Path correction of a vehicle relative to projected magnetic flight path

Abstract

A method controlling a vehicle moving along a guideway for magnetic flight is provided. The method includes receiving, at a controller, data generated by one or more sensors. The controller receives data relating to a projected flight path of the vehicle. The controller determines an altitude of the vehicle relative to the guideway for magnetic flight and determines a speed of the vehicle relative to the guideway for magnetic flight. The controller then calculates a deviation of the vehicle from the projected flight path. The controller adjusts the altitude of the vehicle relative to the guideway for magnetic flight by changing certain aspects of a magnetic flight suspension system causing the vehicle to more closely track the projected flight path.

1 .- 25 . (canceled) 
     
     
         26 . A method controlling a vehicle moving along a guideway for magnetic flight, the method comprising:
 calculating, at the controller, a deviation of the vehicle from a projected flight path;   calculating, at the controller and based at least on the deviation, a state space of the vehicle;   transmitting, from the controller, data corresponding to the state space, the data used to change an angle of at least one of a plurality of levitation generators;   adjusting the angle of at least one of the plurality of levitation generators, wherein the plurality of levitation generators are operable to adjust at least one of altitude, roll, and/or pitch of the vehicle.   
     
     
         27 . The method of  claim 26 , wherein the state space is calculated using one or more of an altitude controller, a pitch controller, and a roll controller. 
     
     
         28 . The method of  claim 27 , wherein the altitude controller, pitch controller, and roll controller are portions of a state space controller. 
     
     
         29 . The method of  claim 27 , further comprising using the altitude controller to calculate a change in an angle of at least one of the plurality of levitation generators. 
     
     
         30 . The method of  claim 27 , further comprising using a pitch controller to calculate a change in an angle of at least one of the plurality of levitation generators. 
     
     
         31 . The method of  claim 27 , further comprising using a roll controller to calculate a change in an angle of at least one of the plurality of levitation generators. 
     
     
         32 . The method of  claim 27 , further comprising using an altitude controller to calculate a change in commanded velocity of the vehicle. 
     
     
         33 . The method of  claim 27 , further comprising using a pitch controller to calculate a change in commanded velocity of the vehicle. 
     
     
         34 . The method of  claim 27 , further comprising using a roll controller to calculate a change in commanded velocity of the vehicle. 
     
     
         35 . The method of  claim 26 , further comprising calculating a change in an angle of at least one of the plurality of levitation generators. 
     
     
         36 . The method of  claim 26 , further comprising determining a difference of the projected flight path and a current position of the vehicle relative to the guideway. 
     
     
         37 . The method of  claim 26 , further comprising determining the deviation in three dimensions, and using the deviation in three dimensions to determine roll, altitude and pitch. 
     
     
         38 . The method of  claim 26 , further comprising changing an angle of a first one of the plurality of levitation generators independent of changing an angle a second one of the plurality of levitation generators. 
     
     
         39 . A system configured to control a vehicle moving along a guideway for magnetic flight, the system comprising:
 a plurality of levitation generators;   at least one controller comprising at least one processor unit and operably coupled to at least one of the plurality of levitation generators, the at least one controller configured to:
 receive data relating to a projected flight path of the vehicle; 
 calculate a deviation of the vehicle from the projected flight path; 
 calculate a state space of the vehicle based at least on the deviation; 
 transmit data corresponding to the state space, the data used to change an angle of at least one of the plurality of levitation generators; and 
 adjusting the angle of at least one of the plurality of levitation generators, wherein the plurality of levitation generators are operable to adjust at least one of altitude, roll, and/or pitch of the vehicle. 
   
     
     
         40 . The system of  claim 39 , further comprising a plurality of sensors operable to detect vehicle position relative to the guideway. 
     
     
         41 . The system of  claim 40 , wherein at least one of the plurality of sensors is an ultrasonic sensor. 
     
     
         42 . The system of  claim 40 , the plurality of levitation generators having at least one of the plurality of sensors associated therewith and the at least one controller further configured to: wherein a plurality of sensors operable to detect vehicle position relative to the guideway. 
     
     
         43 . The system of  claim 40 , further comprising: receiving data generated by at least one of the plurality of sensors. 
     
     
         44 . The system of  claim 40 , further comprising: determining an altitude of the vehicle relative to the guideway. 
     
     
         45 . The system of  claim 44 , further comprising: determining a speed, using at least one of the plurality of sensors, of the vehicle relative to the guideway for magnetic flight.