# Lateral Navigation > Use when you must compute the lateral navigation (LNAV) guidance quantities of a flight management system between and along the flight plan legs: derive the great-circle track angle and distance from the current position to the next waypoint, determine the cross-track error to the active leg with its sign, compute the track angle error and the intercept heading that recaptures the desired track at a fixed intercept angle, size the turn anticipation distance before the fly-by waypoint from the speed and bank angle, and judge the along-track distance remaining on the leg. Produces the leg track and distance, the cross-track error, the intercept heading, and the fly-by versus fly-over transition point that gate FMS lateral guidance. Trigger: lateral navigation, lnav, cross-track error, track angle error, great-circle track, turn anticipation, fly-by waypoint, fly-over waypoint, intercept heading, fms lateral guidance. - Skill: `ashfordeou/lateral-navigation` (Agent Skill, multi-file: 3 files) - Install (CLI): `npx skillmds@latest add ashfordeou/lateral-navigation` - Raw SKILL.md: https://api.skillmd.com/api/skills/ashfordeou/lateral-navigation/raw - Safety review: pending - Works with: Claude Code, Claude.ai, OpenAI Codex - Category: Coding & Dev Tools - License: Apache-2.0 - Author: ashfordeOU (https://skillmd.com/u/ashfordeou) - Updated: 2026-09-17 - Page: https://skillmd.com/skills/ashfordeou/lateral-navigation --- # FMS Lateral Navigation (avionics/flight-management/lateral-navigation) Use when the task is the lateral track guidance math of a flight management system between the flight plan legs: the great-circle geometry from the current position to the next waypoint, the deviation of the aircraft from the active leg, and the turn that carries it through the waypoint onto the next leg. This leaf implements the LNAV guidance quantities in pure Python, stdlib only: track and distance to the waypoint, cross-track error, track angle error, intercept heading, turn anticipation distance, and the fly-by versus fly-over transition verdict. It is the lateral counterpart of the sibling vertical- navigation leaf (which owns the VNAV descent path) and consumes legs built by flight-planning; speed and cost policy come from performance- computation. ## Domain quick reference - Spherical earth: great-circle formulas on a sphere of radius R = 6371000 m, inputs in radians; all angles are radians, distances meters, speed m/s, bank angle degrees. - Initial great-circle track from A to B: track = atan2(sin(dLon) * cos(latB), cos(latA)*sin(latB) - sin(latA)*cos(latB)*cos(dLon)), normalized to [0, 2*pi). The track of a leg between two points on the same parallel is not the parallel direction: (50N, 0E) to (50N, 10E) starts at 86.17 deg because the arc bulges toward the pole. - Distance: d = R * acos(sin(latA)*sin(latB) + cos(latA)*cos(latB)* cos(dLon)), with the acos argument guarded to [-1, 1]; identical points give 0 m while the direction functions raise ValueError. - Cross-track error: xtk = asin(sin(d_AP/R) * sin(track_AB - track_AP)), returned as meters with a sign element. The equation as specified is positive when the position bears LEFT of the outbound leg (bearing from the leg start to the position smaller than the leg track angle); a display that defines positive = right of track negates the value. - Along-track: atd = acos(cos(d_AP/R) / cos(xtk)) * R measured from A, projected with the spherical law of cosines; the distance to go to the waypoint B is max(0, leg_length - atd). - Track angle error: tke = wrap(track_desired - track_current) to [-pi, pi), positive when a right turn (increasing track) closes the error. wrap maps any angle into [-pi, pi). - Intercept: with tke beyond the fixed intercept angle (module constant 30 deg), the guidance heading is track_desired - sign(tke) * limit, recapturing the track at the fixed intercept angle from the closing side; inside the limit the aircraft holds the desired track. - Turn anticipation: the turn at a fly-by waypoint starts d_ant before the waypoint, d_ant = R_turn * tan(|delta_track| / 2) with R_turn = v^2 / (g * tan(bank)); module default bank 25 deg. A zero track change is flown fly-over: d_ant = 0, turn at the waypoint. - DO-178C frames the FMS function development context; the relations above are standard spherical trigonometry, summary-only. ## Workflow 1. Take the active leg endpoints A, B and the aircraft position P from the flight plan (flight-planning builds the legs). 2. Get the guidance track and the leg length with great_circle_track and great_circle_distance. 3. Measure the deviation from the leg with cross_track_error (meters plus sign) and the position along it with along_track_distance (distance to go to the waypoint B). 4. Compare the aircraft track against the leg with track_angle_error and get the capture course with intercept_heading when the aircraft has drifted off the leg. 5. Size the turn into the next leg with turn_anticipation_distance from the true airspeed and the track change at the waypoint, then classify the transition with waypoint_transition (fly-by versus fly-over and the turn start point). 6. Collect the quantities in the lnav_guidance summary dict for the guidance consumer. 7. Confirm the deterministic checks with the contract test scripts/test_lateral_navigation.py. ## Worked example Leg from A (50N, 0E) to B (50N, 10E), aircraft at P (51N, 5E) tracking 040 deg at 90 m/s, track change 30 deg at B, bank 25 deg. - great_circle_track(A, B) = 1.5039 rad = 86.166 deg. The leg is not flown along the 50N parallel: the great circle bulges north, so the initial course is 3.83 deg north of east (the parallel shortcut 10 deg * cos(50) * R = 714.7 km would hold only for a rhumb line). - great_circle_distance(A, B) = 714,214 m (714.2 km). - cross_track_error at P: +99,239 m with sign +1. P bears left of the outbound leg (bearing A to P is 70.7 deg, less than the 86.2 deg leg track), and the specified equation is positive there. The mirror point (49N, 5E) on the right side gives -123,151 m, sign -1; the magnitudes differ because the great-circle arc runs north of the 50N parallel, closer to 51N than to 49N. - along_track_distance to B from P: 357,107 m (357.1 km). - track_angle_error: tke = wrap(86.166 - 40) = +46.166 deg, a right turn of 46.2 deg onto the leg. intercept_heading returns 56.166 deg (86.166 - 30), the fixed-angle capture course. - turn_anticipation_distance(90, 30 deg, 25 deg): turn radius 90^2 / (9.80665 * tan 25 deg) = 1771.3 m and d_ant = 1771.3 * tan(15 deg) = 474.6 m. waypoint_transition classifies the leg as fly_by with the turn starting 474.6 m before B; a straight continuation (0 deg change) would be fly_over with the turn at B. ## Verification - Confirm great_circle_distance(A, B) returns 714,214 m and great_circle_track(A, B) returns 1.5039 rad (86.166 deg). - Confirm cross_track_error at (51N, 5E) returns +99,239 m with sign +1 and the mirror (49N, 5E) the opposite sign, and that on-track points (the waypoint B, points on the same meridian) return zero. - Confirm along_track_distance returns 357,107 m at P, the full leg length at A, and zero at or beyond B. - Confirm intercept_heading steers toward the leg: 56.166 deg from a 40 deg current track, 116.166 deg from 140 deg, and the desired track itself when the error is within the 30 deg limit. - Confirm turn_anticipation_distance(90, 30 deg, 25 deg) equals 474.6 m and scales with the square of speed. - Confirm every out-of-range latitude, non-finite value, non-positive speed, bank outside (0, 90) deg, |delta_track| at or beyond pi, and identical leg endpoint raises ValueError. - Run the contract test offline: python3 scripts/test_lateral_navigation.py (33 tests, deterministic). ## Related leaves - avionics/flight-management/flight-planning: builds and checks the flight plan legs this leaf guides along. - avionics/flight-management/vertical-navigation: the VNAV descent path, the vertical counterpart of this lateral leaf. - avionics/flight-management/performance-computation: ECON speed and cost policy that set the speed input for the turn anticipation. ## Pitfalls - Taking the rhumb-line shortcut: a leg along a parallel is not flown along the parallel - (50N, 0E) to (50N, 10E) opens at 86.17 deg because the great circle bulges toward the pole, and the parallel distance 10 deg * cos(50) * R = 714.7 km is not the 714,214 m great-circle distance. - Misreading the cross-track sign: the specified equation is positive when the position bears LEFT of the outbound leg, so a display that defines positive as right of track must negate the value; magnitudes are also asymmetric on mirror points (99,239 m left at 51N versus 123,151 m right at 49N) because the arc runs closer to 51N. - Mixing units: distances are meters, angles radians, speed m/s, and only the bank angle is degrees - a bank in radians or a latitude in degrees silently corrupts the turn radius and track formulas. - Holding the desired track outside the intercept limit: with the track angle error beyond the fixed 30 deg intercept angle the guidance captures at track_desired - sign(tke) * 30 deg, not at the desired track itself, and tke must be wrapped to [-pi, pi) first. - Assuming every waypoint is a fly-by: a zero track change is flown fly-over with d_ant = 0 and the turn at the waypoint; anticipation only applies when the track actually changes, with d_ant = R_turn * tan(|delta_track| / 2) growing with the square of speed. - Forgetting the identical-point rule: great_circle_distance returns 0 m for identical endpoints but the direction functions raise ValueError there, and out-of-range latitudes, non-positive speed, bank outside (0, 90) deg, or |delta_track| at or beyond pi also raise - check leg validity before guiding on it. ## Behavior contract (gate 3) Run the deterministic contract test (stdlib unittest, offline): python3 scripts/test_lateral_navigation.py The test covers the worked great-circle leg (track 86.166 deg, 714.2 km), track normalization and reversal on symmetric legs, known distances (quarter and half equator, meridian degrees), the cross-track sign and magnitude at (51N, 5E) and its mirror, zero cross-track on leg, the along-track distance to go at the leg start, midpoint and beyond the waypoint, track angle error wrapping, the fixed-angle intercept capture both sides of the track and across 0 deg, the turn anticipation contract at 90 m/s with a 30 deg change at 25 deg bank, the fly-by versus fly-over classification, the lnav_guidance summary consistency, and ValueError rejection of non-physical inputs. ## Compliance - Standards referenced, not reproduced: DO-178C (RTCA) frames the development of flight management functions; the great-circle relations above are standard spherical trigonometry, summary-only per standards-map.yaml. - compliance: STANDARDS-REF, gated: false.