ (a + 2ζω 0 ) s 2 + (ω 20 + 2ζω 0 a) s + aω 20 = 0 (4.11)
ζ = 0.6 > 6 8:
4 s s2 & : /
:=6 E ω0 = 6.3
5 + 20Gq = a + 7.56 (4.12)
Gq
60Gq + 20 − 25 = 39.7 + 7.56 a (4.13)
T
Gq
60 = 39.7 a (4.14)
T
E a T Gq SB 4 4 4 4 \ &;: +@2
:=6
: O 4 B/%B
D &B 0.46 = Gq
T = 0.67 s
a = 6.58 s−1
305
S
!
N9 < A;
; B
;
W 'A
!B = 0.6 50.15 s *
c 51/6.58 s ! # &4
5 rad/s 2 (A !:
) 1 Hz (A C !:
P
. KB (A : B
% * – (0.8 Hz
:!2
;
⎛ 1 ⎞
0.46 ⎜1 + ⎟
⎝ 0.105s ⎠
Lags in the control loop
2.3.4
!) B
!
&0
2` KB K4
4
n
DA
2 GS .<E B /' 8
) !
; :
K' # <
KEE 5
.K' 2 K
/
C /'
;
!) @O <B
E
B@
/6 !) /B &0
E 3 B
6;
.> (4; * P #; & 4O
S E
#
!2 7
/6 *
!) &0
:!2 &0
.& Y7W
-1
./WW &W
:W
-2
. &
: !) (latency) 9
f -3
.?
M4$ &W
-4
:!
) #B` S
W>
& 4O
+@2
:
$
% &'$ * + &+" ,(!"# "
)
306
:; 198 !5 678 &/ " .- " ./ !"# 0 1 23
1 (21.4) 1+ &@// .<=/ */ ": >%" ?/* 1=
10o &/ B: $ " 1 Hz ": >% . # : " &/: A"
90o B: $ " > ,10 Hz " .50o !"0 " 5 Hz " ,12o !5
30 C / .(</B 0.6) </B −6 dB !5 :; 198 !5 678 &/ "
"0 $ " # : " &/: A" 1 1+ +// 6A" &
/DE A $ ,.= F/ G $ AH 11 & 23
.+/"/; F- $ /: G
6
*
X @ /OB) 7
5 =6 5B
2 5 G
!) 'B0 / /# eS9 Y7W
(rate limiting) 6
.(21.4) W !) :
.1 : < G &
E W q 6 X9b
:
& 4O
( ; !2 6
G &
.N9 <
: =6
G
`) 51E & (4
, 4 56
SB
@
&>Z W 80 = *Z Y7W B
!) T
!)A_
X9N
@'6 . /6
m S
. @ B
/ !)
&:E
& 4O
*0
E
!) E 6 @
5 @
!7 E W h
E &
) .1E & !) 6
.' =6 S >
!) 2@ !7 :W
B
; :
& B 54 =6 . b
& :W
F =6 K
6
6;
0N & B F `) 5 & @ 6 *
#
#6 # 16 S (dynamically tuned type (DTG)) K
6 E & B .70 Hz = 60 !) # 8:
307
!)
# 86 KA S #
W & @ > \ /
7E & :W
+@S A0
&
6 G
.60 Hz
@
6; !) @Z <
> % ; (5 Hz
6 5o = )
K6
=6 /WW &W
KA <
> .=6
@ * 2
. &0
= *Z
KA &W +@2 V:W
&Bb9
.
:(21.4)
308
&/"I = $ /I "/+ 2 & E/ /DE A :
,&* E !5 ; J1+ ?H/" ,&//DE & E/ "" .= /" 2+0
(sampling delay) K/= %E &/DE &A .": >% !5 "
(transport delay) 1B E" (F:B 1+ ;K/ L0$ 2/ = /)
!5 0 M- 5 I"" 0 N 5 I" &/ E = <- )
: " PK/= %E : " M ": >% (22.4) 1+ "/ .(O
&* E : " M ": >%" .@/= Q$ >. " &* %E
! .&* E $ <" @?"* ?" /" , F </: C /
198 7.2o ": >% !5 ?H/ &* & 10 ms E ,1D 1/
F &" G ,10 @/
! , = " .36o " >% &'$ 10 Hz " P2 Hz
/DE &'$ " ,:/ >% F 2 0 R
" , Q/*
.
"
&"+/ B G *5
. "# !$
! :(22.4)
!) !B@ ! M4N DW
B
:
@2 .! M4$
q 6 G
: /# ; .(18.4) W
# = 80 *@ ! M4$
=6 -c = 3 7
%:
.
/#
6 0E 2>
309
10 =
4 /'
,: ,6"
!7
;
/6 !) ?
M4$ &W
4
16 !) ?
M4N &W
6 =
<
> .*
.P :; B
&# /3 & G 2 1+ 27 V /I S/TUD 0
,10 @/
! , &"+ I" .Q/. W: N:
" < QB S/TUD
/DE &
30 C /" . /I 0 !5 $ /3 S/TD9 0
$
/
: 0*5 X0 " </I AU
0 $ 1B %E" K/= %E
>/
: 1/= 1 & «Y/"» /=/: " .TUD
.@/= L0$ G $ A# = Q 8;3/ =
&5 X/0 "D
= S/TD9 0 : " 7
%
?A ,(18.4) 1+ !5 F .2%+0 Q"= ":" C + 1+[ XZ0V
Q" ": >% &
& 2\" . 1B ": &@//
&
G5 ,:B$ F &"+/ I (3 Hz !5 1 Hz D) # : " &/:
.</+ &"+/ &
&+/ S/TD9 0 Q & + >%
5 m
2
;
> !) "
* X =6 &
6 <
# 5 =6
FB .%
*@ "
=6
: @2 . KB
-c P
= *Z
n = 3
>
5(11.4) W =
10 dB
: &
6 <
#
S ; 28o +> =E>
.(!
=6 5
;
!) !
# &4 !2 n) K
S
2
X ?
M4$ &W
60 -
:
@2 DA
.
6; !) 2@ <B /
/6
!) 4O
'
4
«
! » !)
?
M4N &W
/6 B
&0
310
. "
E6 4O
= )A_ (23.4) W !) (Nichol’s chart)
D
: &
6
0 /: <
./W < !W 2 /( >
Tf
b > /: < !) %
#
*@
2 < m
2
G
2 %) *@
6
0
/: <
; 6
9 = !2 B@
< m
2 .(/ ) 0 dB [ > 180o +>
.dB
6 = *Z *@ !)A_ G
2 m
2
/: < %) *@
6 180o +> G
P
- 6
.45o = !2 B@
m
2 .10 dB
0
3 W 7
,00 'A
*
<B
!
=6 −180o = /W
!
> 0E >
KB
K4 #
B .!
6 !2 −90o X 5/W
6 360o &0b6A
#B
X ?
M4$ &W
*
& ' .(n×90o = E n B
) .=6 &
S
4 00
.
: 3
B
6; !) @Z
6 80 B =
16
< `) * &
6 /
/:
!
&0b6A K' # −180o X 0 dB #B
; <B
0
<
.(−180o KA) U 5−1260o 5−900o 5−540o *
c V−360o
.&
+@2 6 5, 4 9 dB 5< < m 2
2
0
/: G
X * &
5&
+@2 6 0 dB < #B
−360o &06A −360o
.&
+@2 2 /: 4O
311
.
% &
' (
# :(23.4)
S
):
<B < = )A_
0
/: DA
=6
6;
@ 5G 3
B &
* &
6
&
3
B 6 5, 4
9 dB 5<
< m
2 < 2 .
. > ):
=6
6; 6
312
Roll rate command control 3.3.4
0 @7
X 5(24.4) W !)
; :
KA b
f
. ; :
& B
; :
2 !
b
>; & 4O
SB
K L )
1 & :W
:
0 @7
.(5.3 ) X 4 E0 !) W
B
! \
; )
P :; :
& B
-
W
5r 5P :;
5β 5P :; #
A
1 .P :
.!B F
] !B F
P :; & :W
.,# - # / –
% & )*+ :(24.4)
313
/ C + " 27 V ,0G 1=
Q" $ 10 " +"
.1+" WBG "0 2 < /
&+/" .2+0 "0 C + 1/= /"
.?"/ &/ Q"= C + &/" < /
S/TUD 0 27 V"
!
!" ##
4.3.4
Handling qualities and PIOs
/6 : %4
b>R /'
(#B 2 .(25.4) W !) !
!) 2 57
!
/: 3
B /:
!B
# ; 3A
./'
/> %B
!
+B
;
7
!
!) <
"7
X ` @'6 /' !) 4Z
3) /> %B
.3)
(flight path &
/'
/' B
-
.
/: -C .kinematics)
&0E .( ) /' / Q'E !
B
3
!
/' !
Q'E
SO S0:
/B /
-
. 80
6 (<: ->
Y
.
E
!) ! ' G2 /B / Q'E
.(
# 0 :(25.4)
314
]
; S6 :
6 (<6 / Q'E /B
=
(Cooper-Harper scale of ratings) 2i &
&0E =6 /W6 5/#
&0E =6 X V/W6
1 #B !) &:
S>
W
&
+@2 .
.C 5B 5A &') ; 2
!
S
58 iB 5BiB
4 S =6
W
A '0
. (4 > "#
/6 !)
.# 5G
5:E 4
K
> S
=6
W
B '0
.F >_ S 4
) S
=6
W
C '0
. * ] 2i &B"
] (1.4) B
% W9 = *Z
E
!) <:
«
(pilot induced oscillations 4
&@@ »
SB 6 'W $
C
&@@ 6 /6 +@2 .(PIOs))
&; !) 4 T'
S &@@ +@2 ./'
.1E
@ 4
&@@ /2 SB
&@@ A6 & E (Wright) & /' V/ ?#
!) 4
&@@ & > . 4
ZA
4 E
!) <6 B
6 W
/?#: C & '
/>) A0
/E /
0 80
.(g/E:
315
)
:(1.4
1 1
ون ت
"! 2
) ('
#
3
&& $%
$
/
.
*+
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4
0
2
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+ $
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4 $
/ 12 .
*+
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6
"3 *+
637 *+ 0 12 .
83 *+
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<$
=> 1+3 9 .
>@?.
3
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+
'5 8
1A+3
5&3
3
'5 9
' 1A+3
>
) ?B 1A+3 #C 1
'5 10
316
&
& ' S 3
4
&@@ & 5 =6 5
p 6 < & @ 0 @7
!) 6
4
C X 8: B
6 W
Y7W
G
!) 'B0
/# = *Z
6
.Y7W
SB
&
> .
B
!) G
S6 tW
= &
; !) 53> !) 5 4
&@@
& '
# Lockheed YF22
& ' =6
& ' = &
KA SAAB JAS 39 Gripen
R f > .777 [ C17
=6 .6
& 4O
= +@2 &b
&@@ = *Z /A ] 6
<B 5
4
&@@ 4O
Z
4
.BA : & 5! C ,4 !
!
QE %B =6 5
KB :
/6 !) E6 !) ! C & 4O
. & N9
:
=6
: ! C 2 E: B
A
4
&@@ / Q'E FA
8 :
)
>
A
5 KB : ):
0
. KB #B
4O
((24.4) W = 3B ) %
*@
. B
!) 4 0.3 !) EO
!
# O
2 .
\
:
527
5 =6 5< 5
DW
B
:
/' B
6 8:
-c
=6 >
<B .0.5 Hz !) !2
# 86 .
<
@ G
!)
/# B
G
-c -
<C ;
.
: (<6
: 2 .7
/6 @
(#B \ 8
)
3
B
=6
W
B
/6 !) G
E6
317
E /: G
/' 2/
?
*@
* !) 5%
.
#
180o #B
=
= *Z 180o G
6 ]b
< /# 57
/6
> @ 5 @S ./ = /: < E @ /:
6
B
!) G
=6 <7
N 9
=6 E
!) % /#
DE ./'
6
K#
DE
<> : `) 5/'
5 3A DE /'
KSB @
5 P
Q'E FA
:
3B
. 4
&@@ &B
.E0 @2 S !) /:
/
Modern control theory !" ! $ 5.3.4
> <
@2 !) 7
/: & @
B :
> /'
.
&
b
54
=6 – /B ):
=6 E
S
8
) 4 B
= ;
:
B
-
W 5/E /
0 1
=6
4
6
& 4O
2 5 B 8
) G: D B
.P :; /B b
>;
8
) ;
, S>
W
/E /
0 P : 54
-
W
> .B /P : b
>; & 4O
2 B :
/' !
4
aW
5!
> 4 4
) X 4 E0 !) = B & @ &;:
)0E
&)0E
/E !)
&
6 !
4
.(5.4.3
.4
\ % W9
2
R 2 = B &;:
318
198 B Q"= 2%+0 3
-$ & 6 0 2%+0 3
1A 2/ (multi-input/multi output (MIMO)) = 678/=
2%+0 /3 B/:" . /0 & &"+" ,"0 3 !"0 2%+0
0" 678 /0" 198 B Q"= 2%+0 3# < /+/ +
678/0" 198 3
=" (single input/single output (SISO))
.(D &7 78 ) (single input/multi-output (SIMO)) =
3
:
W 4
5 =6
4
E
!) 3 =6 b
f
\ !2 MIMO
.
3
:
S KB :) &
+@2 .
] &)0E B /B ): <
5 =6 5 b
-
`) 5< @S .FA @S F =6 ( 3 B
4 2 E <
@S 4 &ef
6 >
- O
<B .&;B :
FA
< 4
- 3 *#
3 W
f
./? &;B !) 2# S
>
!) /:
4
- FA
:
3B
.FA
@2 #
):
!) C ( E0 @2 S
Redundancy and failure survival
4.4
Safety and integrity !%
&' 1.4.4
; <B
DA
&
.S !
, >
< *
!) X !4 W0
X
319
) 56 W ./'
) = *Z > *@
S
6 /10−7 #B
; <B
!) !4 W0
.
& ' 6 /10−9 : & '
KA 2E
<:E
KB A0
+@2
W)
`) 52
6 / 0 DA
.K'E S
!) 6 3,000 6 /' 3,000
;
, !: 6 /10−9
100 !) , ,4
, W) !: G
& '
4 > !) : & '
:
!
,
: 6 /10−7
X
.;
!) %
*@
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<B
S>
W
+@2 .6 /10−6
K
-)
& '
3
B 6
B !) X
!
& ' X 6 !
B
.* S7W
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Further reading ()* +,
Barnes, J. G. P. Programming in Ada. London; Reading, Mass:
Addison Wesley, 1982.
Briere, D., C. Favre and P. Traverse. A Family of Fault-Tolerant
Systems: Electrical Flight Controls, from Airbus A320/330/340
to Future Military Transport Aircraft. ERA Avionics
Conference 1993.
Coad, Peter and Edward Yourdon. Object Oriented Analysis. 2nd
ed. Englewood Cliffs, NJ: Yourdon Press, 1991.
Davis, Alan M. Software Requirements: Analysis and Specification.
Englewood Cliffs, NJ: Prentice Hall, 1990.
D’Azzo, John J. [and] Constantine H. Houpis. Linear Control
System Analysis and Design. New York: McGraw-Hill, 1975.
(McGraw-Hill Electrical and Electronic Engineering Series)
DeMarco, T. Structured Analysis and Design. Englewood Cliffs,
NJ: Yourdon Press Computing Press, 1978.
Hatley, Derek J. and Imtiaz A. Pirbhai. Strategies for Real-Time
System Specification. New York: Dorset House Pub., 1987.
Ince, D. C. An Introduction to Discrete Mathematics and Formal
System Specification. Oxford [England]: Clarendon Press; New
York: Oxford University Press, 1988. (Oxford Applied
Mathematics and Computing Science Series)
361
Interim Defence Standard DEF STAN OO-55, The Procurement of
Safety Critical Software in Defence Equipment. 5th ed. April
1991.
McLean, Donald. Automatic Flight Control Systems. Englewood
Cliffs, NJ: Prentice Hall, 1990. (Prentice Hall International
Series in Systems and Control Engineering)
Military Standard DOD-STD-2167A. Defense System Software
Development. 29 February 1988.
Mirza, N. A. Primary Flight Computers for the Boeing 777. ERA
Avionics Conference 1992 ERA Report 92-0809.
Pratt, Roger W. (ed.). Flight Control Systems: Practical Issues in
Design and Implementation. Herts, UK: Institution of Electrical
Engineers; Reston, VA: American Institute of Aeronautics and
Astronautics, 2000. (IEE Control Engineering Series; 57)
Ramage, J. K. AFTI/F16 Automated Maneuvering Attack System
Configuration and Integration: Proceedings of the IEEE 1986
National Aerospace and Electronics Conference, Dayton, Ohio.
RTCA-EUROCAE DO178B/ED-12B. Software Considerations in
Airborne Systems and Equipment Certification. December 1992.
Rushby, J. Formal Methods and the Certification of Critical
Systems. Technical report CSL-93-7 December 1993 Computer
Science Laboratory SRI International.
362
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! I74 - -7 *
7
@7A !
7
@ ; 9! I8 /M
=
H!% .-8 > >
> #
\ - I E4! @7A >X -& -7 * *
# $ A > > = 9A I
, ! :4
-7
. F
9
? H+ .
(A # 0.01o > # +
! A) - *
7
.T # -
!, ; # 3 " 3 8% 9 4 & : $" ; %
(micro-machined vibrating mass rate gyros) 4 < !
3 '" / = ">"? 3
4 3 6) @ "
B%
A#
) ; : 3 # 3 : . (
= 4C !,; .
3 :
7 :7
.= " ($/ $# "" !, ! D$/ E ; "
Angul momentum gyros
2.2.5
1.2.2.5
Introduction and basic principles
/+ *
0 1 2/ + #1$ 0 ! >
>;
4 > 4 7/ 5D/ > B W 5D/ - 5 HA 5 O
;
I
2 - , $ : /= @ ; 2=%
*
]!+ > 5G @7A .-8 > > ! !? + @/ :8B
366
1 7
#? «7 / » ! >
4 F
# 1 N #1$ 0 ! >
>Y ,*
7
-Q7/
> F
9 A+ F8 + 2!& .Z? / ! :4 H!% O! N
# ! 9A @ ; V/ 9
H!% - - #1$ 0
. : 5 *8 > ]!Y , .F
H , $
IJ4 1852 % ! F C ,@
G
%
>
,@
/ / "
-
(Jean Foucault) 3#% "$
$
(gimbal suspended spinning flywheel) K' ,@
" ,;
" 4 4 .D
0 L($
% 3C 6
skopein
'
gyros
#
B )
«*#" »
& 9«
?» %
. ? '
. +
,
= B: 9,;
$
% 5 #1$ 0 ! > T
+ -! I
; ]&
$ 07 *
0 1 2/
.> 7 0 1 A
/ > ^ / 4 #1$ 0 E 7 5 ,@ % / -
> 51A 2!& > N >+ 4 ,* M
*
0 + @ ; _/ #1$
.O8B - ? M
N & - #H - 9/ M/ #/ ?`
F" - 1 M > G ,N
# 9 C
%
*: , .6
(input axis) F/
0 4 B : E ' F ' # - /O ' 1 = : *" G
C Q 9(free gyro)
" &I'P Q . ,
.(rate gyro) " " F )P
367
.
:(1.5)
@7A ] > 0 #1G / M
$ T74 > 51A
:- /!
1 ]! 5
0 >+ b ,(1.5) # @ ;
2/ - -
3 $ .∆t >1 #= OX / #/ ∆θ 9 $
* -!
# H! ) OY /7 1c M
- & H∆θ * *
0 1
0 1 2/ -& H = Jω R ^ / ,(-
-4 4 5 >0
*
0 1 A ωR ,#1$ / #/ 07 - 51A J , 07
.#1$ / #/ 07
dθ
>+ T
& , H * - * 0 1 2/ 0 $ #
dt
:>Y ./7 -!? > ! >! T/ ,T ,E4 > 51A *
T = Hθ = -
#B > 51A (5.1)
368
:+
T
θ = (5.2)
H
I / #/ > 51A E 4 ] > * ,27 &
> # I # ^ ? / #/ >" 0 #
,#1$ /
.(precession) «9R » @R ,#1$ / Ee4 > 51A /
51A > ! - &
/ * -% #
.*
0 1 2/ @ ; G G + 7 B4 >
> >" T74 A/-/= # 1 - /= 5H!
/= H!%
!
.A # 0.01o > # +
!
0.5×106 / - *
0 1 2/ _
/ -
51A > >" - T74 ,
!N O + 7 .(^.5
.5) cgs /
/ 1! ,Z=?) T *
0 +
!
- 9?` T 48N >
> . F
$ 5 & – ^.5
.5 / 0.02 > # + (7 1
. N O %
V!; 4 B7 -
I F ,T > #B & >1 @7A HB/ /
8 4$ / @ ; + , 7 /
H
(dynamically F ! Q
@7A *
0 1 2/
]7 $ > > /
& & .4 tuned gyro (DTG))
+ ,9 ! 5H! ,9/ 0 1 / > 5G @7A ,/
@7A 5R ^ / T
& .5Q/R ? 5H! > / * -A
/= H!+ > -!? #
7 % P - M 4 5 I /!
- /= H!+ > #% #
) -
.((floated gyros) R
369
* -A
F !
Q
4 5
A # 0.01o > O f F ZB 4 F 4
g $ 5Q/R ? 4 > /
-
! ]
/ hi$
& .A - > 5 A # 30o @ ;
/= H!+ > B 4 .5 40 × F4 5 40 &
, ? 5Q/R M
N /I87 -
5H! , ? Q/R -
H!+ ,bB! >1 i$ 5
/ ^ / > 7 7 F
H!+ ,S j7 4 ]
- /=
,2=% 4 > 4 4 - .2=% 4 > 4 7/ 5D/
> N 9 A; E / C > / A !; >Y
.# B > O 74 7 74
A ^ /
2.2.2.5
The dynamically tuned gyro
+ ,7
A .F !
Q
7 % ! (2.5) # >0
4 #1$ 2/ !
7 *
0 1 2/ , 0
#
5H! 50 -7 > + ,> ! > (Hooke) 2& 7
-!? 1 / .(2.5) # - -!
5 - >0 & ,> /
# >+ N; 2/N A -& #
#/
2!& > !A 0 @7A > 51A # !; ^ / -: N -!1
& .#1$ 2/ / 0 S @7A * > 0 1 / 1;
!0 A !A M`$ ; ,2 I ,> ( N +) T -!1 #
51A >A k: ! > F ! ] 7 5 T
-!1 # 4 07
0 1 / 1; 2!& > !A #
7 - @7A >
. 0 S
370
.
:(2.5)
-!1 # >; ^ / #
7 - (B +) # 5
* T
-!1 # 4 F @ = -!? 1 / T
,- .( !?/9 320 9A) 9/ 0 A !A F ! ] 7 5
27 ,#
/ #/ N
Z B > 51A 2!& >
- 0 S .9/ 0 1 / S @7A - ? /
]!+
#/
7 9 $ 0 1 / O8B - ? M
@7A H/
.((3.5) # - 4 4 5 H! ) #W /
. !
"
# :(3.5)
371
7A @7A i ?/ (pick-offs) 4 = 5
M & >; ^ / ,
#; / #/ 7 0 > 0 1 / 1W
./R
1 ; R 1
@7A > 51A # - 4!$ > 51A / C
! > -& F+ M & > 51A / .
#; / #/ 0
> : 4!$ (D’Arsonval) #B!+ * !B7
> 51A B7 !+ N; -
(samarium cobalt) 5
: 4!$ 4 l ! - 4!$ #
#AB .7 @7A e?
. 0 @7A > 51A # 5 B7 #= E I 07
, F
A > 51A 2/ I F 4 T! # > 51A
51A 2/ #A - 3 $ . F
9 : 4!$ 50 ]!%
> 5H! >8 !A 8N F8 + 5 9 /
I >
.
9 /
5 /R
1 >% 07 F
9/ 0 1 / T74
. ? 5Q/ # $ 9 ! > #
\ - B > T &`;
0 1 / @7A # #1$ 2/ A I 7
.# + + ±0.5o @ ; 07
5 .9 ! 5H! > / * /
# $ 5
- #
i7 9 ! @7A
> > !? T
9 / 5R ) .?=? 9 ! / #/ 1 2/
/R
1 4 N 5 .( 5H!
/+ >
T + !A /R
1 @7A H/ - #
1 ` 5/
5 ,- .9:4 # 1 / >A H! ,B >
! . O8B / @ ; ! ? M
@7A HB/ !
/ I B4 @ ^ / > > ! A &/ #/
372
, 7/ + / ,T$ mE ,T!
m# =
Z ? , 8%
#= >
0 @7A 74 9 > 51A # E 4 >A
.9 ! #A 9 (4.5) # >0 .
> 51A /
.$ %# & ' $ :(4.5)
-+ # F ! Q !7 -A
B
# + 9A ,2 I , 07 *
0 1 2/ .9 ! B
- , #W N !A > 51A 2/ 9 74 T
>+ F8 + T
> 51A / . !? # 400o @ ; # >+ >
.@7A+ S > 51A # @7A 9 >
7$ 9 5D/ E 4 >A M B! 5 > / *
# $
> 51A > 1 SRA 5 .(torque balance) «> 51A > 1 »
373
/R
1 4 N ; >
> 51A / 5D/
51A 2 5 .B > T + !A
R 1 @7A H/ -
51 48 !1 > 51A / 4 >
/ #/
R !A 0 - 9?` -
#B >
- ?` -
#B > 51A >Y ,Z JK .] ;
5 ] / * #W / 0 #1G / I # /
.> 7 7QR 0 1 A M & I F 4 T! 0 S >
7 #W N > C > 51A 2/ !
.
M & .> 51A > 1 SR ! W AW (5.5) # >0
«n B» 5 !% (caging loops) «n B SRA» 5 9A @0 SR
- 0 n B >+ > 7 -$! .
7A @ ; B 0
! F n B -RA V 1 @7A # & , B! - > /
2!&
N .e4 > 51 07 -
/ #
+ I: : 5 -
7 Z=) 7"
1 O8 F8 +
]!Y .(dry gyro) «
» & F !
Q
>% (R
9A #
4 N ; ! $ O
; *8 >
1/ bA E / 74 ! ! 8N >+ ,5D/
F: 1 T! >8 9A ! 8N .:= o
> J 1/ b
! 5 .4 53 5D/ / #
7? SRA > >+ > > 51A > 1 SRA .75 Hz @ ; 50 Hz
- @ ; -7? #</ - @ ; 5? >
R # / I (analogue)
. 8! * > 51A 4! - 9 # $ + (A to D converter)
374
.
'
()' ) " *' :(5.5)
& >% # 5R n B SR -8! > 51A # $
2/ 4 O4% I! ,5H! @ ; Z4 Z Z ! Z4 -4
+ 8! 4 ]7 $ 5 > 51A 2/ >% > 51A
- I T! # > 51A .? !1 9B ?
9/ # ( +)
8! A 4 *+ ,f ,8!
.>1
Kf = > 51A 2/ 4 # > 51A 4
> 51A 2/ > 51A ? @7A ? K ^ /
.(s) 8! 9 ,(amp) 8! ,(Nm/amp)
:>Y > 51A > 1 4 9 / -
dθ
Kf = H (5.3)
dt
dθ
> 3 $ # ,(kg.m2/s) 07 *0 1 2/ H ^ /
dt
:>Y ,- .(radian/s) #QR *
0 1
375
T θ
H
∫0
fdt =
K ∫ dθ
0
(5.4)
,T ,94 !1 9B - > 51A 8! A >Y ,
27 #=
#; / #/ 1 *
0 1 > I F 4 T!
/ #/ Z? Z 1 Z 0 1 Z! #? - 8! # . !1 9B
T74 . -! ? 10 @ ; 1 > J
! 5 – #W
8! 5 =
Z ? – #W N !A 8! p 9A;
5=
Z ? > ,8B! #W N !A 9/ !? -&
R
. #W N !A >
c ?
3.2.5
Micro-machined vibrating mass rate gyros
5 - (Coriolis) S ?" #$
M &
.1 1&N S - / #/ > A 91 9 8; !A !
:& > + > A; #=$ 5
.91 A; m+
.91 ! 4% A; mT
A! E4 X # $ ! =$ >+ > > AW =
> F
! 9i$ O! / ,7 :
@7A 1 # B N/ > -!1 4 , 7A q - #r - O 1
%
=$ 5 B7 8B! > >+ > !+ 2 > 5&% .A 10,000
H!% ,7/ 5D/ #? > 4 ! ; 4 - 4
- F8 + # ,j7 4 ]
,> 4 /N I8 M
=
376
S% 4 . > / H!+ - A!
- 5H! > / ,NX A! ,I! + ,- X >!W >8
H!+ – Q I H!+ – #
+ > (GPS) - $
I /
– – : – $ A 1 – /=
M F
E 2!& ,1
Y .Q7 -:7 5D/
.
bB @7A # & ,
:8B 4 O!? , A
#= 4 9 #$Q +
A! ! - 4 M &
/+ ,9 #% .
?" C+ , 8 !
1 # B N/ > -!1 4 9i$ A 7 /
@7A ,I4 ,
.F ! 8B!
A 10,000 @7A
A! #? S E % 4 ]!+ N; ,T74 5
/ 74
+ ,- + N 100 @ ; 50 / - > >+ T
>Y ,
. F
! E % - ! > ,# +
S @7A 27 e4 4 >+ H/= o& >
N 91 >+ 5 - : 1! - > ! > =
- «5D/ 9"e R 9:4 Q» !" QB
R .> A
` >+ > T8 #/ n *
0 + >% ,:B G 9! @7A
4 ! - 7 F
9 $ ! >8 >A 9A >% .2
– G > 4 @ ; S+ >% . ?% /!
% > >
c ? V1 >
G 2=% 4 > 4 9:4 - A
> #? F
.F : & F ! 9
-A
@7A 5&N 1 5 ,/ T
@7A 5 ! & & .!! 1 * X
n ! *
0 + 2!& ]!+ N; T & ] T * - F
I /!
.91 ! 4% * ! > #/ *
0 " >e8
377
.
'
:(6.5)
% & '*+ ' % &, (
) (6.5) !" # !$ .
1
2
X '
- /0
" .
/
& !" 3 456 7 89 &: ;Z
7< & /
1= &:
>
-
&
?
.Y
5 .B
C<
D
5 B
- !" 8 . Z @ A
-HA 8I A /
&" G -
F
% A E 1=
;'
- 5K ! 2I . - J ' B
A
2
+
9 !
% ' /
& G * /
C &
LC =
;
5 '
C
@ &*
2
;
O
;X M N % .(2) (6.5)
P
&: ;89
! .
O % @
>A
M N * *=N &" G
&
2
378
A 7
-Q % 1= .
M
5 N @ 5
+-
.
O % @ 2
6$ '
" A%
/ %
* -A
Gyro Chip (8.5) (7.5) >= >0
BEI Systron Donner Inertial 4 9e4 91 !! 1
.7 M & ! @7A ] n M s>
` hDivision
Systron Donner Inertial ,- # )
:(7.5)
.(Division
> > ,(7.5) # - F 4 4 !e % AW
# 7? ! -& 0 1 A 91 !! 1
.A V'
Q 9 ; V!W 4 =
T 4 7 $ 5 !! 7 -4$8 I
- 1c / #/ e4 > A . $ 1 -
>A : ! > 51
> @ ; *` > 1 !!
- #
M & * > 51A .Z JK
I<
S V # #B% @7A% /! 2/ >" 4 =
- 4 = < 4
R : 9 ; > @ ; *` & . 7
I F 4 T! 9 ; -4 4 / & 5
! !A ; $
R 9 ; 5) .#W #
.(47 / 5< ?"
! #W #
379
> 9/ i! 7 & A O!?! !!
r ; 5 ,97 */+ -4$8 1 >
V!W 27 7 M & . :8m G? 7A 5
(8.5) # C8 .5A # 1 5 A > > =
.I !
.0)#
' 1# 2&# :(8.5)
.(Systron Donner Inertial Division
)
.
5 1000o !
5 ±50o &
R
%
0.004o
& 9
= (threshold resolution) 86 9
(90o ST) * ? (? & ;
15o & 9
)
5
0.7 & 9
'- UV+ '
5 & 9
= B &* .60 Hz &
A ;
7
- & M 0.05
& 9
WA ./
2A ! 9 P- .
100,000 ! * < /N
& *
.' ! % B
AX
Y -9
* -A
5 F / I ! > 5
4 /N 91
+ - 9:4 I8 E N !! 1
380
, $ 5
/ @ ; S1 : % 9
9 -& – 7 /
.! B7 , F
? ,97 bB! 2= N
. ? / 9 !!
>+ H/= T
5A - 1
& 9O @7A (F.W. Meredith) ^ .. #/
(Royal Aircraft :47 7 ` - # > !A 1942
- RAE - & B! 5 8W 4 .Establishment (RAE))
1& . .+ !& .M .V # > -8 > > ! +
1o > # + 9OB ?+ > 7 (Messrs G.H. Hunt and A.E.W. Hobbs)
.
! A #
7A - = M + A! E4 r 9 W ! !;
. / 4 1
!; @7A
Optical gyroscopes 4.2.5
Introduction 1.4.2.5
,*
7
-Q7/ 1 7
#? ,
#! >1+ - p! EB #= > > 7 0 1 A
EB & .98 &
- E7$ #/ / 1 7 O8
?+» 5
R ?" & ,7R > A I T! >1 -
* 2!
.V -!B -: 1 B @ ; ! ,(Sagnac effect) «2!
# 5 F M > > # >+ ,I - ,?+
% A[ F 4 4 F (9.5) # C8 .1913 5A ! 2!
.2!
#
A TA I > > ,∆T ,2!
?% -!1 EB
@4 (anticlockwise (acw)) A TA A (clockwise (cw))
: =
381
4A
ΔT = θ (5.5)
c2
θ ,O8 A c ,E7$ 4 9/ / A ^ /
.E7$ S @7A *A / #/ > 7 0 1 A
@4 , 4 / L ^ / ,∆L ,* #4 - EB
:>+ *+ . ΔL = cΔT =
4A
ΔL = θ (5.6)
c
. !7 H! 5 T74 N7 E E =
.O8B - *: / M!+ @4 ,#/ 0 + @7A ,-/ B 4+
.
:(9.5)
382
> FO 2/ O8 > > b ,(10.5) # @ ;
q > ,A TA I M
- *: 4 / #/ P 4!
.A TA A M
- P 4! > FO 2/
=
Z ? > > !B7 #!N >1 >Y ,#W # T G -
A #/ > !B > b ,>X . 2πR / c = T *
#4 ,P1 @ ; / > P 4! >Y ,T >1 #= . θ
>B7 , (2πR + Rθ T ) * A TA I 2/ * >B7
. (2πR − Rθ T ) A TA A 2/ *
:& ∆T ,#!N >1 - EB
(2πR + Rθ T ) (2πR − Rθ T )
ΔT = −
c c
:@7A #/! T = 2πR / c >A b
4πR 2
ΔT = 2 θ (5.7)
c
4πR 2
ΔL = θ (5.8)
c
(5.5) > I >7? (5.8) (5.7) > >Y - A = πR 2
.(5.6)
.
:(10.5)
383
* >e !A $ N N M & >+ C 8 >
F -4 !A *
7 - #/ & n M! # 4 >
.Z7$
,1925 5A - .8B! > A F
$ 2!
?+ >;
2!
# (Michelson and Gale) # G >7 5
,b% > A 600m×330m -7 4
.4 & 1/4 M E
1960
&' ()* + , - . $ % ! "!#
. 4 3 3 (
52 ! /( 01 2 3 $
1963 5A - 9/ N - bKRA -
-Q7/ 1
#+
> / 2 ! M 4 5 ,(Macek and Davis) B 2 # >
.9 V!; / @ ; 5 #/ ` > A 4
/= H!+ - # -Q7/ 1 7
> NX A 2!&
# 0.01o > ?" A H+ , ? Q/R -
60,000 EB # B N/ > -!1 4 1 /!N - > 5A - A
-! ! 5H! F+ & ,- 5 - -Q7/ 1 7
J 5 .A
7QR > A .E7$ * #i 1 7 9
] #A
A A TA I > 7 ! ! - EB E 4 >A
.> >A : ! # 4+ - EB > >
! A TA
I74 - B bB! */% 4! * * 7 4
4 J+ NN A! #
+ > -8 > > !
1 > -
M & 5 .2!
?+ * 7
^ / 1 7 O8 E=4W 1/7 t ! @ ; 8W
384
7 #= A TA A A TA I > &
N - 2/
7 7AB / .*
7 > B 9A > > -! 4
@7A #/ 5 .
7 B A - 8 - 5 EQ7$ *
N - *
#+ bKRA .% : > # 4+
.1976 5A - (Vali and Shorthill) # - # > 9/
(interferometric FOG -7 -7 ! > #
\ 4
(ring resonator FOG (RFOG)) -7 -Q7/ >! ! (IFOG))
.5 #/ ` > - c
*
7
>
F+ (IFOG) -7 * * 7
#
A 4 p! - 4! - 4 / 1; ,2!
#
F
9 $ 2!
4 / 1W E T74 .7QR >
* 7
<4 . / 5 ! 4
hM
N /I87 -
5H! S I E
!; -7
-
5H!7 9 V![ @ % 74 >Y Z JK
5 -7 * * 7
@7A ! I8 /M
=
,` > - c
- @ ; 4 .1991 5A -
* * 7
@ ; 9! - /= H!+
. F
T # - i -7
4 (RFOG) -Q7/ >! * 7
#
4 * 7 ! ! Q7/ # $ I > ,-Q7/ 1 7
1 7 / 1W *m > 8 1
5R .-
1
@7A A TA A A TA I > &
N * - >/
/ @7A HB/7 91 ` SRA 4 5D/ 5 > 8 -
I F 4 T! 5? > > 7 ! ! - EB .> !7 S
.-Q7/ 1 7
/ - 7QR > A
385
>1 4 # 1 N -Q7/ >! *
7
.O % B7 ^ / > #8% #/ 5 > 1
> s*+ ! # B
7
-Q7/ 1 7
@7A 5&N 1 5
- > > 1
& > & >% ,-7 * *
.F8 + FA -7 *
7
.8/
The ring laser gyro
2.4.2.5
1 7
% !7 F 4 4 F (11.5) # C8
7A > & 5 > 8 > &
- > >7 1 7 1/ .-Q7/
& ,*
>8 > ! m5 7 7 *1$ u B7 *1 7 V!W
& .^7?7 1 # !A 4 >0 E7$ -?7?
4 M 5 ,f ,- 4 4! ,-! !
#g R E7$
A n ^ / f = nc / L = @4 ,L ,
7 * #4
,B7 7R > A > !A .O8 A c ,C /
,> A TA A A TA I > / *
' - 4 >Y
A TA I > / -
* > ZB - EB >
*A #/ #/ -Q7/ 1 7
R !A .A TA A
> / *
' - 4 - E 2!& > ,E7$ S @7A
*` * ,Z JK ,A TA A A TA I >
J #= > - EB & .>
> - E @ ;
9A 5R . S/; #= #!N 1 7 -1/ > 9 $ !
S% 51R/ I
> ^ / ,51R/ S/; !N -! !
A
.
R7 : :8 B !A -& 4!
:8 @ ; ! 2/ >" - 4! #
7R >
- (T + T
) EB I T! M
- A
R7 :
386
& O!?+ > > #
\ 4
R
9 ; 5 .
- E 2!& M ^ / ! 9A 5 M & . :8 #=
> ]! * > M
/ > ^ / ,
R > 90o 4
-:8
R # / 2 5 . -:8
R
.]
7 4! : T! 8! P 4 ( +)
8! @ ;
,∆L ,* #4 - EB > p! ,∆f ,4 - EB
: = @4
ΔL Δf
=
L f
4A
:>+
! ! , ΔL = θ ! (5.6) = >
c
4 Af
Δf = θ (5.9)
cL
:>Y - ,λ = cf *1 7 #!= -
#4
4A
Δf = θ (5.10)
λL
:>+ *+
Δf = K 0θ (5.11)
]!+ 27
.4A/λL *
#A K0 ^ /
:>+ *+ .-7 -A
T θ
∫ Δfdt = K ∫ dθ
0
0
0
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387
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-
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.(0.633×10−6 m) λ = 0.633 micron - !N
388
:* -Q7/ 1 7
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4 × 1.9245 × 10 −3
= 60825 Hz/rad per s
0.633 × 10 − 6 × 0.2
1
. !? 3.39 = rad * 9/ 8! 0A >Y -
60825
4 @7A E=4W 4 M # 1 > M &
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3.4.2.5
The interferometric fibre optic gyro
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397
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nλ π D / 4 λ (nπD)
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Accelerometers
5.2.5
– 1.5.2.5
Introduction – specific force measurement
i7 7 74 9 E 4 >A Q > >
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5 FE G H. ! ;
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) Ba
m BM( ! 0I Bmg B
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:C
.(=" 3 O 3 E #!; 5 3 (H)
T + L + D + mg = ma
:>+ *+
(T + L + D )
a= +g (5.17)
m
7 @7A
9 O!?
S7 -
.(specific force) « A! 9 » 5 , (T + L + D) / m *
' + ,9:4
:/! @7A - @4 ,ma ,i7 7 74 Fa 9
Fa = ma g = ma a
Fa (T + L + D )
+g=a= +g
ma m
407
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Fa = ma (5.18)
m
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2.5.2.5
Simple spring restrained pendulous accelerometer
e 4 - ! F / 8 F (20.5) # ><
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I
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G - 4 ±10g =
Z ? M #QR S @ " b
409
±3g M #QR S 5e -% B! .25 Hz #O8
3
. M # 8iB ,F 14 Hz 4 & 1/ bA ] >
10
3.5.2.5
Torque balance pendulous accelerometer
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413
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2
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Skewed axes sensor configurations
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1 S/;
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# H! , 1 #g ^ / Q7 : / @ ;
!?N 5e
R » A; 5 > /% b - ] ; R AW & .(24.5)
@7A A #; / >% (dodecahedron) «J4 * A
/ *
0 + #/ / 5 . "J4 * A !? 5e
R ]
+"
> > 7 / @ ; #1A > ^ / + 4 - :
b 8 >A 7 9 ! ; .9 >
!?N 5
A; -
# .Q # B N/ I! ^ / F
& 5 5
7 A # ,>
-A J4 * A
.
> + 4
414
.,
-/ " 0 – #()
& *
+ :(24.5)
- # -& F @ ; A > 1 ;
R
:^ / ,5
A
A = p sin α + r cos α
B = −p sin α + r cos α
C = p cos α + q sin α
D = p cos α − q sin α
E = q cos α + r sin α
F = q cos α − r sin α
.5
/
#; / > 1 -& α = 31.716747o ^ /
415
-4 >+ > -
^=? N - 2!&
#1 94 1 5 > .5
7 A # > 7 >
.@7? 4 > ! I
9A; 7 B
.F8 + > - B 7 S+ A; 2!&
I B4 ; / > 9 ?=? ,#? # @7A
45o 1 ZB ] ; / > I 9:47 : /
>+ > & > > 7 > A >
. : / I
.
7 # N/ ^=? 1
Attitude derivation = 3.5
Introduction 1.3.5
/!N - 1 N -% S @ ; ! 9:4 I8 >;
@ ; ! -% S - ] ; ]
- M
N *+ , &
-!
#
.Z 8 ,#
- <RA - ^=? 1 > 9:47 -! I8 / 5
- N
Z + 9:4 ,(17.3) # @ ;
.2.4.3 5 ,^ ? #B
/!N / #/ 5? ,ψ ,( ) M
N 1 #= -% S
# 1 #=
/ / #/ 2 ,θ , /!N 1 #=
(non- G !% T & B! 5 >+ T
! M & .Φ
! ; B7 &
@7A #/ 5 ]!+ *
' + ,commutative)
. 7 T
1 E N > - # $ 7 > + > 4 2!&
! » 5H! 5 - ,@ % 4 .74 @ ;
@7A i
,(stable platform) «9
5/ 5? >
5 .N
> A
- i7 !
416
,O8B - M
@7A ! H/ ^ / #
K1 `
I8 4 N 5 .((4.5) # @ ; I
) 9:4 ! >A H!
. 1 9 9O 2 N
@7A *
0 1
(strap-down) «5Q/R ? » 5H! 5 !? 4
] ? 5 T + T7 4; @7A i
>
>Y .9:4 # & @ ; ,«5/Y e?R» *
' + ,9
.9:4 5
/ @ ; ! 9:47 1 g4 /
.5H! 4 5
A 7 > :!A 1 / 5
>H! & 5Q/R ? 5H! 9 ! 5H! >+ H/= T
5H! 4 ! N
B H B! 5 .F 8 >:
.N
7 -8 V ! @7A I - */ * 5Q/R ?
Stable platform systems 2.3.5
(25.5)
!" # !" $
% &'
.
& (
( ( $)' * +( & , -
«
(gimbal
456» ) 0
12 3
3
0 . /)
. ) 3 7
!8 9 )$ ) $" lock)
«
=» :
$6 4 4 ) ;( < #3
$
.(axis of freedom) ) ) > ? ( (topple)
:-& -
! #
7 / N/
/ G - /
±20o -7
/ /
/ G /!N /
/ G -
/ /
417
.'
#% $ )
:(25.5)
>!? >
+ , / > 9/
?=? 5
* > !? >
(25.5) # >0 .! N / > >
.2.3.2.5 5 - JK * F !
Q
#? ,> /
-@A )
!" (vertical gyro) « ( » = 0
) . ) ( 3 $ " 1 ;
) @
@ & ) B )
% C $ " >
$D
0E) (
F 2
@ & D 0F$ 5 . %
H % I$)D ) $
$
)$
&@G $)'
.J ' A $" ) ) 4 A !" K 4) @
B !A 1 `7 "4 ; @7A H/ M & #
1 `
.9:4 ! >A H! + ! #H ^ /
418
F ] 1$ / (azimuth gyro) «-
» T 5
4 .-% S - 9A & -+
#1$ / I
#/ 0 1 / ^ / - /7 F 1 #W */ /+
#W / I 45o 1
4 X #W / ,- /
1 ` 5D/7
>
R W 5 .-+
7
` ! #H ^ / ,B > T W @7A H/ * -
45o #W / >
R 9 W .-% S - ? M
-
] B7 $ 9A; #= > / & #/
n B 5R
& > p! 5 > .
> 51A 2/ @ ;
0 1 / gR
!A -+
45o /
! *
0 +
5
& ,-+
7 #; / # #/
.-+
- *A G
4 N > -
/ #
1 ` 2/ 5D/ 5
>A
/!N * -7
/ / @7A *
0 1 I8
/ 1 ` 9A # . /!N #
-7
/ #
>
/ O @7A H/ ^ / B !A M & 4 = 9 ; @7A HB/7 -7
#B » I! - ,
H I
/ /!N / I 9
' + , 9:4 ! ; «#
(26.5) # >0 . Q7/ 9! O!?+ *
. 9! O!?+ I #
#A 9
! KR ! 1 91
+ + ! 1 91
+ #? -% I8 4 N
1 #
/ I F / i (resolver synchros)
.9
# 1 N 9 ! - /= H!+
Q/R -Q7/ 1 7
H!" F *
]!+ N; ,5 N
.5Q/R ? H!+ @7A 5&N 1 5 . ?
419
7 ,2 I ,- /= 5H! 9 ! # $ q
#? ,- /=7 % P J 5 ,3
.5 #B - ,(Schuler tuning)
5 ? Q/R - /= H!+ >+ @ ; 9 W
?+ 4 - .9 ! - /= H!+ > E+
. 7 B7 ^ / > ?
.1
" :(26.5)
Strap-down systems ! 3.3.5
-
5H!7 5Q/R ? #A 9 (27.5) # C8
@7A # #7 X M & .- /= 5H! + I8 /M
=
420
, N
I 9 !7 - ! > n7
B7 ?? .x ,>R 1i 91
+ ,EN1!N Q7/ ,#
#/
- .>08B 5
/ >1 ,# + 9 2= , F ? !e/R 7
.5Q/R ? A; /! & T
!N >Y
4 5
> A > 1 E >
.! 1 5 5Q/R ?
. 2&3 * - 4 )
:(27.5)
421
Attitude algorithms
1.3.3.5
5 ,2.4.3 5 ,^ ? #B - ψ ,θ ,Φ 1 <RA
A r ,q ,p 5
7 0 1 A > 4 - N E
,(3.17) ,(3.16) N > > -& ( Φ , θ ,ψ ) 0 1
.(3.18)
, θ ,ψ #
+ > N E >
>A N > Φ
:- /! @7A @4 !
E 4
= p + q sin Φ tan θ + r cos Φ tan θ
Φ (5.20)
θ = q cos Φ − r sin Φ (5.21)
ψ = q sin Φ secθ + r cos Φ secθ (5.22)
B 9 - 4$8 # !A > N M &
:-
⎡Φ ⎤ ⎡1 sin Φ tan θ cos Φ tan θ ⎤ ⎡ p ⎤
⎢ ⎥ ⎢
⎢ θ ⎥ = ⎢0 cos Φ − sin Φ ⎥⎥ ⎢⎢ q ⎥⎥ (5.23)
⎢ψ ⎥ ⎢⎣0 sin Φ sec θ cos Φ sec θ ⎥⎦ ⎢⎣ r ⎥⎦
⎣ ⎦
%
&' .#
$
! "
') . /0 )1 secθ tanθ - θ = 90o () * + ( ,
" " .(« , 56» ) #! 34 '
; < ) ±30o )0 + 8) / 9:9 :
. ! (singularities) 5 =5 (8) % >
" 0
422
1 @7A 2!& > N ^ / # 9! 5H! T74
5 7A T7$ 5 ?=? = * 5H! . /!N
«
(Euler four symmetrical % ! =» 5
R
.Q I8
parameters)
T74 M
*
0 + @ ; / > / A
>+ C 8 >
& >+ bB! .T! # ]8 5 / #/ / > 4
/ I cos−1γ ,cos−1β ,cos−1α & 1 I! /
#/ ,μ , F/ Z! b .- @7A ,OZ0 ,OY0 ,OX0 -
OZ0 ,OY0 ,OX0 > / / A
#
/ &
. &
/ TG! - OZ ,OY ,OX / A
I E4
: = @4 % ! =
e0 = cos μ / 2 ⎤
e1 = α sin μ / 2 ⎥⎥
(5.24)
e2 = β sin μ / 2⎥
⎥
e3 = γ sin μ / 2 ⎦
@ ; ! Q I8 / e3 ,e2 ,e1 ,e0 5 :!A >
: 1 = E > .OZ0 ,OY0 ,OX0 /
sin θ = 2(e0e2 − e3e1 ) (5.25)
2(e0e3 + e1e2 )
tanψ = (5.26)
e02+ e12 − e22 − e32
2(e0e1 + e2e3 )
tan Φ = (5.27)
e02− e12 − e22 + e32
423
:>+ C 8 >
⎡e0 ⎤ ⎡ − e1 − e2 − e3 ⎤
⎢ e ⎥ ⎢e − e e ⎥ ⎡ p⎤
⎢ ⎥= 1 ⎢
1 0 3 2 ⎥ ⎢q ⎥ (5.28)
⎢e2 ⎥ 2 ⎢ e3 e0 − e1 ⎥ ⎢ ⎥
⎢ ⎥ ⎢ ⎥ ⎢r ⎥
⎣ e3 ⎦ ⎣− e2 e1 e0 ⎦ ⎣ ⎦
, 8 -& 4 ?=? ! ,M
N = + 5 ]!; ^ /
:9 @7A
]!Y
e02 + e12 + e22 + e32 = 1 (5.29)
: 1 N > #8+ 1 > >&
.8% I
@7A E4! -1
. N 9/ "4 N -2
,+1 −1 > S - F: I # # -3
./ q - # #< R
:9 @7A (5.28) T 9A; >
⎡e0 ⎤ ⎡ 0 − p − q − r ⎤ ⎡e0 ⎤
⎢ e ⎥ ⎢ r − q ⎥⎥ ⎢⎢ e1 ⎥⎥
⎢ 1⎥ = 1 ⎢p 0 (5.30)
⎢e2 ⎥ 2 ⎢q − r 0 p ⎥ ⎢e2 ⎥
⎢ ⎥ ⎢ ⎥⎢ ⎥
⎣ e3 ⎦ ⎣r q − p 0 ⎦ ⎣e3 ⎦
= AX /! @7A + # 4$8 > M &
.X
424
⎡0 − p − q − r⎤ ⎡e0 ⎤
⎢p 0 r − q⎥ ⎥ ⎢e ⎥
.A = 1 ⎢ ,X = ⎢ 1⎥ ^ /
2 ⎢q − r 0 p⎥ ⎢e2 ⎥
⎢ ⎥ ⎢ ⎥
⎣r q −p 0 ⎦ ⎣ e3 ⎦
.(B -& A X >+ @7A # $ 9
/ )
,p >+ b 7 E4 4 7/ > M &
.tn+1 >1 @ ; tn >1 > ∆t 9 !1 9 S @7A ? r ,q
:-& , X n +1 *+ ,tn+1 >1 !A X B7 i
Δt = X + AX Δt
X n +1 = X n + X n n n
:>+ *+
X n +1 = (1 + AΔt ) X n
.9/ B -& 1 ^ /
(transition #!N B T I - & (1 + AΔt )
.tn >1 !A tn+1 >1 !A / ]
> 4 - matrix)
, /!N ,
/ / #/ 9 1 0 1 !
Q
) - @7A ∆R ,∆Q ,∆P 1 ; R V !N
7
,-67/ 1 7
,-8! > 51A ! F !
:^ / ,( 7 A
#
-7 *
t n +1
ΔP =
∫ pdt = pΔt
tn
t n +1
ΔQ =
∫ qdt = qΔt
tn
t n +1
ΔR =
∫ rdt = rΔt
tn
425
:-& #!N B >Y
⎡1 0 0 0⎤ ⎡ 0 − ΔP − ΔQ − ΔR ⎤
⎢0 1 0 0⎥⎥ 1 ⎢⎢ ΔP 0 ΔR − ΔQ ⎥⎥
⎢ +
⎢0 0 1 0⎥ 2 ⎢ΔQ − ΔR 0 ΔP ⎥
⎢ ⎥ ⎢ ⎥
⎣0 0 0 1⎦ ⎣ ΔR ΔQ − ΔP 0 ⎦
:>Y -
⎡e0 ⎤ ⎡ 1 − ΔP / 2 − Δ Q / 2 − Δ R / 2 ⎤ ⎡e0 ⎤
⎢ e ⎥ ⎢ ΔP / 2 1 ΔR / 2 − ΔQ / 2⎥⎥ ⎢e ⎥
⎢ 1⎥ = ⎢ ⎢ 1 ⎥ (5.31)
⎢e2 ⎥ ⎢ Δ Q / 2 − ΔR / 2 1 ΔP / 2 ⎥ ⎢e2 ⎥
⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎣ e3 ⎦ t n+1 ⎣ ΔR / 2 ΔQ / 2 − ΔP / 2 1 ⎦ ⎣ e3 ⎦ t n
E 4 >A #8+ # * # 1 O + > / >
+ !?
> (Runge-Kutta) 6mp! 1 5
F8 + , F
A T74 ^ / ,
> 6mp! 1
. F
# 5 ,∆t ,# >1 1 bB E 4 >A
#!N B C / e02 + e12 + e22 + e32 = 1 5
/ @7A HB/7 # 7A - / O4%
./
(quaternions) A F8 + -& % ! =
]
I
#/ > > !+ C 8 > ^ / , 8
.9 gR
N > ψ ,θ ,Φ 1 5 T/ 2 >
,Φ -& 1 : N 5 > !A .(5.27) ,(5.26) ,(5.25)
: = @4 = 7 : N 5 >Y ,ψ ,θ
426
e0 = cosψ / 2 cos θ / 2 cos φ / 2 + sinψ / 2 sin θ / 2 sin φ / 2 ⎫
e1 = cosψ / 2 cos θ / 2 sin φ / 2 − sinψ / 2 sin θ / 2 cos φ / 2 ⎪⎪
⎬ (5.32)
e2 = cosψ / 2 sin θ / 2 cos φ / 2 + sinψ / 2 cos θ / 2 sin φ / 2⎪
e3 = sinψ / 2 cos θ / 2 cos φ / 2 − cosψ / 2 sin θ / 2 sin φ / 2 ⎪⎭
B C 8 #7/ #? & -7 :
7A O4AW % = #!N B > I8 E
# + 5& > O 2: % B T/ - !e8 8
.B FA=4
:-& % = 5 >Y tn >1 !A ]!+ b
⎡e0 ⎤ ⎡0.9⎤
⎢ e ⎥ ⎢ 0 .3 ⎥
⎢ 1⎥ = ⎢ ⎥
⎢e2 ⎥ ⎢ 0.1⎥
⎢ ⎥ ⎢ ⎥
⎣ e3 ⎦ ⎣0.3⎦
.( e02 + e12 + e22 + e32 = 0.81 + 0.09 + 0.01 + 0.09 = 1 :E/7 )
:-& 5
7 0 1 A 5 >+
(57.3o/s) p = 1 rad/s
(F 2.3o/s) q = 0.04 rad/s
(F 2.9o/s) r = 0.05 rad/s
∆t = 0.01 s 9
∆P = 0.01 rad >; ^ /
∆Q = 0.0004 rad
∆R = 0.0005 rad
427
,(5.25) N > tn >1 !A 1 T/ >
! * ,e3 ,e2 ,e1 ,e0 =7 ! 5 b (5.27) ,(5.26)
:@7A #/!
ψ = 36.869898
θ = 0
Φ = 36.869898
:-& #!N B
⎡ 1 − ΔP / 2 − ΔQ / 2 − ΔR / 2 ⎤ ⎡ 1 − 0.005 − 0.0002 − 0.00025⎤
⎢ ΔP / 2 1 ΔR / 2 − ΔQ / 2 ⎥ ⎢ 0.005 1 0.00025 − 0.0002 ⎥
⎢ ⎥=⎢ ⎥
⎢ΔQ / 2 − ΔR / 2 1 ΔP / 2 ⎥ ⎢ 0.0002 − 0.00025 1 0.005 ⎥
⎢⎣ ΔR / 2 ΔQ / 2 − ΔP / 2 1 ⎥⎦ ⎢⎣0.00025 0.0002 − 0.005 1 ⎥⎦
:>Y tn+1 >1 !A ,-
e0 = 1 (0.9) − 0.005(0.3) − 0.0002(0.1) − 0.00025(0.3)
. e0 = 0.898405 >+ *+
:! 4 B7 ?e/ T/
⎡e0 ⎤ ⎡0.898405 ⎤
⎢e ⎥ ⎢0.304465 ⎥
⎢ 1⎥ =⎢ ⎥
⎢e2 ⎥ ⎢0.101605 ⎥
⎢ ⎥ ⎢ ⎥
⎣ e3 ⎦ t n+1 ⎣0.299785 ⎦
. e02 + e12 + e22 + e32 = 1.000025 :E/7
> - #/ 5
! & - $ "4
.@ %
:-& tn+1 >1 !A 1
428
ψ = 36.918525
θ = 0.000963
Φ = 37.442838
. 7 9 # !A 7 M & 5
«
» 2.3.3.5
Generation of strap-down “equivalent stable platform”
!» - !e8 / 7 (28.5) # C8
.5Q/R ? 5H! >8 «: 9
T/ , = @7A #/7 = A #
«
(direction cosine matrix M
N 5 T
B» / C ,JK
7B , , 7/ / # / 9:4 / (DCM))
. ,(local North, East, Down (NED) axes)
. «
» :(28.5)
429
az ay ax
!"
#
!$%
.aD aE aN &$' &( &( &$
!$%
&)* !$% &+ & , -/ 0 &
1*
.&$' &( &( &$
4 &' ) 23-"
, 7/ / # / M
N 5 T
B
:-& 9:4 5
/ > 7B ,
⎡ ⎤ ⎡e02 + e12 − e22 − e32 2(e1e2 − e0 e3 ) 2(e0 e2 + e1e3 ) ⎤
⎢DCM ⎥ = ⎢ 2(e e + e e ) e02− e12 + e22 − e32
⎥
2(e2 e3 − e0e1 ) ⎥ (5.33)
⎢ ⎥ ⎢ 0 3 1 2
⎢ e02 − e12 − e22 + e32 ⎥⎦
⎣⎢ ⎦⎥ la ⎣ 2(e1e3 − e0e2 ) 2(e0e1 + e2e3 )
, 7/ / @ ; ! 9:4 gR >Y ,
: = @4 7B ,
⎡aN ⎤ ⎡ ⎤ ⎡ax ⎤
⎢ a ⎥ = ⎢DCM ⎥ ⎢a ⎥ (5.34)
⎢ E⎥ ⎢ ⎥ ⎢ y⎥
⎢⎣ aD ⎥⎦ ⎢⎣ ⎥⎦ la ⎢⎣ a z ⎥⎦
) " !" &* &5 / & #
0;# < = - 97 = >*?, 2 .67' 0, " 89: 0
&( &$ 4 A' ) 1 B &* % # = @(
9 @, & & CD = - E &$' &(
.& &% )
GH;I 3D ) J .CF
.5.3.5
0, 2 K
& &% CD &% )
&`
; 5 / / M & >Y 9 ! / -
.Z JK ,! A +
430
b% A / / # / 5 ,5Q/R ? 5H! / -
4W A @ ; M
N 5 T
! B 4 Q A
-? /W 4W A I
2 5 .9:4 / @ ; ! -? /W
*` E/= # >; ^ / ,r ,q ,p ,9:4 5
A I M &
, , 7/ / @ ; ! 9:4 I8 @7A #/ @ ;
.( : N 4 ) 7B
-? /W 4W A # / M
N 5 T
B
7B , , 7/ / > Q A b% A
: = @4 9:4 5
/ @ ;
⎡ ⎤ ⎡e02 + e12 − e22 − e32 2(e0e3 + e1e2 ) 2(e1e3 − e0e2 ) ⎤
⎢DCM ⎥ = ⎢ 2(e e − e e ) e02− e12 + e22 − e32
⎥
2(e0e1 + e2e3 ) ⎥ (5.35)
⎢ ⎥ ⎢ 1 2 0 3
⎢⎣ ⎥⎦ al ⎢ 2(e0e2 + e1e3 ) 2(e2e3 − e0e1 ) e02 − e12 − e22 + e32 ⎥⎦
⎣
/ #/ b% A / / >+ - 5 - C8!
Ω ^ / ,- @7A Ωsinλ ,0 ,Ωcosλ -& 7B , ,
.b 4 λ b% > A -&
–VE/R.tanλ ,−VN/R ,VE/R -& Q A / /
A g VN VE ^ / , 7B , , / #/
.b% 4 ! R - - > / #4 @7A 9:4
/ #/ b% A Q A / / >Y ,
: = @4 Z ,Y ,X 9:4
⎡ ⎤ ⎡ (VE / R + Ω cos λ ) ⎤
⎢DCM ⎥ = ⎢ − V / R ⎥
⎢ ⎥ ⎢ N ⎥
⎢⎣ ⎥⎦ al ⎢⎣(VE / R ⋅ tan λ + Ω sin λ ) ⎥⎦
431
/ 9:4 / > M
N 5 T
B : N
: = @4 7B , , 7/
⎡ ⎤ ⎡cθ ⋅ cψ sφ ⋅ sθ ⋅ cψ − cφ ⋅ sψ cφ ⋅ sθ ⋅ cψ + sφ ⋅ sψ ⎤
⎢DCM ⎥ = ⎢cθ ⋅ sψ sφ ⋅ sθ ⋅ sψ + cφ ⋅ cψ cφ ⋅ sθ ⋅ sψ − sφ ⋅ cψ ⎥⎥ (5.36)
⎢ ⎥ ⎢
⎢⎣ ⎥⎦ la ⎢⎣ − sθ sφ ⋅ cθ cφ ⋅ cθ ⎥⎦
.c = cosine s = sine ^ /
, 7/ / > M
N 5 T
B : N
: = @4 9:4 / 7B ,
⎡ ⎤ ⎡ cθ ⋅ cψ cθ ⋅ sψ − sθ ⎤
⎢DCM ⎥ = ⎢ sφ ⋅ sθ ⋅ cψ − cφ ⋅ sψ sφ ⋅ sθ ⋅ sψ + cφ ⋅ cψ sφ ⋅ cθ ⎥⎥ (5.37)
⎢ ⎥ ⎢
⎢⎣ ⎥⎦ al ⎢⎣cφ ⋅ sθ ⋅ cψ + sφ ⋅ sψ cφ ⋅ sθ ⋅ sψ − sφ ⋅ cψ cφ ⋅ cθ ⎥⎦
3.3.3.5
Digital processing of attitude algorithms
0, &*L7 & &#; &- !$% M -;
1* &-
0, M M- 4 0, = 6 -: .47 / 3 9--;
.&% &; &- #; 21 !
&1*: '*
8W
- : O4% J & -7
.O4% M & > /7 E4 @ ;
T
- O4% " ! :(commutation) -1
77 K
U+ ;
7 I8 1 /; 5 . 7 G 0 1 /
O4+ H .
7 T - 5
/ #/ ! >
>Y #!N B #/ ^ / # ]!% ,
- #
432
.? T 7R *
0 1 > 1 @7A F # pt
5 ] * -7B >17 T I I E N &
I8 E " ! >+ > - # O4+ .Q - 1
+ ! 4+ =QR I8 !A n ]
@7A ,Q
5
! @ ; *` >+ > - , 4 / #?
bB E 4 >A M & #!N O4+ > # 7 > .#!N B
/ 8 4$ 5 ./ # - !e8 1 1 5
/
.- 5 - 1
Y 4
#7/ 5 T # - O4% " ! :(integration)
-2
.-7 7/ #/ - N 7 77 #B! T
@7A) 94 # 1 5 O4% M & > # 7 5
E 4 >A (
> 6mp! 1 #? #
.^ / # 9 1
! 7 / # 7/
! -& O4% M & :(round-off) -3
(*)
"4 #
& . &+ # % (bit)
v K @ ; /
4 5 .9 / - 1 >" -: -
v K 32 (double-precision) $ BA8
/ 77
.O4% M & > # 77
#H3 &$% = N(* 6 3D J :(quantisation) -4
7* = &$$ 23-" = &$)'* -/ !" ;($ &$
=N !" O 3- ;# J
& .0 0,
N 3 :)
$ & & .;( #H3 =% M - G+$3
- 'I R $; J .
& / G)* 0 (;( =/3
(*)
.( )
binary digit
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434
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5.3.5
Attitude with respect to local North, East, Down axes
Introduction 1.5.3.5
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Vehicle rate corrections #$ 3.5.3.5
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Introduction to complementary filtering
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@ %
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1
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446
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447
Further reading
AGARD Lecture Series No. 95, Strap-Down Inertial Systems.
Bergh, R. A. “Dual-ramp Closed-loop Fiber-optic Gyroscope.”
Proceedings of SPIE: vol. 1169 (1989), pp. 429–439.
Ebberg, A. and G. Schiffner, “Closed-Loop Fiber-Optic
Gyroscope with a Sawtooth Phase Modulated Feedback.”
Optics Letters: vol. 10, no. 6, June 1985, pp. 300–302.
Lefèvre, Hervé. The Fiber Optic Gyroscope. Boston, MA:
Artech House, 1993. (Artech House Optoelectronics Library)
Lefèvre, Hervé [et al.]. “High Dynamic Range Fiber Gyro with
all-digital Processing.” Proceedings of SPIE: vol. 1367, nos.
70–80, 1990.
Matthews, A. “Fiber Optic Based Inertial Measuring Unit: Fiber
Optic Systems for Mobile Platforms III.” Proceedings of
SPIE: vol. 1173,1989.
Page, J. L. Multiplexed Approach to the Fiber Optic Gyro
Inertial Measuring Unit: OE/FIBERS 1990 SPIE Conference,
San Jose, California, September 1990.
Ribes, M., G. Spahlinger and M. W. Kemmler. “0.1◦/hr DSP-
Controlled Fiber Optic Gyroscope.” Proceedings of SPIE:
vol. 2837, 1996, pp. 199–207.
Sanders, G.A. [et al.]. Progress in High Performance Fiber
Optic Gyroscopes. 116/OWB1-1: Selected topics in
advanced solid state a fiber optic sensors, 2000.
Siouris, George M. Aerospace Avionics Systems: A Modern
Synthesis. San Diego: Academic Press, 1993.
Wrigley, Walter, Walter M. Hollister, and William G. Denhard.
Gyroscopic Theory, Design, and Instrumentation.
Cambridge, MA: M.I.T. Press, [1969].
448
ا
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5
Navigation Systems
? 1.6
Introduction and basic principles
Introduction 1.1.6
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⎢⎣ Δθ ⎥⎦
⎡ ΔP 2 ΔP ⋅ ΔV ΔP ⋅ Δθ ⎤
⎢ ⎥
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4.6
Attitude heading reference systems
Introduction 1.4.6
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H12 + H 22 H12 + H 22
'- $!"T ;'2 -8 Q" (27.6) %* X
c3 Q" Q % ) .!$- K- "? ') $$ c3 Q"
:E (27.6) %* 6 ^'- .( h% X* ),$- A) ?%
F-? %
L ;'2 7 ' Q" '- P* ;'2 = ΨG
∫
. Ψ + Wdt =
.
;'2 3 = Ψ
.' '" $ = W
.'- $!"T ;'2 = ΨG/M
. ( ΨM − ΨG / M ) 0T c3 I$% = K1
524
∫
. ( ΨM − ΨG / M ) dt 0T
c3 I$% = K2
: Q
" (27.6) %*
!!, $
∫
ΨG / M = ΨG + K1 ( ΨM − ΨG / M ) dt + K 2
∫∫ (ΨM − ΨG / M ) dt dt (6.51)
+ W (6.51)
Ψ
ΨG
:
(D 2
)
+ K1 D + K 2 ΨG / M = (K 2 + K1 D ) ΨM + D 2 Ψ + DW (6.52)
))- "? ') !$- Q" N ! % ") -'$2
. ζ = K1 / 2 K 2 e -$" ω 0 = K 2 C ` -!
C ` -! )) - K2 % # , 0T I$%
K2 K1 .e - K1 % # , 0T I$%
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6 '
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:(6.52) )
⎛ 2ζ ⎞
D⎟
ω 20 ⎜1 +
⎜ ω0 ⎟ D2
ΨG / M = 2 ⎝ ⎠ ΨM + 2 Ψ
(
D + 2ζω 0 D + ω 20 ) (
D + 2ζω 0 D + ω 20 ) (6.53)
D
+
(D 2
+ 2ζω 0 D + ω 20 )W
)
\#O 9$ & ($ W ' 3
" ) )
E-
: )'" -? W F"% 0 ΨG/M
ΨG / M = F1 ( D )ΨM + F2 ( D )Ψ (6.54)
525
:4
⎛ 2ζ ⎞
D⎟
ω 20 ⎜1 +
D2 ⎜ ω0 ⎟
F2 ( D ) = F1 ( D) = 2 ⎝ ⎠
(D 2
+ 2ζω 0 D + ω 20 ) (
D + 2ζω 0 D + ω 20 )
X* , ΨG/M -_%L
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GPS – global positioning system
Introduction 1.5.6
Q" A$$ (GPS) T' 78 ))
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527
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2.5.6
GPS system description
^!8 C# ^!8 F!8 ? ? %*- GPS Q" %
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3.5.6
Basic principles of GPS
5) 8 GPS Q" ),$- 7 $$ )-
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∆T " 3 3
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J$ F*w ∆t4 ∆t3 ∆t2
.+ , -* ( ) :(31.6)
R4p R3p R2p R1p 5) -0% 7- %
: % S4 S3 S2 S1 - "O 8t
R1 p = cΔt1
R2 p = cΔt 2
(6.55)
R3 p = cΔt3
R4 p = cΔt 4
534
T = 9 T ),$ $
3+ 5) r% >#"
%* Q") $$ )- ? ? F?)
+ $)" 0(- .c∆T
:") ((31.6)
[ ] =R
R1 = ( X − X 1 ) 2 + (Y − Y1 ) 2 + ( Z − Z1 ) 2
1
2
1p −T (6.56)
R = [( X − X ) + (Y − Y ) + ( Z − Z ) ] = R
1
2 2
2
2
2
2
2 2
2p −T (6.57)
R = [( X − X ) + (Y − Y ) + ( Z − Z ) ] = R
1
3 3
2
3
2
3
2 2
3p −T (6.58)
R = [( X − X ) + (Y − Y ) + ( Z − Z ) ] = R
1
4 4
2
4
2
4
2 2
4p −T (6.59)
R4 R3 R2 R1
#$ !"
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(X4,Y4,Z4) (X3,Y3,Z3) (X2,Y2,Z2) (X1,Y1,Z1)
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535
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t = t s / c − Δt s / c (6.60)
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3 "O 3 - " 3
3+ ∆ts/c *+ $
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: 8 ∆ts/c " 3
3+ -$
Δt s/c = a0 + a1 (t − t o/c ) + a 2 (t − t o/c ) 2 + Δt r (6.61)
3+ !
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R1 9% 5) 8 E - .τ4 τ3 τ2 τ1 3 - ( *L
: F8 - 6! R4 R3 R2
R1 = c (Δt1 + ΔT − τ 1 )
R2 = c (Δt 2 + ΔT − τ 2 )
(6.62)
R3 = c (Δt3 + ΔT − τ 3 )
R4 = c (Δt 4 + ΔT − τ 4 )
$ 3 6 A (" 3 "O F$ 7 '
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4
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Solution of navigation equations
4.5.6
( K ) ) $2 6 ) Zu Yu Xu >
.T $
3+ 5) r% Z Y X ),$ F?)
+
T-" F
O 6
) δT ∆Z ∆Y ∆X >
: 9 $2 ;0( %
T = Tu + δT q Z = Z u + ΔZ q Y = Yu + ΔY q X = X u + ΔX
6! (i = 1, 2, 3, … 4
) i 8 "O
5)
: 8 -
[
Ri = ( X − X i ) 2 + (Y − Yi ) 2 + ( Z − Z i ) 2 ]
1
2
(6.63)
539
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7 F?)
Zi Yi Xi 4
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[
Ri = ( X − X i ) 2 + (Y − Yi ) 2 + ( Z − Z i ) 2 ]
1
2
+ hiX ΔX + hiY ΔY + hiZ ΔZ
(6.64)
∂Ri ∂R ∂R
X = X u )" -$
hiZ = hiY = i hiX = i 4
∂Z ∂Y ∂X
. Z = Z u Y = Yu
:6
O
" (6.63) )
X 6 -$"- 3' #-
∂Ri 1
[
= ( X − X i ) 2 + (Y − Yi ) 2 + ( Z − Z i ) 2
∂X 2
]
− 12
⋅ 2( X − X i ) (6.65)
: )'" ("
hiX = ( X u − X i ) / Riu
hiY = (Yu − Yi ) / Riu (6.66)
hiZ = ( Z u − Z i ) / Riu
:4
[
Riu = ( X u − X i ) 2 + (Yu − Yi ) 2 + ( Z u − Z i ) 2 ]1
2
(6.67)
: )'" ("
Ri = Riu + hiX ΔX + hiY ΔY + hiZ ΔZ (6.68)
: 8 - 6! ∆Ri 5) H!, E i 8 "O
ΔRi = Rip − T − Ri (6.69)
:6
O
" T = Tu + δT >-
Rip − Tu − Riu = ΔRi = hiX ΔX + hiY ΔY + hiZ ΔZ + δT (6.70)
540
: )'" ("
⎡ ΔR1 ⎤ ⎡ h1 X h1Y h1Z 1⎤ ⎡ ΔX ⎤
⎢ ΔR ⎥ ⎢ h h2Y h2 Z 1⎥⎥ ⎢ ΔY ⎥
⎢ 2 ⎥ = ⎢ 2X ⎢ ⎥ (6.71)
⎢ ΔR3 ⎥ ⎢ h3 X h3Y h3Z 1⎥ ⎢ ΔZ ⎥
⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎣ΔR4 ⎦ ⎣h4 X h4Y h4 Z 1⎦ ⎣ δT ⎦
∆Z ∆Y ∆X 6 O
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5.5.6
Integration of GPS and INS
% %- 0 O-
Q" GPS Q"
:? -$ 6
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GPS Q" X – 0 O-
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6.5.6
Differential GPS
Introduction 1.6.5.6
),$ 7 '
7 8) P-$ $ DY*
S %
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«
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J Tf )" 2000 6
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546
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:(3.6)
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0 1.5
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Future augmented satellite navigation systems
8- F2O2 !- "O -
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.(37.6)
549
1 # ) :(90
@0 , 8 A 1 (R "% H % 1:S%T 0
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8"
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! " Airways)
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550
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)
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-8 %-* GPS Q" "O 8 6
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"
< C #( 5 6.6
Terrain reference navigation
Introduction 1.6.6
" 9
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!$- $ X 8 Q" 0 :(TCN))
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Terrain contour navigation
2.6.6
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( - & # ". 4.6.6
Civil exploitation of TRN
6
)
Q" `- &" Q
I'
% X (" 2 %$ F-! "?$ %*- F 1),S$ )8
556
6
(0- 8 A)' 8) "1L
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Further reading & A+ %1
AGARD Lecture Series No. 95, Strap-Down Inertial Systems.
Bergh, R. A. “Dual-Ramp Closed-Loop Fiber-Optic Gyroscope.”
Proceedings of SPIE: vol. 1169, 1989, pp. 429–439.
Andreas, R. D., L. D. Hostetler and C. Beckmann. Continuous
Kalman Upating of an Inertial Navigation System Using Terrain
Measurements. NAECON 1978, pp 1263–1270.
Britting, Kenneth R. Inertial Navigation System Analysis. New York:
Wiley-Interscience, 1971.
Chen, G. and C. K. Chui, “Kalman Filtering with Real-Time
Applications.” Springer Series in Information Sciences: vol.17,
1991.
Daly, P. “Navstar GPS and GLONASS: Global Satellite Navigation
Systems.” Electronics and Communications Engineering Journal:
December 1993, pp 349–357.
Farrell, James L. Integrated Aircraft Navigation. New York:
Academic Press, 1976.
Forssell, B. Radio Navigation Systems. New York: Prentice Hall 1991.
Gelling, L.A. “The Global Positioning System.” IEEE Spectrum
December 1993, pp 36–47.
Hofmann-Wellenhof, B., H. Lichtenegger, and J. Collins. Global
Positioning System: Theory and Practice. Wien; New York:
Springer-Verlag, 1992.
557
Hostetler, L. D. “Optimal Terrain-Aided Navigation Systems.” Paper
presented at: AIAA Guidance and Control Conference August
1978.
Kalman, R. E. “A New Approach to Linear Filtering and Prediction
Problems.” Journal of Basic Engineering Transactions of the
American Society of Mechanical Engineers: March 1960.
Kalman, R. E. and R. S. Bucy. “New Results in Linear Filtering and
Prediction Theory.” Journal of Basic Engineering Transactions of
the American Society of Mechanical Engineers: March 1961.
Leondes, C. T. (ed.). “Theory and Applications of Kalman Filtering.”
AGARDograph: no. 139, NATO Advisory Group for Aerospace
Research and Development, London, Februrary 1970.
Morgan Owen, G. J. and G. T. Johnston. “Differential GPS
Positioning.” Electronics and Communications Engineering
Journal: February 1995, pp 11–21.
O’Donnell, C. F. Inertial Navigation Analysis and Design. New York:
McGraw Hill, 1964.
Siouris, George M. Aerospace Avionics Systems: A Modern Synthesis.
San Diego: Academic Press, 1993.
Schlee, F. H. [et al.]. “Use of an External Cascaded Kalman Filter to
improve the Performance of a Global Positioning System (GPS)
Inertial Navigator.” Paper presented at: Proceedings of the
NAECON ’88 Conference, Dayton, Ohio 23–27 May 1988, pp
142–147.
Skarman, E. “Kalman Filter for Terrain Aided Navigation.” Paper
presented at: Conference on Remotely Piloted Vehicles, Bristol,
UK 1979.
558
ا
ا
Air Data and Air Data Systems
Introduction 1.7
! "#
$% & '&! & '(Pressure Altitude)
$( ') '( & '(Calibrated Airspeed)
(Air *+ ,
& '(Static Air Temperature) & *+
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4 : 5&&! 51 5*6 ;3 +0 - +
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.
559
( 2.7
Air data information and its use
Air data measurement
1.2.7
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560
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2.2.7
The air data quantities and their importance
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1.2.2.7
Air data information for the pilot
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8% ∆H < +/!/
M*
& .*
&6 (
.EN 34,000 &
!
A +/!/
M*
&G &!
+ M*
K 9
!N + $26 J?6
. (34,000 + ΔH ) & "! A
B (33,000 + ΔH ) & "! A
9F 9* .%! B* E EN 1,000 4* !
6
+ 1! E!
EN 45,000 29,000 &! X 3* 9
9 H ! " N EN 1,000 4* 9!
&6 3.7 E
/
.&"
K 9 0
I 4 N
567
M*
K L!
!
9 –
•
9F! $
&!" - 6 &
8< . EV"
EB
!
(!
H EV"
EB S
"
9 !a
C .
E"
! + H
!K
& M*
9!
S
" » E
A4 !
8< .&
!
2
+ -!4* T 0 E N .(air data gain scheduling) «!
& EB
+ F
E!/ S ! .H
@3
&!4*
.:F
=
&
!
EV"
EB + -0*
& $/
.!
9! /
B6 & 3"6 6 3F3 &! N
8<
M 4 _( 9 f "^( ! – & ' (% •
/6(4» '« /6(4» '@
N
'
.(9 f > R "< " ) « & /6(4» '«)
]W & 5 ! H H&
.
< 9, 9 f ! =3 "& .9 f "^(
& ( &
– !) ' (% •
.9&! ]& 9, (@ H
.(@ "
" 50 5< 3 Q (K6 !) K
9 & & " 90 < (@
"& + 4 3W /01) .$%(
G M < L
g : &-
.(B& < 9, (XY3 «90 L< /L _6 »
&! & 9+ $- & K >3 "
& K !) ,: & %RW 0 < /
& K "%R&Y .90 < (@ " ( :
" '( K# " 'Q B! 33 @
N '"^( 3\
.A '(&: H<
568
M (@ " 5 !
8@ >3 8 0+ '$- &! ( B K : B
M $ (@ ! . B $6+! :
8@ L B & > B
9 ' ( R $ :
Q " & F Q 8(< $- Q B&I
6d 9,: L ?( ! (@ "1@
) .5 &(
,& ] M (
L& < L0 R ) (isobar)
.(( " 1 ( 8 & ]& >, ( 9(@
E! @! I!
HN
!/ F !/!/
!
!/!/
!
& I!
HN
!/ EB 5/
HN
!/!/
!
9 .5/
/ N
X!
;
& !=
9 E
2
X!
T
I!6 EL2
_
EB
-3 ! F
9 C2=
4
.+
8
4/ F
EB
%
2
I!6 &"!
(GPS) +
K
HN
! +
& 9
.!/!/
!
9 & X!
./0
9 .#/ T 0 E!
"
EB
X!
.!"
9
+
=
S! 4 I!6 X!
M 4 _( ( $4 " – ! * ' (% •
') '&! & '
:
.$% & '( & ' & $(
M ( ( $4 "
: ( $4 >( 5 , R M $-
. < 9, K(3 "& ( $4 " .(6 : 9 @ Q )
569
$% & – + ! ,- (% •
.( ! &
&( " >, (2.7) 3 #
- ! "GR& .+
4 ! M 4
M MIL-STD-1553B
'6 9 "
(
- ( 9, ARINC 629 ! '& -
& M :8 $, *
4 " . : 9
. @& &( : M + - '
)
:(2.7)
.( ! "
:" : ! 3.7
Derivation of air data laws and relationships
+ !! &! / ./0 !*!" 1! < E
/ 8< & (K
!/!/ !
$ % 3" M* &!
!
= ! 9! 9
!N & !/!/ !
+ % .
570
9
.(5!
6) !"
+"
K
&"
K
.b/
3.1 E
/
- =
-4*
+ 0 !
9!
9!" 2
L
1 «L L
» ! (@ H
(15 oC) 288.15 oK $( ? ( ( 8 & ]&
L&) (mb) 9 1013.25 ! 101.325 kN/m2 (kPa) L&
.(> -6 < 29.9213 5 !
1.3.7
Altitude–static pressure relationship
«L » L ?@
b<R F , *7
L ?@
9, L
e ! ( 8 & ]& >,
"+ /01 . J L
$( 0 Sd
]& - ,@
? 'L ?@
9-
.L ?@
@R $( Q6 ( 8 &
B&I 8 '5 + , e ? /01
B K 4 P( '
&
L0 9
.(L
!)
>3 ( 9-+ >,
'-<(4 M 4 & L L
/01
9( ?R ! K3 " L0
B 3 'N & =XY3 'J 0 Q ." ?2 $ ( 8 & ]&
9 - Q 7, '$
< &( * R: ! &
! ( B ?& F
( K "+ 9( Q >,
> h- ' R 5 ! L
8 .
.J3 Q *: @ '$- " "< '=
571
:+
&"
K
M*
K &! NF
./0
&"!
'ρ '*+ , 'dp '
9, i
'(3.7) 3 M 4
9, $ V ] $& K3 " 'dH ' 9,
< i
j3
:! L! '*+
< 9 ! "( M 9&! ]&
− dp = ρgdH (7.1)
. : 0 g P(
: 6
p = ρRaT (7.2)
*+ $( 6
Ra ((oK) ) $( T P(
.?
.# $% & ! '*+ :(3.7)
572
:M <( (7.2) (7.1) (
dp g
− = dH (7.3)
P RaT
9 ' *7 , H 9, T
.-<(4 M 4 &
8 & ]&
'T0 '( 8 & ]& $( -1
.
+ I + , " 'P0 '(
M 4 < M( $6 Q 5
; R $( SR -2
/ L0 (9 ?@
) (tropopause) 6 "& ?%W
6 & M 4 < M(
$( M
&! $ .(9 ?@
) (stratopause)
L ?@
) (troposphere) & "& ?%Y 6
.(9
M( 'H ' 'T '$( 9 @
:91 6
T = T0 − LH
.$( 1 L P(
M( TT*
M 6 $( -3
* "%R&Y) 6 & "& ? M 4 <
.(TT $( TT* 6 $( 6
"& ?Y 6 & 6 <
.(9 L ?@
) (stratosphere) &&
$( ! 6 & M: -4
& "& ?%Y /01 ' Q 5
; R $6
.(9- L ?@
) (chemosphere)
573
:@ M & 9, $(
T = TT* + L ( H − H S )
.6 & HS $( L P(
*6! @ 9
L0
.9 M & '&& '& >
M + ?R H 'g ' : 0 &
:! L! .N & =XY3 '9& Q Q R 'g0 'S: 8 &
R02
g= g0 (7.4)
(R0 + H )2
.S: ?< R0 P(
] M 5
<
>3 9,
01 I
( 8 & ]& g ! S, H& '
3
+3 " 9 .(7.4) & M 4 LV 'g0
?@R 01 .(geopotential altitude) «9 : + » "& ?Y
0 1 L0
? + "+ &
.&
$(
T = T0 − LH
(7.3) 9, g0 L&
g ! S, T S
:M <( 9
k
PS H
1 g 1
−
∫
PS 0
p
dp = 0
Ra ∫
0
(T0 − LH )
dH
p PS 'H = 0 '( 8 & ]& p PS0 P(
:M <( /01 .H
574
PS g (T − LH )
log e = 0 log e 0
PS 0 LRa T0
:7, 0+
g0
⎛ L ⎞ LRa
PS = PS 0 ⎜⎜1 − H ⎟⎟ (7.5)
⎝ T0 ⎠
:
⎡ LR a ⎤
T ⎢ ⎛ P ⎞ g0 ⎥
H = 0 ⎢1 − ⎜⎜ S ⎟⎟ ⎥ (7.6)
L P
⎢⎣ ⎝ S 0 ⎠ ⎥⎦
T = TT*
@
l (7.3) 9, g g0 T TT* S
:M <( 9
PS H
1 g
−
∫
PST
p
dp = 0 *
RaTT ∫ dH
HT
:! K .HT 6
PST P(
⎛ g ⎞
−⎜ 0 ⎟ (H − H T )
⎜ R T* ⎟
PS = PST e ⎝ aT ⎠ (7.7)
:
RaTT* P
H = HT + log e ST (7.8)
g0 PS
B +3 &
@
l (7.3) 9, g = g 0 T = TT* + L ( H − H S ) S
@
:M <( & ( 9
575
g0
−
⎡ L ⎤ LR a
PS = PSS ⎢1 + * ( H − H S ) ⎥ (7.9)
⎣ TT ⎦
:
⎡ g0 ⎤
⎢⎛⎜ PST
TT* ⎞ aL
R
⎟⎟ ⎥
H = HS + − 1⎥ (7.10)
L ⎢⎜⎝ PS ⎠
⎢⎣ ⎥⎦
(1.7) 9, F m
9, %R& "
.& F ( SI ( 9 " (
.
M 5<, f HP 6 "%R&W ?&
:(1.7)
( 1013.25)
101.325 PS0
288.15 oK T0
6.5×10−3 oC/m L
(#$ 36,089.24) 11,000 HT ! "
*
(−65.5 oC) 216.65 oK TT !
(#$ 65,617) 20,000 HS !
% "
1.0×10−3 oC/m L
"
(#$ 105,000) 32,004
"
&/ 9.80665
2
g0
o
287.0529 Joules/ K/kg Ra
5.255879 (
) g0/LRa
−4 −1
1.576885×10 m g0/RaT
34.163215 (
) g0/LRa
576
" S +3 " / ! F H PS 9 @
HP '9 M (7.9) '(7.7) '(7.5) 9, &
.H
36,089 M 4 −3,000) 11,000 M 4 −914.4 :
("
(
PS = 1,013.25 1 − 2.25577 × 10 − 5 H P ) 5.255879
mb (7.11)
(
65,617 36,089) 20,000 11,000 :
−4
PS = 226.32 e −1.576885×10 ( H P −11, 000 )
mb (7.12)
105,000 M 4 65,617) 32,004 M 4 20,000 :
("
[
PS = 54 .7482 1 + 4.61574 × 10 − 6 ( H P − 20,000 ) ] − 34 .163215
mb (7.13)
M 4 " ( ( ) .: HP "
S
& ZG 1n! ) .( 0.3048 L& " 1 1
.(N & 3! 6\
F & @ &( &
@
+ ! '
> ! 8 .(4.7) 3 9,
' g = g 0 ! S 9 ' & @ >3 'HP '9 :
H! M 4 M ' Q g i
K <( " L0 'HG '9& +
H G2
S: ?< R P() @ ] M H
R
> 01 'N & 3! .(45o S R 6,356.8 L&
577
Q Q K ! "a M ' ] M
<
11,000 (" 62) 19 1 > '
& M .9&
.(" 36,089)
.
:(4.7)
Variation of ground pressure
2.3.7
:
9,
* R: $* "
01 .F
B 7 J 0 ' B o %
/ M B $* #
9 '< 9, V *\
& / " H&(
Q >, @
N
.
m
!"
+(
(( 1013.25) " '% !" . #$%&%
1$&% .(
0)
!" ,
- / 0 / %
578
!" 4( 5 % +(ground pressure) (QFE) «3 " !"» 2
- / / % (
7!% '% 8 0 9 "
- ) 6 '%
!" 6: &; 3!/ < 6 '% =;
9> /
0 / % + ! 3 " !" 4( 5 + @
. < ?
.(= D 2 $% 6 ;
) 6 3%C B A
- /
(mean (QNH) «( 8 & ]&
&» " "GRY& 04
8 & ]& &
M \ "& 'sea level pressure)
$* B "& '"1 0 (5 a K &( ") (
. 1 L
SXY, 04 '( 8 & ]& >,
. R : (5.7) 3 8
.
:(5.7)
579
3.3.7
Air density vs altitude relationship
9 @ 'H ' 'ρ '*+ ,
@ >3 "
:6
"R& H PS
PS = ρRaT
.PS bR
:& 9, ' & M
g0
⎛ L ⎞ LRa
PS = PS 0 ⎜⎜1 − H ⎟⎟
⎝ T0 ⎠
:7, 9 ' T = T0 − LH
⎛ g0 ⎞
⎜ ⎟ −1
ρ ⎛ L ⎞⎜⎝ LRa ⎟⎠
= ⎜1 − H ⎟ (7.14)
ρ 0 ⎜⎝ T0 ⎟⎠
PS 0
.( 8 & ]& ? , 91 ρ 0 = P(
RaT0
«
(density reduction , SR » "& ρ/ρ0 & M 4 3W
.factor)
ρ0 I 5 '(" 30,480) 10,000 *+ ,
H&( :
.(g0/LRa = 5.255879) = 1.225 kg/m3
5.255879 −1
⎛ 65 10000 ⎞
1.225 ⎜ 1 − × ⎟ = 10,000 ,
⎝ 1000 288.15 ⎠
0.4127 kg/m 3 =
580
+ &( " ' 'ρ/ρ0 '*+ ,
& '( 9,
"R& 'Tm '( F !) & *+ $( 'PS '&
: @
"& M 4 Q) TS = Tm /(1 + r 0.2 M 2 ) & *+ $(
.(8.3.7
ρ P T
= S ⋅ 0
ρ 0 PS 0 TS
:7, K
ρ P T (1 + r 0.2 M 2 )
= S ⋅ 0 (7.15)
ρ 0 PS 0 Tm
Speed of sound
4.3.7
+ : 'A '< & >3 8 , "
'& *+ $( '$% & ') >3
'&
'9
& ( &
. F *+ $(
K @R " 'a 'Q (& $( 9-1 >, H !
N ! S,
( f R .& M 4 'V &
4
@
N V & J( *+ $&
+, 9 -,
.(6.7) 3 9, F 1 ' M 4 &
.V
p
A
6 P( >, H : H *6 B ! S,
& ! S, '
@R / dp *+
.dρ , dV
581
.
:(6.7)
:! B A , $&
ρ aV = ( ρ + dρ )a (V + dV )
:M <(
0 ( 17
− Vdρ = ρ dV (7.16)
B A 9-+ >, H ! 9, $ V $
J( i
=
& 9, i
×
=
pa − ( p + dp ) a = ρ aVdV
:9
dp = − ρ VdV (7.17)
582
:M <( (7.17) (7.16) (
dp / dρ = V 2 (7.18)
i
: ' : 5
H
$( L
e : 6 J 1 9 5 j 3 "
:1 : .K4
p = Kρ γ (7.19)
cp
$( cv '
6
$( cp ' γ = P(
cv
.
L& K (*+ γ = 1.4) ."(
6
dp γ p
= Kγ ρ γ − l = (7.20)
dρ ρ
A < & S, '(7.20) (7.18) $&
:M <( (V L&)
γ p
A= (7.21)
ρ
:M <( (7.21) 9, p = ρRaT S
A = γ RaT (7.22)
.*+ $( M , < & 7, '0+
? ( 'A0 '( 8 & ]& < &
:L& 9 $(
1.4 × 287 .0529 × 288 .15
. A0 = 340.294 m/s ! L!
583
M( $( < $6 Q < & SR
"6(
< & M 'J 0 .6 M 4 <
.
$( &&
: @ & 9,
>3 "
L
A = A0 1− H
T0
M( ( 8 & ]& < & i
(2.7) #
." 65617
:(2.7)
A
(
) H
( 661.5) / 340.3 0
( 637.4) / 328.4 10,000
( 614.3) / 316.0 20,000
( 589.4) / 303.2 30,000
( 573.6) / 295.1 36,089
( 573.6) / 295.1 65,617
5.3.7
Pressure–speed relationships
& 'PS '&
'PT '9
@
01 9, : o +(3 "& < ( & 'VT '(
/01 .VC '$% & 'M ') >3 + : "&
.9 M 7.3.7 6.3.7 & 9, +(3 "&
584
I ((< 8 ) , 7, 'N & GY0
B 'TS ' & $( >3 P( 9( R&
& .8.3.7 "& 9, K( "& 'Tm '*+ $(
K(3 "& & *+ $( ) +3 (
.9.3.7 "& 9,
&
B " 5( 5& (7.7) 3 #
P( 'M = 0.3 : R & (
N ! S, .9
.
9
@ a 1 *+
.
:(7.7)
585
:91 *+ >, J(
dp + ρ VdV = 0
.V = VT p = PS '( 9-+ >, 9,
.V = 0 p = PT 'B K
:M <( ( 01 J(
PT 0
∫ dp + ρ ∫V dV = 0
PS VT
(7.23)
:7, 9
PT − PS = 2 ρ VT
2
1 (7.24)
& .((Bernoulli) 9 91 (7.24) )
:7, R
2
VT = ⋅ PT − PS (7.25)
ρ
'0+ . & K,
@ a Q- *+ ' ( e! M
-3 "<
, 9,
9, 0RV ! H
@ 7, '9 : >, S, . &
:91 ,
P = Kρ γ
:! +
1
1
ρ= 1
Pγ (7.26)
γ
K
586
<( ' dp + ρ VdV = 0 'J( 9, ρ S
:M
1
1
dp + 1
P γ VdV = 0 (7.27)
γ
K
.V = VT p = PS '( 9-+ >, 9,
.V = 0 p = PT 'B K
:M <( ( 01 (7.27) H $7
PT 0
1
1
∫ P dp + K ∫ V dV = 0
PS
γ
1
γ
VT
(7.28)
γ ⎡ ( γ −1) ( γ −1)
⎤ 1 VT2
P γ
− PS γ
= ⋅ (7.29)
γ − 1 ⎢⎣ T ⎥
⎦ K
1
γ 2
1
1 1
PSγ
9, K γ S . K γ = (7.26)
ρ
:M <( H $4 (7.29)
γ
PT ⎡ (γ − 1) ρ ⎤ ( γ −1)
= ⎢1 + ⋅ ⋅ VT2 ⎥
PS ⎣ 2 γ PS ⎦
γ PS
:M <( & 9, γ = 1.4 Q ' = A2
ρ
3 .5
PT ⎡ V2⎤
= ⎢1 + 0.2 T2 ⎥ (7.30)
PS ⎣ A ⎦
:
⎡⎛ V 2 ⎞ 3.5 ⎤
QC = PS ⎜1 + 0.2 2 ⎟ − 1⎥
⎢⎜ T ⎟ (7.31)
⎢⎝ A ⎠ ⎥
⎣ ⎦
587
(
)
PT/PS
.#
$% & ' ( % ( M > 1)
! "
(PT/A)
,
PT/PS &)
" &
* +
4
5 6 ./ 01 2 1 3 (Rayleigh) - &"
.
# 5 $ / 78 , +9
:
γ
⎡ (γ + 1) ⎛ V ⎞ 2 ⎤ (γ −1)
⎢ ⋅⎜ T ⎟ ⎥
PT ⎢⎣ 2 ⎝ A ⎠ ⎥⎦
= 1
(7.32)
PS ⎡ 2 ⎤ ( γ −1)
2γ ⎛ VT ⎞ (γ − 1)
⎢ ⋅⎜ ⎟ − ⎥
⎢⎣ (γ + 1) ⎝ A ⎠ (γ + 1) ⎥⎦
:M <( (7.32) & 9, γ = 1.4 S
7
⎛V ⎞
166.92 ⎜ T ⎟
PT
= ⎝ A⎠ (7.33)
2.5
PS ⎡ 2 ⎤
⎛ VT ⎞
⎢7 ⎜ ⎟ − 1⎥
⎢⎣ ⎝ A ⎠ ⎥⎦
⎡ 7
⎤
⎢ ⎛ VT ⎞ ⎥
⎢ 166.92 ⎜ A ⎟ ⎥
QC = PS ⎢ ⎝ ⎠ − 1⎥ (7.34)
2 .5
⎢ ⎡ ⎛ V ⎞2 ⎤ ⎥
⎢ ⎢7 ⎜ T ⎟ − 1⎥ ⎥
⎢⎣ ⎢⎣ ⎝ A ⎠ ⎥⎦ ⎥⎦
Mach number 6.3.7
(7.33) (7.30) ) >3
. M = VT / A S 9 M < >, <
588
:(7.30)
PT
PS
(
= 1 + 0.2 M 2 ) 3.5
(7.35)
:(7.33)
PT 166.92 M 7
= (7.36)
PS [
7 M 2 −1 ]
2 .5
3 9, F 'M ') 'PT/PS '
& @
.< >, < ( (8.7)
.
:(8.7)
589
Calibrated airspeed
7.3.7
(7.31) 'VC '$% & >3
S 9 M < >, < ( (7.34)
.(? ) VT = VC PS = PS 0 L
O ! '( 8 & ]& ?
(VC ≤ A0 )
:(7.31) M 4
⎧⎡ 2 ⎤ 3 .5 ⎫
⎪ ⎛ V ⎞ ⎪
QC = PS 0 ⎨⎢1 + 0.2 ⎜⎜ ⎟⎟ ⎥ − 1⎬
C
(7.37)
⎪⎢⎣ ⎝ A0 ⎠ ⎥⎦ ⎪
⎩ ⎭
+ <( VC QC 9 & : @
3 .5
⎡ ⎛ VC ⎞ ⎤
2
(@ ⎢1 + 0.2 ⎜⎜ ⎟⎟ ⎥ 9R M ( 0 >
⎢⎣ ⎝ A0 ⎠ ⎥⎦
γ PS 0
:91 + <( & 9 . A02 = !
ρ0
⎡ 1 ⎛ V ⎞2 ⎤
QC = 1 ρ V2
2 0 C ⎢1 + ⎜⎜ C ⎟⎟ ⎥ (7.38)
⎢⎣ 4 ⎝ A0 ⎠ ⎥⎦
VC = A0 - 9, 1.25 M ( 1 /01 9, I R
"%R&Y (7.37) 9,
< ! (@ H .($ 661.5)
' ( e! M '$ (7.38)
< .$% & &(
& .) & $6 I ,
. QC ≈ 1
2 ρ 0VC2 ! (@ ' R
(VC > A0 )
:(7.34) M 4
590
⎡ 7
⎤
⎢ ⎛ VC ⎞ ⎥
⎢ 166.92 ⎜⎜ ⎟⎟ ⎥
⎢ ⎝ A0 ⎠
QC = PS 0 − 1⎥ (7.39)
⎢⎡ 2 ⎤
2 .5 ⎥
⎢ ⎢7 ⎛⎜ VC ⎞⎟ − 1⎥ ⎥
⎢⎢ A ⎜ ⎟ ⎥
⎥⎦
⎣⎣ ⎝ 0 ⎠ ⎦
'VC '$% & 'QC '"<
@
3 01 9, ( . VC > A0 VC ≤ A0 & (9.7) 3 9, F
51.5 $% & 9 16.3 5 SR "<
& 9 1456 5 9 "<
($ 100) P/
8 & ]& 5 M = 1.2 '($ 800) P/ 412 $%
.(
.
:(9.7)
591
Static air temperature
8.3.7
! "
#$ % &' &( )!
&( )! !
.
*+ ,
% - .
% &'
/
0(
,
> + <( $( 9, 9( 6
. ! 91
! S,
@ >, M 9
: *+ $(
P1 P2
+ 1 2 V12 + E1 = + 1 2 V22 + E2 (7.40)
ρ1 ρ2
'& ', '
E2 'V2 'ρ2 'P2 E1 'V1 'ρ1 'P1 P(
>, 9, L! '>, & R 9, R '$(
.B ( 9-+
P2 P1
(6
) = RaT2 = RaT1
ρ2 ρ1
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592
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.
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K R4 " '(recovery factor) & "& ?%W r
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9.3.7
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1 m/s = ( "R& $ ( M 4 +& +( /01)
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Pressure error 10.3.7
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!
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Further reading
Dommasch, Daniel O., Sydney S. Sherby [and] Thomas F. Connolly.
Airplane Aerodynamics. 4th ed. New York: Pitman, 1967.
Schedule for Tables Relating Altitudes Airspeed and Mach Numbers
for Use in Aeronautical Instrument Design and Calibration.
London: British Standards Institute Staff, 1984.
614
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Autopilots and Flight Management Systems
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624
(1 + 0.08s ) (1 + 0.5s ) + 20 K p = 0 : : H:
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Φ K
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⎜ ⎜ ω ⎞⎟ ω ⎟
jω ⎜ 1 − + j 2ζ
⎜ ⎜⎝ ω 0 ⎟⎠ ω 0 ⎟⎟
⎝ ⎠
626
= KF1 ( jω ) ⋅ F2 ( jω ) (8.14)
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1
F1 ( jω ) = (8.15)
jω
1
F2 ( jω ) = 2
(8.16)
⎛ ω ⎞
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ω
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:(1.8)
F1(jω)· F2(jω) F2(jω) F1(jω)
ω
20logM 20logM 20logM
−94° 6dB −3.9° 0dB −90° 6dB 0.5
−98° 0dB −7.8° 0dB −90° 0dB 1
−106° −6dB −15.6° 0dB −90° −6dB 2
−114° −9.5dB −23.8° 0dB −90° −9.5dB 3
−131° −14.2dB −41.2° −0.2dB −90° −14dB 5
−150° −17.6dB −59.9° −0.7dB −90° −16.9dB 7
−180° −23.2dB −90° −2.9dB −90° −20.3dB 10.4
−208° −30.5dB −118.1° −7dB −90° −23.5dB 15
−225° −37.6dB −135.1° −11.6dB −90° −26dB 20
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(Modulus) = M
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: a %.'
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ψ K
( jω ) = (8.28)
ψE ⎛ ω ⎞⎡ ⎛ ω ⎞
2 ⎤
jω ⎜ 1 + j ⎟ ⎢1 − ⎜ ⎟ + j 0.16ω ⎥
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632
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/C' ^9) .ω = 8.28 rad/s ' (1/ω4) ' ) / −24 dB
1 rad/s $ −115°
+
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15 rad/s $ −310° 8.28 rad/s $ −246° 4.1 rad/s $ −180°
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ILS/MLS coupled autopilot control
Approach guidance systems
1.4.2.8
# )6
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Further reading
Combs, S. R., A. P. Sanchez-Chew, and G. J. Tauke. Flight
Management System Integration on the F-117A. American
Institute of Aeronautics and Astronautics AIAA-92-1077, 1991.
Lee, H.P. and M. F. Leffler. Development of the L1011 Four-
Dimensional Flight Management System. National Aeronautics
and Space Administration Report No. NASA CR 3700, 1
February 1984.
McLean, Donald. Automatic Flight Control Systems. Englewood
Cliffs, NJ: Prentice Hall, 1990. (Prentice Hall International Series
in Systems and Control Engineering)
672
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Ghatak, Ajoy and K. Thyagarajan. Optical Electronics. Cambridge
[England]; New York: Cambridge University Press, 1989.
716
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mbar)
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$
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mbar)
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Reliability Shake-Down Testing ?+s( C(zy , =*Q: Q 9=AL G
Geopotential Altitude ,\ Q} G O %@ G Y 9 q@ Q G
Decision Height ~ TA G Y 9 q@ Q G
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Roll Response, Basic Aircraft ? * O9 g y G I QF 9 a z y ? F QI Oy G ?< 9 GA S G
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Transition Matrix, Use in Attitude h \( y G {| 9 w@ , p d 9 t A ! :G ? p ( q Z | e G O MA S G
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Transition Matrix, Use in IN System e9v dv ! zv av L LP(v }v ! ,v p d9v tv Av !: G ?v p (v qv Zv | e GOv Mv Av S G
Error Model O GPy G Q (Z ty9< ?I ; CG
Stratopause R (<( @GQAS G
Stratosphere ) , t = a y G j( @G a ;j y G ( Q + q S( @ G Q A S G
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Auto-Stabilisation [B QG QtA S G
Weathercock Stability q
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Longitudinal Stability [ (_ QG QtAS G
Attitude Derivation h\ (yG b 9tAV G
Speed of Sound, Derivation J (Z yG ?f QS b 9tAV G
Initial Alignment and Gyro hQ + @9 < g 9 :: G O * O; h O G P jQ (Z s a 9 q aY G
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Volume
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Remote Terminal MIL STD 1553B MIL STD 1553B O+g=yG aQayG
Basic Principles and Schuler Tuning ( +( +
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Standby Display Instruments, Solid ?=zY ?y9I ? +_9+ AI
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Flight Management Systems ? z IQ y G I QG O E ?}d ! C
Head Tracking Systems S CQyG h= A@ ?}d !C
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n o
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n o
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p
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Optical Data Bus Systems ? * Q Z= y G J 9 ! 9 + = y G {t ! ? } d ! C
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Multi-Version Software I OOg A CG ?* D Qy G J 9 + HQ <
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Weight, Gearing Effect fR( y G ^f > T wy G Q+ C z @
Effect of Azimuth Gyro Drift ,A } Ty G hQ + @G a G QG ! G Q+ C z @
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Proportional Plus Integral Control {|9 w A y G G O F G R > S9 " A y G ~w;
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Roll Rate Command Control ?F QIO y G dO g| Q| z< ~w;
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Vertical Flight Path Control j O(} gy G f G Q+ a y G bM < ~w;
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Lags in the Control Loop ~ wJ Ay G I hQ f ,p J 9 qz <
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Tropopause R(< (<hQ @
Troposphere ), "+=yG j (@ G a ; jyG( Q +qS (<hQ @
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?+ \ } ?+< 9@ P G Y Q9T @
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Material Dispersion IO9C G BAW @
Waveguide Dispersion G
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Ground Pressure Correction Q G
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Magnetic Variation w
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Phase Advance
w
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Rectification of Vibration RGR A$: G ~*(t @
Cooper-Harper Rating Q< Q9$- Q<( v ~++t @
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Integrating Rate Gyro Operation q
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Integration with INS O G P y G Q ( Zt y 9 < ? I ;C G e 9 d ! h | { | 9 w @
Scene Matching Area Correlation
n
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Digital Implementation ,} s Q P+ q " @
Consolidation of Multiple Outputs
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Symbol Generation R (|Q yG O+y( @
Raster Display Generation KT C G W( aL ? w= V ? V9 V O+ y ( @
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Air Data Gain Scheduling ? * (@ G J 9 ! 9 + = y G > Tv ?y hOF
n
DME ? p 9 T C G S9 + s R 9 % F
Ring Laser Gyro
n
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Ring Resonator Fibre Optic Gyro
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q
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Fibre Optic Gyros j Q Z= y G r+ z y G JG h Q + F
Fibre Optic Gyros, Ring Resonator
n
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Type
Fibre Optic Gyros, Interferometric \ L G O A y G S 9 + t C G h P j Q Z= y G r+ z y G JG h Q + F
Type
Optical Gyros ? * Q Z < JG h Q + F
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Micro-machined Vibrating Mass Rate ? t s O ? y 5 < I Q G O | I R A | ? z A v JG P ? f Q S JG h Q F
+ % + +
Gyros
Angular Momentum Gyroscopes q
j hG Ry G cQ JA y G ? + }v J 9 < ( wS hQ+ F
Nuisance Disconnects ? G fR C G {Z q y G J :9 I
Common Mode Failures n
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Tailplane Volume { Py G K aS ~ GI *
Meridian Convergency Term d G h R y G bL HQ 9 t @ O I
Earth's Rate Correction Terms VQ G ? fQS K J Z @ O hOI
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Vehicle Rate Correction Terms n n
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Combined Roll-Yaw-Sideslip Motion v
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Short Period Motion in Pitch Plane Q G O J! :G i ( A T | ,p I Q + Zt y G I Q A q y G ? v Q I
Short Period Motion in Yaw Plane L G Q g ! :G i ( A T | ,p I Q + Zt y G I Q A q y G ? v Q I
Long Period Pitch Motion IQAq yG ?z*( _ ?*QG OJ !G ? vQI
Phugoid Motion ? y _ ? Qh O ? vQI
+ ( *
Short Period and Long Period Motion IQA qyG ?z _h IQ AqyG IQ Z s ? vQI
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Flight Path Kinematics f G Q a y G bL ? vQI
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n o
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Pressure Altitude, Computation Y 9 q @ Q: G bj \ ? = S I (
Commutation Errors, Attitude { O= A y G A9 a LC h\ h ?= S I
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Digitally Generated Colour Maps 9 k }sQ IO y | ? z| b FGQL
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( !(
Performance Characteristics A G O G [ F 9 ZL }
Meridian dG h Ry G bL
Prime Meridian T F Q y G dG h Ry G bL
, +
Longitude d a y G bL (
Latitude V Q gy G bL
Pressure Error b j] yG aL z
Voting Algorithms B Z AyG J 9 |R QG L
*( + (
Attitude Algorithms h \ yG J 9 |R QG L
( + (
Runge-Kutta Algorithms q
9@ v- H hQ J 9 |R QG L
( ! + (
|{}
Choice of Navigation Co-ordinates ? I; G J 9 C G O IE J G Q9 L
C + +
Organic Light Emitting Diodes A ]z y ? D f 9 < ? ] f J G O G O
( *( (*
Dutch Roll ? O y ?F QI O * " ($
Static Air Temperature v 9 Ty G A G y G I QG QI ?FQ O
# (%
Total Air Temperature ? z wy G A G y G I QG QI ?FQ O
+ (%
Measured Air Temperature ?S 9 t G A G y G I QG QI ?FQ O
C (%
Beam Index CRT O C9w yG ?gV C H = C ?|R I { y O
( ( ! +
Great Circles iQ = v Q F G h O
VOR 9 f O O Q @ h P iO G {| 9 V O G Q
[ C (*
Quaternions J 9 f9< Q +
Gyroscopic Reaction Torque w ShQ G f G Qh Oy G eR f {gp O Q
N( +@
Nichol's Chart 9 =y G d w ~S Q P + ( +!
FLIR AGQ } G B ?g V 9< ? | 9|C ? D Q
A ; } + *
Pitch Angle QGO J : G ? hG R ! *
Yaw Angle LG Qg : G ? hG R ! *
Incidence Angle W tT yG ? hG R ( *
Bank Angle = 9 G { G ? hG R
, ! @ +C *
Angle of Attack e G yG ? hG R ( % *
Trim Angle of Incidence W t T y G b= \ ? hG R ( *
Epoch Time QZ gyG | R #
Euler Angles Qy 9 Gh R (* *
True Air Speed ? t tI ? F ? fQS + + *(
Indicated Airspeed ? =| ? F ? fQS v
"+ *(
Calibrated Airspeed n
IQ 9g| ? F ? fQS * *(
Vertical Speed ? SC Q ? fQS +
God's Eye View Displays y fC | Qd y G z J 9 V9 V
^ # "
n o
Miniature Flat Panel LCD Projected
v
IQjZ G ?JaT G ? I zyG ?atT G LCD J9V9V
v
C C + ( C
Displays
Field Emission Displays [ 9 G G K 9 g= : G J 9 V9 V
C !
LCD Displays ? zF 9 T y G IQ z = y G J 9 V9 V
(
Map Displays ? a Q G J 9 V9 V
* B
|{~
LED Displays A ] zy E f9 = y G O G O y G J 9 V9 V
( (*
Head Up Displays h q @ Q G SC Q y G J 9 V 9 VC
Diffractive HUDs ? O G h q @ Q G SC Q y G J 9 V 9 V
o
* ( +A C
Holographic HUDs ? } T G G h q @ Q G SC Q y G J 9 V 9 V
v
C C
Civil HUDs ? O G h q @ Q G SC Q y G J 9 V 9 V
+! C C
Head Down Displays ^ q M G SC Q y G J 9 V 9 V "C
Primary Flight Displays ? S 9 S G ?zI Qy G J 9 V9 V
+ }
Navigation Displays ? I; G J 9 V9 V
n
C
Projected Large Flat Panel Displays o
?at T| IQ = v ?J aT | ? I y J 9 V9 V
v
IP G p ?=vQ|o J9V9V
+ + (
Helmet Mounted Displays
v
IOOT|o J9V9V
(B ,
Collimated Displays
v
Laser Scanner Projected Displays QR y ?JS9| JGP ?atn T|o J9V9V
+
Binocular HMDs ? gy G ? F 9 C IP G p ?= v Q| J 9 V9 V
v v
+"+ + " (B ,
HUD hq @ Q G S C Q y G ? V9 V C
EICAS ~ s9 a zy ? = A y G {F 9 SQ y G h cQ J G Q V | ? V9 V
+%+ "
x
C |
ARINC IO hO J G f GQ a yG OG Q ? vQV
C + (*
Head Motion Box S C Q y G ?vQ I bh O Y
o
"
Q@ =} wy9< IO y | ?} T Q Y
v
Computer Generated Holograms (+ (
v
H (
Air Data, Formulae ? G J9 9 =yG k Y *( @ ! + +
Pressure Altitude Y9q @Q: G b j\
QFE - Ground Pressure ? \ Q G b j\ + }
Impact Pressure e O 9 ZA y G b j \
Standard Atmospheric Pressure jQ 9 g | j F b j \ + (
Static Pressure v9S b j\ #
Total Pressure v b j\
J9vgv}v o vf vF9v<Qv vwvyG dR9vgvzvy Bv vFhQ J9 zr v_n
\
Rugate Dielectric Coatings, HUD
x
H ^ , %
y z + +
Combiners hq @ Q G S C Q y G ? V9 V C
Aerodynamically Unstable Aircraft k9 FG 9 k w |9 O IQtAT| Q i IQF9_
+ ($ + + "* +
Frequency Response Methods OO QA y G ? < 9 GA S G bQ_
Formal Methods ? z wV bQ_
J9t=ayG IOOgA| J9 zr _
+
Multi-Layer Coatings +
||u
Autopilot [ B Q9+_
Terrain Following Autopilot U * Q 9 ]A z y h = A A | [B Q 9 + _
Fly-By-Light A(] y G ?a SG ( < f G Q+ _
Knot IOt f
o
Recovery Factor OG OQ A S: G {|9 f
Air Density Reduction Factor A G (%y G ? p9 D v ^qL {|9 f
Tailplane Efficiency Factor { * Py G K aS IA9 q v {|9 f
Mach Number N 9| OO f
Spiral Instability , = y ( z y G QG Q tA S: G eO f
Glide Slope Coupling Loop ,
x
S } G Q G OJ ! :G L G hOR G I hQ f
o
Localiser Coupling Loop
x
h s(C G O OI L GhOR G IhQ f
Heading Control Loop
w
g 9 : :9 < ~w J A y G I hQ f
Height Control Loop
w
Y 9 q@ Q :9 < ~w J A y G I hQ f
Bank Angle Command Loop , ! @=9 G {+ CG ? * hG R Q |C IhQ f
Pitch Attitude Command Loop QG OJ ! :G h\ h Q |C I hQ f
Pitching Moment QG O J! :G eR f
Yawing Moment L G Qg! :G eR f
Rolling Moment ?F QI OyG eR f
Control Sticks, FBW c; S} G ?aS G (< f G Q+ a z y IO9 + t y G 9 Z f
Adiabatic Process ?+w+ @9<9*O C ? +z} f
o
Holographic Optical Elements ? } T H ? * Q Z< Q Y9 " f
v
Design Factors ~ +}Z AyG { |G( f
Numerical Aperture ?*OO f ?J Ap
Schuler Period Qy( V IQ Ap
Visibility Categories ? * D Q y G J9 8 p
Cat. I, II and III Visibility III ,II ,I ? DQyG J98p *
Failure Mode Categories { W q y G b} ! J9 8 p
o
Gimbal Lock d 9 = } + F {q s
Snell's Law {" S f(! 9 s
Newton's Second Law of Motion ?v QJ z y P9 D y G #@ ( + ! f(! 9 s
r n
Exit Pupil Diameter LQn MCG |<|< Qas
Wheatstone's Bridge f (AT A*($ IQa "s
||v
Vector Data Bases - Maps )b FGQ B G J 9!9+< Of G(s( ? +%G ACG J 9!9+=y G O fG( s
w
Control Laws ~w JA y G # + ! G ( s
Lift Force h pQyG I (s
Stick Force/g g /9Z gyG I (s
Forward Force ?+ |9|C I (s
Side Force ?+= !9F I (s
Vertical Force )? + SC Q ( ?* O( }f I( s
Specific Force ?+ f(! I (s
Coriolis Forces U+y (*Q( v i (s
Latency o o
f (} v
w
Latency in Digital Control Systems o o
?+} sQy G ~ wJ AyG ?} d!C , p f (} v
Air Density AG (% yG ?p9D v
Chemosphere ) , F 9 + } + w y G j ( @ G a; j y G ( Q + q S ( } + v
Z Mathematical Language 'Z' ?+\ 9*Q ?j y
Single Mode Optical Fibre b} " y G j O9I C j QZ < r+y
Multi-Mode Optical Fibre b }"yG O OgA| j QZ < r+y
Unmanned Air Vehicles
n n
Q9 +_ fh O< ?*( F J 9=vQ |
Aerodynamic Centre
n n
,F G ( $ ,w + |9 " * O RvQ |
Precession n o
I QO9= |
x o
Acceleration Components, Body Axes ~ T@ G Qh9 I YQ9 T@ J 9 = vQ |
Waveguide Parameter ?F(CG {+yO {|p 9g|
o
v
Constructor Holograms
o
o
? }T GC G Q ( Zy G r W" |
Terrain Contour Navigation U*Q9]AyG ?%=F ?I;|p
TACAN ?+w+Aw@ ?*(F ?I;|p
Velocity Vector ? f QT y G & GA |
x
Bus Controller J9 ! 9 + = y G { s 9 " < ~w JA |
Safety and Integrity Requirements ?|; Ty G h f 9| } G J9 = z a A |
Autopilot Requirements [ 6 G W ( = % y G J9 = z a A |
Avionics Environmental Requirements fGQ +ayG J 9+!h QAw y ?+ 8+< J9 = z a A |
Pressure Sensors, Requirements bj] y G J G Q g W A T | J9 = z a A |
Mean Aerodynamic Chord , F G ( %y G ,w + |9 " * Oy G Q @ (y G b S(A |
||w
QNE - Mean Sea Level Pressure G
QJ =y K aS i (A T | bj \ b S(A |
Field of View ?* D QyG d9H
Total Field of View \w y G ?* D Qy G d9 H
Instantaneous Field of View , dJ zyG ?* D QyG d9H
Earth's Magnetic Field , \Q C ,T + _ 9 " j | d9 H
Combiners J9g}x H
r x
Combiners, Thin Spherical with B + Fh Q ?+ z a < ?* h Qv ?t+ s Q J 9 g}H
p
Rugate Coating
HUD Combiners h q@QC G SCQyG ?V9V J9g}x H
v o x
Combiners, Holographic ? }T H J 9g}H
Stability Axes QG Qt A S: G Qh9 I
Platform Axes ? Z" C G Q h 9 I
Aircraft Body Axes IQ F 9 ay G ~ TF Qh9 I
Local North, East, Down Axes ?+zqS h ,? +sQV h ,? +y9} V ?+zI Qh9I
n
Runway Visual Range LQnOr CG ?*DQ iO|
Heading Monitoring g 9 :: G ?= sG Q |
Gravity Monitoring ? + \Q }G ? + < P 9 @ G ? = s G Q |
Vertical Monitoring ?*O (}f ?=sGQ |
Vertical Reference , SC Q h FQ |
rn x
Notch Filters ,}p zC KVQ|
n
Wash-out Filter aQr @G KVQ|
r
Kalman Filters f 9 C9 v J 9 J VQ |
Centre of Pressure b j] yG RvQ |
Air Data/Inertial Mixing ? + @ G Py G ? * Q (Z t y G ? f QTy G /? * (@G J 9 ! 9 + = y G LR |
Baro/Inertial Mixing O G P j Q (Z s / jQ A | hQ 9 < LR |
Doppler/Inertial Mixing OG P y G jQ (Z t y G / Q z < h O LR |
Pressure Sensors, 'Solid State' Capsule ?=zZyG ?y9AG ?y(T=v JGP bj]yG JGQgp WAT|
Passive Optical Sensors ?+=zS ?*QZ< JGQgp WAT|
Total Temperature Sensor ? +zwy G I QGQA G ?F QO QgW AT |
Incidence Sensors W (tT yG J GQgW AT |
Pressure Sensors b j] yG J GQgW AT |
Vibrating Pressure Sensors I RA%C G b j] yG J GQgW AT |
||x
Lock-in Problems and Solutions a O%y G B + = D @ d(z Ih { v9 W |
Derivatives J9tAW |
Aerodynamic Derivatives ?+FG ($ ?+w +|9 "*O J9tAW |
x
Servo Actuator [ 6G QR G |C G { jW |
p
Covariance Matrix Q*9j AyG ?p( qZ |
r
Measurement Matrix in Kalman Filtering f9 C 9 v K+ V Q@ , p S 9 + ty G ?p ( qZ |
State Vector Matrix ? y 9 AG & G A | ? p ( q Z |
State Coefficient Matrix ?y 9 A G {|9 g| ?p( qZ |
Yaw Damper L G Qg ! :G { F 9 ] |
Terrain Characteristic Matching U*Q9] AyG [F9Z L ? t<9a |
Equations of Motion, Lateral ?+ = ! 9 @G ? vQA G J: O 9 g |
Equations of Motion, Longitudinal ?+y( ayG ? vQA G J: O 9 g |
Equations of Motion, Aircraft I Q F 9 a z y ? v Q A G J: O 9 g |
Bernoulli's Equation [ (!Q < ? yO9g |
Lift Coefficient h pQy G { |9g |
Pitching Moment Coefficient QG O J! : G eRf { |9 g |
Pitching Moment Coefficient of Wing hpQ yG eG Og ! G O" f M 9 " G z y QG O J! : G eRf { |9 g |
at Zero Lift
Pitching Moment Coefficient of ? z|9v I QF9a zy QG O J! : G eRf { |9 g |
Complete Aircraft
x
Ephemeris Parameters H* R y G J; | 9 g |
Euler Symmetrical Parameters ? tS9 " A CG Qy ( *
J; | 9 g |
v
Lapse Rate W (=% yG d Og |
Pitch Rate QGOJ !: G d Og |
Roll Rate ? FQ IO y G d Og |
Bode's Stability Criterion O( = y QG Qt A S: G Q9 + g |
Accelerometers YQ 9 T@ U + * 9 t |
Rectification of Vibration, RG RA $: G ~* ( t@ YQ 9 T@ U + * 9 t |
Accelerometers
Coriolis Accelerations U+y (*Q( v YQ 9 T@ U + * 9 t |
Virtual Cockpits ?*Q* Ot@ J G Q ( Zt |
Sagnac Interferometer c 9 " F9 S {L G O@ S 9 + t |
||y
Accelerometer, Torque Balance f GQh G e fG
Oy Rf
v
R +}< O+t | [ h YQ S
O"< 9 T@ 9+t |
Pendulous
Accelerometer, Spring Restrained k R v
9+vQ =! O+t | [ h YQ S
O"< 9 T@ 9+t |
Pendulous
LORAN C {* ( ay Gi G OC ? I; |
Inertial Navigation G GQ Py (Z ty9< ? I; |
k
O
DR Navigation G
9 + < 9 T I h s (C Q* OtA < ? I; |
DR Navigation, Air Data Based 9 !9 + = y ^f
k
Jv vvvG v I vvv v v v v v G v v vv v v
O " A T | 9+ <9 T I h s( C Q *O t A < ? I ; |
G ? *(@
DR Navigation, Doppler/Heading Qz< ^f
k
/ v v hO v I v v v v v v v v G v v v v v v
O " A T | 9 + < 9 T I h s (C Q * O t A < ? I; |
Reference G G ?+ $9 : : ?+ g FQ C
Terrain Reference Navigation Q G I U* 9]Ay ^f O} A g| ? I; |
Navigation and Guidance O QEh 9V ? I; |
Marker Beacons O Q G JGQ 9V 9" |
Care Free Manoeuvring y z I Qh ?+ y9=|: 9" |
Stable Platforms
n I J
o
QtAT | 9 Z" |
Strap-Down Equivalent Stable Platform G I
B + = D A y ? } w I ? 8 p 9 w| Q t A T | ? Z" |
ARINC Specifications IOh G fG G OGQ J n G
OJ C Q +ay (* ?v QV 9qY ( |
Schuler Tuning G Q y(V ? qy ( |
Attitude Direction Indicator Gg G h \( y 9 : Q V| |
Horizontal Situation Indicator G G ,tp } h\ (y Q V| |
Bank to Turn a 9a g!; y ,= ! 9 F {+ |
Magnetic Dip Angle jqhGR
,T + _9 " j| {+ |
Data Bus, MIL STD 1553B MIL STD 1553B J G 9 ! 9 + = y {s 9 !
STANAG Data Bus STANAG J G
G G n GJ G
9 ! 9 + = y {s 9 !
Data Bus, High Speed Ring ?fQ Ty [ 9gy , tzA 9 ! 9 + = y {s 9 !
Data Bus, Linear Token Passing High v v G v v v v G hP v v v G v v G J v v v v G v v
,aB Q *Q } A y ? fQ T y [9 g y 9 !9 + = y { s9 !
Speed G JGQ ?*R |Qy 9 V5 y
Linear Token Passing Bus ? *R|QyG JGQ G G hP J G
9 V5 y , aB Q*Q} Ay 9!9+ =y { s 9!
High Speed Databuses G GJ GJ
?f QT y ?+y9g y 9! 9+=y ;s 9 !
Damping Ratio, Second-Order System G Q G e dD G
? +!9Dy ?F O y #| 9 d"y 9] Ay ?=T !
Ratio of Specific Heats G I QG G ?+ f(" y QA ?=T !
||z
Dutch Roll Ratio ? O y y ?F QI Oy ?=T * " (% G G !
Air Density Ratio y ?p 9Dv ?=T AG( % G !
Night Viewing Goggles ? z zy ? Qy 9d + + G *D G JGQ !
ATC Transponder ? ? vQ ?= s Q 9 = t A S: 9 S
* (@ G AG G C d 9d Gh d Q G e !
FBW Flight Control System
w
c ;S ? a S < Q ay ? z IQ< ~ wJ A y 9 d
}G G( fG + G G e !
Free Azimuth Axis System Q A } Ty J 9 dy AG , Gz Q( CG e !
Galileo Satellite Navigation System z y 9 F f 9 Zy Q } t y 9 < ? I; 9 d
(+ + , " G CG e !
Instrument Landing System (ILS) 6 = y 9d [ G W( % G e !
MLS q Qw = y 9d
, *hh +C G W( % G e !
BLEU System }f ) = z y ? = Q GA y OI y 9 d
}G W ( % + * G I ( G e !
Direct Voice Input QV9 = Zy 9L 9d CG J( G d OE e !
Localizer Guidance System hs O 9V 9d (CG O
x
I O QE e !
Wide Area Augmentation System ?gS y ? I9 T R R g@ 9 d G( G CG * e !
EFIS ? QA wy ?zI Qy 9 F 9d
+ !h G G R % e !
FADEC 9 vQ J ?= s Q Q a T y {| 9 v } s 9 d
J CG G C I + G , Q e !
Differential GPS p Qj hs O O JA y \ 9 q@ 9 f 9 d
, G @G ( CG * \ ,C e !
Global Positioning System (GPS) p Q j h s O OJ Ay 9f 9d
, G @G (C G * ,C e !
Modern Control Theory
w
? D O ~w JA y ? Qd * AG G * !
Stagnation Point v Qy ?a t O( G !
Neutral Point ? y 9g A| ?a t O !
Static Margin w Ty X |9 f( G $
Automatic Landing = [B W( $
Reliability ?s C + ( h
Artificial Feel Unit ? f 9 aY U T OI + " G ; I h
ILS Coupled Approach 6 = y 9d < Q At| Y
[ G W( % G e " f
p
d( h
Rudder Function ?pOy ? q c G + h
Triplex Redundancy ? C; C Qp + I h
Quadruplex Redundancy ? f9 < Qp + Q I h
Dissimilar Redundancy ? 9 =A| Qp "* I h
Redundancy and Failure Survival { Wq y | 9 t < Qp G # A h I h
NBC Protection ? 9 } wy
+F + + Gh , + ? F y =y
( (+ ?
G h , *h(" G Q G y Q\ }G # | ? 9s * h
Data Staleness J ! + 9 9 =y G #$ h
r
||{
J XCPIGQ9G [?*
w(d4 vvvv j eTPB;E
4D Flight Management O9 g < }G ?+ f9 < Q y G ?z I Qy G I QG O E
x
o
Acceleration Components, Body Axes ~ T@ G Qh9 I YQ9 T@ J 9 = vQ |
k v
Accelerometer, Spring Restrained 9 + vQ = ! R O+ t | [h O" < YQ 9 T@ S 9 + t |
Pendulous
v
Accelerometer, Torque Balance f G Qh Oy G eR f fG R + }< O+ t | [h O" < YQ 9 T@ S 9 + t |
Pendulous
Accelerometers YQ 9 T@ U + * 9 t |
Adiabatic Process ?+ w + @ 9 < 9 * O}G ? + z }g y G
Aerodynamic Centre ,F G (%y G , w+ | 9 " * O y G RvQ C G
Aerodynamic Derivatives ? + F G ( % y G ? + w + | 9 " * O y G J9 t A W C G
k k
Aerodynamically Unstable Aircraft 9+FG( $ 9+w+ |9"*O IQ tAT CG Q+i I QF9a yG
o
n
Aided IN Systems O G P y G Q (Z ty 9 < ? I; }z y ?" + gC G ?} d! } G
p
r o
n
Aided Systems and Kalman Filters f 9 C9 v J 9 J VQ |h ?" + gCG ?} d! } G
p
Air Data ?* ( @G J 9 ! 9 + = y G
n
Air Data Gain Scheduling ? * (@ G J 9 ! 9 + = y G > Tv ?y hOF
Air Data, Formulae ?* ( @G J 9 ! 9 + = y G k+ Y
Air Data/Inertial Mixing ? + @ G Py G ? * Q (Z t y G ? f QTy G /? * (@G J 9 ! 9 + = y G LR |
Air Density AG(% yG ?p9D v
Air Density Ratio AG( %yG ?p 9Dv ?=T !
Air Density Reduction Factor A G (%y G ? p9 D v ^qL {|9 f
Aircraft Body Axes IQ F 9 ay G ~ TF Qh9 I
Aliasing a G OQ A S: G
|||
Angle of Attack e( G% y G ? * hG R
Angular Momentum Gyroscopes q
j hG Ry G cQ JA y G ? + }v J 9 < ( wS hQ+ F
ARINC I O hO JC G f G Q+ a y G (* OG Q ? vQV
ARINC Specifications IOh OJ CG fGQ +ayG ( *OGQ ?v QV J 9qY G( |
Artificial Feel Unit ?+ f 9 " aY G U T; I OI h
ATC Transponder ?* (@ G ? vQA G ?= sG Q C d9 = t A S: G h d 9 SQ G e9 d !
Attitude Algorithms h \ (yG J 9+|R QG(L
Attitude Derivation h\ (yG b 9tAV G
Attitude Direction Indicator h \( y G g 9 : G Q V| |
Attitude Heading Reference Systems g9 :: G h h\ (z y ? + gF QCG ?} d! } G
Automatic Flare [6 G O O}A yG
Automatic Landing [6 G W (=% yG
Autopilot [6 G Q9+a yG
Autopilot Requirements [6 G W ( = % y G J9 = z a A |
Auto-Stabilisation [6 G QG Qt A S: G
Auto-Throttle Systems [6 G u "B G ?}d !C
Avionics Environmental Requirements f GQ+ ayG J 9+!h QAwy ? + 8 + = y G J9 = z a A C G
Axis Systems Qh 9J CG ?}d !C
Bank Angle ,= ! 9 @ G { +CG ?*hG R
Bank Angle Command Loop , =!9@ G {+ CG ? * hG R Q |C IhQ f
Bank to Turn a 9 a g! ; y ,= ! 9 @G {+ C G
Baro/Inertial Mixing O G P y G j Q ( Zt y G / j Q A | h Q 9 = y G LR C G
Basic Principles and Schuler Tuning Qy ( V r + y (@ h ? + S9 S} G O9= CG
Beam Index CRT O( C 9 w y G ?gV C H ( = ! C ?|R I {+ y O
Bernoulli's Equation [ (!Q < ? yO9g |
Binocular HMDs v
?+" +gy
v
G ? + F 9 " C I P ( BG , p ? = v Q C G J9 V 9 W y G
BLEU System ) }f } G W (= % z y ? + = * Q GA y G I OI (y G e9 d !
Bode's Stability Criterion O( = y QG Qt A S: G Q9 + g |
Bus Controller
x
J9 ! 9 + = y G { s 9 " < ~ w JA C G
C Star Control C z ~w
w
y? }G ! ;
Calibrated Airspeed n
I Q* 9 gC G ? * ( @G ? f QT y G
Care Free Manoeuvring y z
?+y9 =|; yG I Qh9" CG
||}
Cat. I, II and III Visibility ,II ,I D G J
III ?* Q y 9 8p
Centre of Pressure G b j] y RvQ |
Chemosphere ) F G j G a G(
, 9+}+w y (@ G ;j y Q+ q S( }+ w y
Choice of Navigation Co-ordinates G J G E JGQ
? I; C 9+C O I 9+L
G G SC G J
IO o G J G
Civil HUDs ? +!OC h q@Q C Qy 9 V9 V
v
Collimated Displays OT C 9V 9W y
Collimation G O* OTA y
Combined Roll-Yaw-Sideslip Motion v v v G b v G-L G v v G- v v v G v v o
, = !9 @ :R ! : Q g !: ? FQ IO y ? v Q I
G ?g }G C
v
J G x
oGJ G
Combiners 9g }G C
v x
hQ r h G G J G
Combiners, Holographic ? }T GC 9g }G C
x
Combiners, Thin Spherical with B+F ?+za < ?* Q wy ?t +sQy 9g }G C
Rugate Coating
Common Mode Failures cn G G J
QA W C b }" y { Wp :9 I
Commutation Errors, Attitude GA C h
{ *O= Ay 9a L h\ ?= S(I
Computation
e G G
I G oGQ
Complementary Filtering 9 A A C K+ VQA y
Computer Generated Holograms
v
Q @ (+ = } wy 9 < Oy ( C ? }T GC
v
(Z y G
h G G
IO G J n o G
Coning Motion ? + _ Q MC ? vQA
oGQ G
Consolidation of Multiple Outputs Og AC 9 FQ MC O + I( @
Constructor Holograms
v
? }T GC ( Zy r W" |
o
Control and Data Entry J G d OEh 9!9+=y 9L
w
~w JA y G
Control Laws G G w
~w JA y # + ! ( s
Control Sticks, FBW c G G f G IO G
; S} ?aS (< Q+a zy 9+t y 9Zf
Cooper-Harper Rating Q - Q< 9$ Q<( v ~++t @
Co-ordinated Turn G Ea ,C OI 9ag ! G
Coriolis Accelerations Q YQ U+y (* ( v 9 T@ U + * 9 t |
Coriolis Forces Q i U+y (* ( v (s
Covariance Matrix G Q*9j Ay ?p( qZ |
Damping Ratio, Second-Order System G Q G e dD G
? + ! 9 D y ?F O y #| 9 d"y 9] Ay ?=T !
J G C
G G n GJ G
Data Bus Systems 9 ! 9 + = y {t ! ?}d !
Data Bus, High Speed Ring ?fQ Ty [ 9 gy , tzA 9 ! 9 + = y {s 9 !
||~
Data Bus, Linear Token Passing High , a B Q *Q } A y
vv vv G vv vv vv vv G hP ? fQ T y [ 9 g y
vv vv vv G vv vv G J 9 !9 + = y { s9 !
vv vv vv vv G vv vv
Speed ?*R |Qy G JGQ 9 V5 y
Data Bus, MIL STD 1553B MIL STD 1553B J 9 ! 9 + = y {s 9 ! G
Data Fusion J 9!9+=y G L 9|O ! G
Data Staleness J 9 ! 9 + = y #$ G
r
Decision Height ~ TA G Y 9q@ QG
Derivatives J 9tAW |
Design Factors ~ +}Z Ay { | ( f G G
Differential GPS ,p Qj@ hs ( C O* O JA y , C 9 g y
G G G G e 9d" y G
Diffractive HUDs ?* ( +A h q@Q C
O G G SC Qy G J 9 V9 V
Digital Implementation , }sQ y P+q"A y G G
Digitally Generated Colour Maps 9+ }s
k
Q I
v
O y(| ? !(z| b QL FG
Direct Voice Input QV9 = C G J (Z y G d 9L OE e 9d !
Direction Cosine Co-ordinates g 9: : G e 9E >+F J 9+ C OI G E
Dissimilar Redundancy ? "*9=AC G I Qp( y G
DME ? p9 TC G S 9 +s R 9%F
Doppler/Inertial Mixing O Py G G jQ (Z ty G/ Qz< hO L R|
DR Navigation k
9+<9T I hs (C Q* OtA< ?I ; C G G
DR Navigation, Air Data Based J 9!9+ =y ^f
v v v v G v I O " A TC 9 + < 9 T I h s( C Q * O t A < ? I ; C
v v v G
k
v v v v G v v v v v G
? *(@ G
DR Navigation, Doppler/Heading / Qz< vv vv hO ^f vv I O " A T C 9+ < 9 T I h s (C Q *O t A < ? I ; C
vv vv vv G
k
vv vv vv vv G vv vv vv vv vv G
Reference ?+ $9 : : ?+ g FQ C G G
Dutch Roll ?* O " y (% y ?FQ IO y G G
Dutch Roll Ratio ?*O "y( %y ?F QI Oy ?=T ! G G
Dynamically Tuned Gyro 9+ w+|9 "*
k
O ry (C
q
G G h Q+@ G
Earth Radius Pendulum VQ } Q as r Z !
G dh O "<
Earth's Magnetic Field VQ ~y , T+ _ 9 " jC G d 9GC G
Earth's Rate Correction Terms VQ } ? fQS K+ J Z @
G Oh OI
Effect of Azimuth Gyro Drift ,A } Ty G h Q +@ G aG QG ! Q+C z@ G
EFIS ?+ ! QA wy h G ?zI Qy G R 9% F e 9d !
EICAS ~ s9 a zy ?+ %+ = " A y { 9 SQ y G F Gh c
x
Q JC Q V| | ? V9 V G
EMI Effects , T+ _9 " j | h Q %wy { L OAy G G G JG Q+C z@
|}u
Enhanced Vision Systems ?"Tv JCG ?*DQyG ?}d!C
Ephemeris Parameters
x
H* R y G J; | 9 g |
Epoch Time QZ gy G #| R
Equations of Motion, Aircraft Q 9 a z y ? v Q A G J: O 9 g |
I F
Equations of Motion, Lateral ? + = ! 9 @G ? v Q A G J: O 9 g |
Equations of Motion, Longitudinal ? + y ( a y G ? v Q A G J: O 9 g |
Euler Angles Qy (* 9*Gh R
Euler Symmetrical Parameters ? t S9 " A C G Q y ( * J; | 9 g |
n
Exit Pupil Diameter
r
L Qn MCG |<|< Qas
Eye Trackers )_ gyG J 9g=A A|( _ gyG h= A@ ?}d !C
FADEC J 9 vQ JC G ? = s G QC I Q a+ T y G {| 9 wy G , }s Q y G e9 d" y G
Failure Mode Categories { W q y G b} ! J9 8 p
Failure Modes and Effects Analysis Q C A y G {+ z ;h { Wq y G W 9 } ! C
JG + z
Failure Transients {W qy G J :9 tA ! G
w
FBW Flight Control System c ;S }G ? a SG ( < fG Q + ay G ? z IQ< ~ wJ A y G e9 d !
Fibre Optic Gyro j Q Z= y G r + z y G h Q + F
Fibre Optic Gyros j Q Z= y G r+ z y G JG h Q + F
Fibre Optic Gyros, Interferometric \ L G O A y G S 9 + t C G h P j Q Z= y G r+ z y G JG h Q + F
Type
Fibre Optic Gyros, Ring Resonator
n
, q z A G # + ! Q y G h P j Q Z= y G r+ z y G JG h Q + F
Type
Field Emission Displays [ 9 G CG K 9 g= ! : G J 9 V9 V
Field of View ?* D QyG d9H
Flight Management Systems ? z IQ y G I QG O E ?}d ! C
Flight Path Kinematics fG +Q a y G bL ? + vQI
Flight Path Optimisation fG +Q a y G b L _ T;
Flight Planning ?zI QyG b +a<
FLIR AG Q }A G B ; ? gV} 9 < ?+ | 9 |} G ?* DQ y G
Fluxgates ^+qyG J9<G(q <
Fly-By-Light A( ] yG ?aS G(< f GQ+a yG
Formal Methods ?+ zw Wy G b Qa y G
|}v
Forward Force +
? |9| } G I(t yG
Free Azimuth Axis System y
Q AG , A }T y G
z
Q (J CG e9d !
Frequency Response Methods OO QA y G ? < 9 GA S G bQ_
Full Authority Systems +
IQ a T yG ?z|9 wyG ?} d !}G
Galileo Satellite Navigation System ( + z + y 9 F , f 9 " Zy G Q } t y 9 < ? I; C G e 9 d !
Geometric Dilution of Precision ?sO zy , S O " % y G r+ q M A y G
Geopotential Altitude ,\ Q} G O %@ G Y 9 q@ Q G
Gimbal Lock
o
+
d 9 = } F {q s
x
Glide Slope Coupling Loop ,S } G Q G OJ ! :G L G hOR G I hQ f
x
Glide Slope Guidance , S} G QG OJ ! : G O 9 VQ E
Global Positioning System (GPS) ,p G Qj@ G hs ( C G O* O JA y , C 9 g y G e9 d" y G
God's Eye View Displays y ^ fC # | Qd" y G z J 9 V9 V
Gravitational Acceleration +
? \Q }G ?+ < P9 @ G Y Q9 T @
Gravity Monitoring ? \Q + }G ?+ < P9 @ G ?= s G Q |
Great Circles iQ = wy G Q F G hO y G
Ground Pressure Correction +
? \Q } G bj\ K+ JZ @
Gyros Compassing hQ + @9 < g 9 :: G O * O;
Gyroscopic Reaction Torque N (w ShQ + @ G f G Qh Oy G eR f {gp O Q
Head Down Displays ^qM " C G SC Q y G J 9 V 9 V
Head Motion Box S C Q y G ?vQ I bh O Y "
Head Tracking Systems S CQyG h= A@ ?}d C !
Head Up Displays C
h q @ Q G SC Q y G J 9 V 9 V
w
Heading Control Loop g9 : :9 < ~w J A y G I hQ f
Heading Monitoring g9 :: G ?= sG Q |
w
Height Control Loop Y 9 q@ Q :9 < ~w J A y G I hQ f
v o
Helmet Mounted Displays ( BG , p ? = v Q C G J9 V 9 W y G
IP
v
Helmet Mounted Sights IP (B G , p ?=vQ CG IO$ 9W CG ?}d !C
High Speed Databuses +
? f Q T y G ? y 9 g y G J9 9 = y G J ;s 9 !+ !
v
Holographic HUDs
o
C
? } T G G h q @ Q G SC Q y G J 9 V 9 VC
v
Holographic Optical Elements
o
C *
?}T G G ? QZ =yG QY 9 g yG "
Horizontal Situation Indicator ,tp }G h\ (y G Q V| |
House-Keeping Management [R " CG Q+ < O A y G IQG O E
|}w
HUD hq @ QC Q y ? V9 V G SC G
HUD Combiners h q@ QC Q y ?V9 V 9 g}H G SC
x
G J
ILS Coupled Approach [6 (=% y 9d "< QAt CG W ( Y( y
G e f
p
G d G
Image Intensifier Tubes ( Zy R + v Q @ > + < 9 !
IQ G C
Impact Pressure 9 ZA y b j \ eO G
Incidence Angle (tT y ?* W G hG R
Incidence Sensors (tT y QgW AT | W G JG
Indicated Airspeed ?" +=C ?*( @ ?f QT y
v
G G G
Indirect Viewing Systems QV 9=C Q+i ? * Q y ?}d !
I G D G C
Inertial Navigation O Py (Z ty9< ?I ; C G G Q G
Initial Alignment and Gyro 9 :: O * O ; O P y ( Z t y 9 q a Y:
g vvvvv G vvvvv vvvvv h G vvvvv G jQ vvvvv vvvvv vvvvv G a vvvvv vvvvv vvvvv G
Compassing Q+@ 9< h
Instantaneous Field of View , dJ zy ?* Qy 9H G D G d
Instrument Landing System (ILS) [6 (= %y 9d ! G W G e
Integral of Error Control Term
w
z a B9 < ~ wJ A y OI { | 9 w @ G
Integrating Rate Gyro Operation , fQ Ty Q + @ ? + z}f { |9 w @
q
G h G
Integration with INS O P y (Z ty 9 < ?I; C 9 d ! h| { |9 wA y
G G Q G e G
Intelligent Displays Management ?+ vP y 9 V9 W y G J G IQGO E
Joule's Constant ( F B< 9 C d
Kalman Filters 9 C9 v 9 J VQ | f
r
J
Kick-off Drift , O A<: Q G! : FG G aG G
Knot Ot f I
o
Lags in the Control Loop
w w
~wJ A y Qf , p 9 q z MA y G Ih J G
Lapse Rate (=% y
v
Og | W G d
Laser Eye Damage Weapons _ gz y ? qzAC R+zy ?J zS G Q G C
Laser Scanner Projected Displays R+ zy ?J S9 |
Q G ?a tT C 9V 9W y JGP
n o
G J G
Latency (} v f
o o
Latency in Digital Control Systems
w o
?+ }s Qy ~w JA y ?}d ! ,p ( }w y G G C f
o
G
Lateral Control and Response, Basic
w
? * 9 g y Q 9 az y ? < 9 GA S : ,= ! 9 @ ~w JA y
O G I F Gh G G
Aircraft
Latitude V Q gy bL G
|}x
LCD Displays ? zF 9 T y G IQ(z = y G J 9 V9 V
LED Displays A(] zy E f9 = y G O(* G O y G J 9 V9 V
Lift Coefficient h pQy G { |9g |
Lift Force h pQyG I( s
Limited Authority Systems IQa + Ty G IO hOJ CG ?} d! } G
Linear Token Passing Bus ? * R | Q y G J G Q 9 V5 y , a B G Q * Q } A y G h P J 9 ! 9 + = y G { s 9 !
Local North, East, Down Axes ? + z q Ty G h ,? + s QW y G h ,? + y 9 }W y G ? + z JC G Qh 9 J C G
x o
Localiser Coupling Loop h s(C G O OI L GhOR G IhQ f
x
Localizer Guidance System hs (CG OO I O9V QE e9d !
Lock-in Problems and Solutions a O%y G B + = D @ d(z Ih { v9 W |
Long Period Pitch Motion IQA qyG ?z*( _ ?*Q GOJ !: G ? vQA G
Longitude d(a y G bL
w
Longitudinal Control and Response, ?* O9 gy G I QF 9 az y ?< 9 GA S: G h [( ay G ~w JA y G
Basic Aircraft
Longitudinal Stability [ (a yG QG Qt A S: G
LORAN C {* ( ay G i OC G ? I; |
Mach Number N 9| OO f
Magnetic Deviation , T+ _ 9 " jC G a G Q J! : G
Magnetic Dip Angle q
, T+ _ 9 " j C G jh G R y G {+ C G
, T+ _9 " j CG Q+ jA y G
Magnetic Variation w
Manchester bi-Phase Encoding Q(a y G ,F 9 " D y G QA T W! 9 | Q+ qW @
Manoeuvre Command Control IQh9"CG Q|z< ~ww JAyG
Map Displays ? a* QB G J 9 V9 V
Marker Beacons O 9 VQ G J G Q9 " |
Material Dispersion IO9C G BAW @
Mean Aerodynamic Chord , F G ( %y G ,w + |9 " * Oy G Q @ (y G b S(A |
Measured Air Temperature ?S 9 tC G A G (%y G I QG QI ?FQ O
Measurement Matrix in Kalman Filtering
r
f9 C 9 v K+ V Q@ , p S 9 + ty G ?p ( qZ |
Meridian dG h Ry G bL
Meridian Convergency d GhR yG b L H Q9t @
|}y
Meridian Convergency Term d G h R y G bL HQ 9 t @ O I
Micro-machined Vibrating Mass Rate C %C +
IQGO G IRv v Av v G ?v v zv v Av v wv v yG JGP ?v v v v fQv v Tv v yG JGhQv v v v G +@
Gyros v
? t+sO yG ?y6 9<
Miniature Flat Panel LCD Projected v
IQjZCG ?JaTCG ?+I(zyG ?atTCG LCD J9V9V
n o
Displays
MLS ,q * hhQ w+ C G W (= %y G e9 d !
w
Modern Control Theory ? D * O AG ~w JA y G ? * Qd !
Monitored Triplex Systems n
?=sGQ CG ?+C; DyG ?} d!} G
Multi-Layer Coatings J 9t=a yG IOO gA| J 9+z_
r
Multi-Mode Optical Fibre b } " y G O O g A C G jQ Z= y G r + z y G
Multi-Version Software I OOg A CG ?* D Qy G J 9 + HQ <
Multi-Version Software QG OY G IOOg A | J 9 + HQ <
Navigation and Guidance O9 VQ G h ?I ; CG
Navigation Displays ? I; C G J 9 V9 V
NBC Protection ,?v v +v v F(v v y(v v +v v =v v yGh ,?v v *h(v v "v v yG QGQv v \}G #v v | ?v v *9v v s(v v yG
? +F9+} +wyG h
Neglecting Cross-Coupling n
dO9 = ACG fG QAs: G d9G E
Neutral Point ?y O9gAC G ? at" yG
Newton's Second Law of Motion ?v QJ z y P9 D y G #@ ( + ! f(! 9 s
Nichol's Chart P 9+=y G d (w +! ~S Q
Night Viewing Goggles ?+z +zyG ?*D QyG J GQ9d !
x
Notch Filters ,}p zDv yG KVQCG
r
Nuisance Disconnects ? G fR C G {Z q y G J :9 I
Numerical Aperture ? * O Ogy G ? JA q y G
OMEGA 9G +|h C
Operational Modes ?+ z+jW AyG W 9}!} G
Optical Data Bus Systems ? * Q Z= y G J 9 ! 9 + = y G {t ! ? } d ! C
Optical Fibres ? * Q Z < a9 + y C
Optical Fibres, Data Transmission ?* QZ = y G a 9 + y } 9 < J 9 ! 9 + = y G d 9 SQ E
Optical Gyros ? * Q Z= y G J G h Q + @ G
Organic Light Emitting Diodes A( ] zy ?Df9 =yG ?*(] gy G J GO (*GO yG
Pascal d9 wS 9<
|}z
Passive Optical Sensors ?+ = zTy ? * QZ = y QgW A T C
G G JG
p
G
Penetron CRT fh Q A+"+< ( C9wy ? gV (= !
O G C H C
Performance Characteristics } [ 9 ZL A GO G F
w
Phase Advance (a y Ot @ Q G e
Phugoid Motion ? +y(a y ?* Oy ? vQA G Qh G G
Pitch Angle O J! : ? * QG G hG R
Pitch Attitude Command Loop OJ !: h\ Q | Q f
QG G h C Ih
Pitch Rate OJ !: Og | QG G d
w
Pitch Rate Command Control QG OJ !: Og} < ~wJ Ay Q|
G d G C
Pitch Rate Manoeuvre Command QGO J! : O g| 9 " | Q| G d IQ h C
Pitch Response, Basic Aircraft ? * 9 g y Q 9 az y OJ! : ?< 9 GA S
O G I F QG G G
Pitching Moment O J! : R f QG G e
Pitching Moment Coefficient O J! : Rf { |9 g |
QG G e
Pitching Moment Coefficient of ? z |9 v Q 9 a z y O J! : Rf { |9 g |
I F QG G e
Complete Aircraft
Pitching Moment Coefficient of Wing hp Q y Og ! O" f 9 " G z y O J! : Rf { |9 g |
G eG G M QG G e
at Zero Lift
Platform Axes 9I ? Z" C G Qh
o
Precession 9= C n
I QO G
Pressure Altitude 9q @ : b j\ Y Q G
Pressure Altitude, Computation 9 q @ : bj \ ? = S(I
Y Q G
Pressure Error b j] y zaL G
Pressure Sensors b j] y QgW AT | G JG
Pressure Sensors, 'Solid State' Capsule ?= zZ y ?y 9 A ?y (T= v
G G b j] y QgW AT |
JG P G JG
p
Pressure Sensors, Requirements bj] y Qg WA T | 9 = z aA |
G JG J
Primary Flight Displays ?+ S 9 S} ?zI Qy 9 V9 V G G J
Prime Meridian ,T + Q y Ry bL F G dG h G
o v
Projected Large Flat Panel Displays ? at T C Q + = wy ? Ja TC ? + I (z y 9 V 9 W y
n
G I G G G J G
Proportional Plus Derivative 9 tA V O > S9 " @
k
b G G FGR
w
Proportional Plus Derivative Control 9 tA V : O > S9 " A y ~w;
k
b G G FGR G
Proportional Plus Integral { |9 w @ O > S9 " @
k
G FGR
|}{
k w
Proportional Plus Integral Control {|9 w A y G G O F G R > S9 " A y ~w; G
Pulse Broadening in Optical Fibres ? * Q Z= y G a 9 + y }G ,p ? ]= " y G Y 9 T @ G
QFE - Ground Pressure ?+\ Q} G b j\
QNE - Mean Sea Level Pressure QJ = y G K aS i (A T | bj \ b S(A |
Quadruplex Redundancy ?+ f9<Q yG IQp( yG
Quadruplex Systems ?+f9 <QyG ?} d!} G
Quaternions J9 + f 9 < Q y G
n o q
Radio Navigation Aids ?"+gp CG ?*(*OGQyG ?I;Cp G ?}d!C
Raster Display Generation KT C G W( aL ? w= V ? V9 V O+ y ( @
o
Raster Overlay Display Generation KT C G W( aL ? w = V > vG Q@ ? V9 V L9 A ! E
Ratio of Specific Heats ?+ f(" yG I QGQA G ?=T !
Recovery Factor OG OQ A S: G {|9 f
Rectification of Vibration RGR A$: G ~*(t @
Rectification of Vibration, RG RA $: G ~* ( t@ YQ 9 T@ U + * 9 t |
Accelerometers
Redundancy and Failure Survival {W qy G #| A 9 t= y G h IQp( y G
Reliability ?+ s(C( yG
Reliability Shake-Down Testing ? + s ( C (zy , = * QG A y G Q9 = A L: G
Remote Terminal MIL STD 1553B MIL STD 1553B O+g=yG aQayG
n
Ring Laser Gyro , tzA G QR+z yG hQ+F
n
Ring Resonator Fibre Optic Gyro ,tzAG f9!QCp G hP jQZ=yG r+zyG hQ+F
Roll Rate ? FQ IO y G d Og |
w
Roll Rate Command Control ? FQI Oy G d Og| Q |z < ~w JA y G
Roll Response, Basic Aircraft ? * O9 g y G I QF 9 a z y ? F QI Oy G ?< 9 GA S G
Rolling Moment ?F QI OyG eR f
Rudder Function ?pOy G ? q+c h
x o r n
Rugate Dielectric Coatings, HUD J9vgv}vH ^vf ,vF9v<Qv%vwvyG dR9vgvzvy Bv+vFhQz J9+zv_
y
Combiners hq @ QCG S C Q y G ? V9 V
q
Runge-Kutta Algorithms 9 @ (v- H! hQ J 9 + | R QG (L
n r n
Runway Visual Range LQ O C G ? * D Q iO |
Safety and Integrity Requirements ? | ; T y G h f 9 | } G J9 = z a A |
|}|
Sagnac Effect c9 " F 9 S Q C C
Sagnac Interferometer c 9 " F9 S {L G O@ S 9 + t |
Sagnac Phase Shift c 9 " F9 S Q(_ ?IG R E
n
Scene Matching Area Correlation O $9W CG ?t<9 a| , p J 9I 9T CG eR; @
Schuler Pendulum Q y(V d hO "<
Schuler Period Qy( V IQ Ap
n
Schuler Tuning Q y(V ? qyG( |
Sensor Tracking Errors Q gWA T}z y h = A A y G A 9 aL C
x
Servo Actuator [ 6G QR G |C G { jW |
p
Shadow-Mask CRTs {d y G Y9 " s J G P O( C 9 w y G ? gV C > + < 9 ! C
Short Period and Long Period Motion IQ AqyG ?z* (ay Gh IQAq yG IQ+Z ty G ? vQA G
Short Period Motion in Pitch Plane Q G O J! :G i ( A T | ,p I Q + Zt y G I Q A q y G ? v Q I
Short Period Motion in Yaw Plane L G Q g ! :G i ( A T | ,p I Q + Zt y G I Q A q y G ? v Q I
Side Force ?+=!9@ G I(t yG
Side Slip, Use of Rudder ? p Oz y , = ! 9 @ G b: R! : G eG O MA S G
Single Mode Optical Fibre b} " y G jO 9 I} G jQ Z= y G r + z y G
Snell's Law {" S f(! 9 s
w
Software - Flight Control ?z I Qy 9 < ~ wJ A y G J 9 + HQ <
Specific Force ? +f( "yG I(t yG
Specific Heat of Air at Constant bj] y G J (= C O " f A G ( %z y ? + f (" y G I Q G QA G
Pressure
Specific Heat of Air at Constant ~G AG J (= C O " f AG ( %z y ?+ f (" y G I Q G QA G
Volume
Speed of Sound, Derivation J (Z yG ?f QS b 9tAV G
Speed of Sound, Variation with Y9 q@Q: G h| J (Z yG ?fQ S Q+j @
w
Altitude
Spiral Instability , = y ( z y G QG Q tA S: G eO f
Stability Axes QG Qt A S: G Qh9 I
Stable Platform Systems I Q t A TC G ? Z" C G ? } d ! C
Stable Platforms I Q t A T C G J 9 Z" C G
Stagnation Point O(v QyG ?a t!
STANAG Data Bus STANAG J9!9+=yG {s9!
|}}
Standard Atmospheric Pressure j Q + C G j( @ 9 g G b j] yG
Standby Display Instruments, Solid G AG JGP + + G V G I % C
?=zZ y ?y9 ? _9 A I: Qgy R F
State
State Coefficient Matrix AG ?y9 ( {|9 g| ?p qZ |
State Vector Matrix AG & ?y9 ( G A| ?p qZ |
Static Air Temperature # G A G(% G I QG
v 9 Ty yQO QI ?F
Static Air Temperature, Computation # G AG( % G IQG
v9T y y QO (
Q I ?F ?= S I
Static Margin f( G $ w Ty X |9
Static Pressure # G G
v9 Ty b j] y
Stealth + BG , bG G
? q Q A S:
Stick Force/g g/ G I( 9Z gy s
n o
Strap Down System Computing + G CG e " G (
B =DA y ~wJ 9 d y ?= S I
n o
Strap-Down Equivalent Stable Platform + G
B =DAy ?} wJCG CG I C G " CG
?8p9w Q tAT ?Z
n o
Strap-Down Systems + G CG !} G
B =DAy ? }wJ ?} d
Stratopause R( ( G G < @ Q A S:
Stratosphere ) , G j(@ G a G ( + ( G G
t=a y ;j y Q qS @ QAT y
Structural Resonance Modes j (+" G # +! G W !C =y Qy 9}
Symbol Generation R( G + ( |Q y O y @
TACAN + + G *(@G Cp G
? w Aw Ay ? ?I ;
w
Tactile Control Panels + G G MG ( C
? T} z y ~w JA y y
Tailplane Contribution * G e% E
{ Py K aS 9 S
Tailplane Efficiency Factor * G IA
{ Py K aS 9 q v {|9 f
Tailplane Volume * G { Py K aS ~ GI
Terrain Characteristic Matching *Q G F
U 9] Ay [ 9Z L ? t<9a |
Terrain Contour Navigation *Q G %
U
p
9 ]A y ? = F ? I; |
Terrain Following Autopilot *QU CG [ G Q + G
9] Azy h=A A 6 9 ay
Terrain Reference Navigation *Q G ^ I CG CG
U 9]Ay f O} Ag ?I ;
Time Division Multiplexing ," G + G o |Ry ~ Tt A y r f9 ] @
Total Air Temperature + G A G(% G I QG
? zwy yQO QI ?F
Total Field of View \ G *D G d H wy ? Qy 9
Total Pressure \ G Gwy b j] y
|}~
Total Temperature Sensor + A
? zwy G I QGQ G ?F QO QgW AT |
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609
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70 644 :j(GyG {+GTAyG ?"Gy
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614 :?*(GyG J9!9+=yG dG(J|
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329 89 :fGQ+ayG bL &GA|
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132 ,127 662 ,553 ,541
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596 :IQGQJyG ?FQO QgWAT| 718
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270 :,}sQyG J9!9+=yG {s9!
659 :,!O}yG fGQ+azy ?+yhOyG ?}d"}yG
685 :ARINC 429 J9!9+=yG {s9! v v
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685
114 :#+gyG ?zt}y ,y6G QRG|}yG
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,984 ,686 ,685 ,683 ,682
703 ,701 262 :,y6G fGR(}yG >Tv v v
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703 :?v +v wv zv }v yG ?v *(v Gv yG ?v +v F9v ]v qv yG ?v Tv S|v }v yG
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705 :)2007 :V9v*QvyG( ,v<QvgvyG ?v}vtvyG Qv}v@|v|
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704 :?*R|QyG JGQ9V5y ,aMyG 300 :S;<: QC||
706 :,ZMWyG Q@(+=}wyG J9!9+< {s9! 381 :JGQF9azy ?+wz}yG ?TS|}yG
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355 ,352 ,331
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