EP2407953A1 - Enhanced piloting assistance method for an aircraft - Google Patents
Enhanced piloting assistance method for an aircraft Download PDFInfo
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- EP2407953A1 EP2407953A1 EP11005138A EP11005138A EP2407953A1 EP 2407953 A1 EP2407953 A1 EP 2407953A1 EP 11005138 A EP11005138 A EP 11005138A EP 11005138 A EP11005138 A EP 11005138A EP 2407953 A1 EP2407953 A1 EP 2407953A1
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- safety
- sensor
- cordon
- field
- terrain
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- 238000005259 measurement Methods 0.000 claims description 14
- 238000010276 construction Methods 0.000 claims description 10
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- 238000004088 simulation Methods 0.000 claims description 3
- 238000009825 accumulation Methods 0.000 claims 1
- 238000012544 monitoring process Methods 0.000 description 7
- 238000001514 detection method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000010006 flight Effects 0.000 description 4
- 238000004422 calculation algorithm Methods 0.000 description 3
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0073—Surveillance aids
- G08G5/0086—Surveillance aids for monitoring terrain
Definitions
- the invention relates to the general technical field of flight aid for aircraft at low altitude.
- this type of flight configuration often close to the obstacles and the ground, it is necessary to have reliable safety margins when the pilot follows a trajectory manually or with the aid of the autopilot system.
- These margins representative of the distance separating the aircraft from the ground, are displayed on a screen for example in the form of a safety cordon and are vital, especially during low visibility flights.
- the present invention relates more particularly to low-altitude navigation and more precisely to monitoring terrain at variable altitudes continuously, with an aircraft of the genus rotorcraft, helicopter for example, so as to avoid collisions with the terrain or with obstacles.
- the helicopters try to fly as close to the terrain while avoiding a collision with the said terrain.
- helicopter pilots fly on sight.
- the known means only allow this kind of mission to be carried out in conditions of good visibility or poor visibility, but at altitudes that are not adapted to all missions. These altitudes are generally related to the information of a terrain database with possible obstacle referencing.
- Another family relates to methods using active telemetry sensors. These methods have the disadvantage of not allowing anticipation of the turns to be made and not providing a long-term trajectory predictive aspect.
- a method using telemetric active sensors is for example described in the document FR2886439 . The method described, however, requires flying at a high altitude in the event of reduced visibility. This method is also confronted with problems of reflection of the waves inherent to the telemetric sensors.
- these methods are very dependent on the quality of the telemetry sensor used. For example, these sensors have variable ranges (from 500 meters to 2000 meters), detect cables in LIDAR mode but not all in RADAR mode and detect all other obstacles in RADAR mode whatever the weather but not in LIDAR mode. These methods lead to increase the stress and the workload of the pilot.
- an autopilot system for determining a safety curve remote from the aircraft, plus precisely with the aid of its speed vector, a distance corresponding to the minimum distance that must be maintained between the aircraft and a detected terrain.
- the described system also determines upper and lower curves located on either side of the safety curve. Depending on the appearance of obstacles referenced positively or negatively with respect to the safety curve, between the lower and upper curves, the system calculates angles to stitch or pitch up compatible with the maneuverability of the aircraft.
- the document is also known FR2712251 , which describes a method of assisting an aircraft pilot for low-level flights by detecting dangerous obstacles in terrain.
- the method is based in particular on the maneuverability of the aircraft from which is calculated a fictitious curve related to the aircraft and associated with an optimal theoretical trajectory of crossing an obstacle in a vertical plane. This optimal theoretical path of crossing is recalculated in each angular sector of the field of view taking into consideration the highest obstacle detected for example by a telemetric sensor.
- the document FR1374954 describes the combination of a radar and a computer to determine at any time the situation of an aircraft in relation to the ground and to order orders to stitch or pitch up.
- the document US5892462 describes an adaptive-type terrain collision avoidance system. Parameters are taken into account from different sources to consolidate a terrain avoidance algorithm, including telemetry measurements or data from a mapping database, without aiming to construct security cordon on angular sectors.
- GNSS GNSS means HFoM (Horizontal Figure of Merit) or VFoM (Vertical Figure of Merit) giving indications of horizontal and vertical measurement errors are often not taken into account in trajectory calculations for low-level flights.
- HFoM Horizontal Figure of Merit
- VFoM Very Figure of Merit
- An object of the invention is to provide a piloting aid does not have the disadvantages mentioned above.
- Another object of the invention is to provide a steering aid particularly suitable for rotorcraft in general and helicopters in particular.
- Yet another object of the invention is to provide a particularly useful flight control aid to fly closer to the field and obstacles, while not altering the margins of safety in flight.
- the method according to the invention provides for displaying the field safety cordon in at least a first mode of operation.
- the method according to the invention provides for displaying the hybrid safety cordon in a second mode of operation.
- the method according to the invention provides to display a hybrid field monitoring cord in at least a third mode of operation, said hybridized field monitoring cord being constructed with the sensor safety cordon and with the field safety cordon in the event of absence or loss of measurements of the active telemetric sensor or in the case of a field of vision not covered by said active telemetric sensor.
- the method according to the invention provides for displaying the sensor security cordon in at least one additional operating mode.
- the method according to the invention provides, when the sensor safety cordon and the field safety cordon are devoid of construction errors, to select an operating mode from among the first and second modes of operation. operation.
- the method according to the invention provides, when the sensor security cordon and the field safety cordon are devoid of construction errors, to select a mode of operation among the first, second and third operating modes.
- the method according to the invention provides for checking the operating status of the means of location and integrity of the field database establishing the safety cordon field, to check the operating status of the active sensor telemetry and GNSS / AHRS system establishing the sensor safety cordon, to display the sensor safety cordon in the event of failure of the locating means or of the corruption of the field database and displaying a field alarm in the event of failure of the means of localization or of corruption (absence) of the field database accumulated with a sensor failure telemetry active.
- the method according to the invention provides for verifying the operating state of the locating means and the integrity of the field database establishing the field safety cordon, to check the operation of the sensor telemetry and AHRS / GNSS system establishing the sensor safety cordon, and displaying the field safety cordon in the event of a failure of the active telemetric sensor or the GNSS / AHRS system.
- the method according to the invention provides for using a state vector representing the information from on-board navigation sensors, to construct the field safety cordon and the sensor safety cordon.
- the method according to the invention provides for displaying a speed vector symbolizing the aircraft and its relative positioning with respect to the displayed bead.
- the method according to the invention provides for constructing a three-dimensional trajectory, predictive of the terrain monitoring using a simulated state vector, the terrain database and a two-dimensional road drawn by the pilot.
- the method according to the invention provides for recording the three-dimensional trajectory as well as the terrain data from the simulation so as to follow said trajectory by an autopilot system.
- the method according to the invention provides for displaying the field safety cordon or the hybrid safety cordon, built in real time from the field database and measurements of the active telemetric sensor. to control the proper operation of the autopilot system.
- the method according to the invention provides for using a field database comprising a database of obstacles.
- the invention has the advantage of being able to provide a predictive aspect of the terrain encountered.
- Another advantage of the invention is related to the possibility in case of failure of the active telemetric sensor, to construct a security cordon from a field database replacing the loss of measurements of said sensor.
- Yet another advantage of the invention is related to the possibility of anticipating the maneuvers in turn phases. Because of its range, and field of view (FOR: Field Of Regard), a telemetry sensor does not have the ability to turn at a high roll to anticipate the elevation above terrain on areas that the aircraft will "discover".
- An additional advantage of the invention is related to the securing of obstacle detection thanks to the active telemetric sensor, in the event of failure or lack of precision of the terrain database (with or without an obstacle database) . Even cables or other objects that are not referenced or incorrectly referenced by the terrain database are detected and thus allow you to fly more safely.
- the pilot can usefully check the proper operation of the system with an autopilot. This verification is done by checking the position of the helicopter's speed vector in relation to the safety cordon displayed.
- the invention allows the pilot to choose between different modes of operation.
- the pilot can thus choose, depending on the nature of his mission or weather conditions, the most appropriate piloting assistance mode to perform the flight at low or very low altitude.
- the figure 1 is a block diagram of an exemplary implementation of the piloting aid method according to the invention.
- This piloting aid method for an aircraft provides for the use of measured data from at least one active telemetric sensor A to construct a sensor safety cordon B for the avoidance of terrain and obstacles.
- telemetric active sensor must be understood in a broad and non-limiting manner, encompassing any means of remote image capture, in particular 3D or stereoscopic imagers.
- the flight aid method for an aircraft constructs a terrain security cordon D using at least one terrain database C.
- the latter comprises for example an obstacle database C '.
- the construction of the terrain security cordon D and the security cordon B is carried out using specific and known algorithms and a state vector VE or a simulated state vector VE '.
- the state vectors VE and VE ' are based on the set of navigation parameters such as acceleration a, velocity v, information from the AHRS (attitudes: roll, pitch and yaw) and GNSS ( position: Latitude, Longitude, MSL altitude and horizontal and vertical errors: HFoM and VFoM).
- This technical process also defines and calculates angular sectors w on a field of view FOR facing the pilot.
- This method then builds, for at least a portion of the angular sectors w, a hybrid safety cord E, which takes for each angular sector w concerned, the highest of the safety sensor B and security cordon D.
- This technical process then displays, using a screen F, one of the cords comprising the hybrid safety cord E, the safety cordon D and the safety cordon B.
- the displayed cord is preferably superimposed to the angular sectors w of the FOR field of view.
- the method of the invention displays the field safety cordon D in at least a first operating mode M1.
- the method of the invention displays the hybrid safety cord E in a second mode of operation M2.
- the method of the invention displays a hybridized field-monitoring cord ST in at least a third mode of operation M3.
- the ST Hybrid Field Tracking Cord is constructed using the technical process with Sensor Safety Cord B and Field Safety Cord D in the event of absence or loss of measurements of Telemetric Active Sensor A or in case of field of vision FOR not covered by said active sensor telemetric A.
- the technical method displays the sensor safety cordon B in at least one additional operating mode.
- the figure 2 is a logic diagram illustrating the steps of an exemplary implementation of the invention.
- the pilot it is possible for the pilot to select various modes of operation. The choice of one or the other of these modes depends in particular on the nature of the mission to be carried out, the relief and the climatic conditions.
- the technical method selects an operating mode from among the first M1 and second M2 operating modes.
- the technical method selects a mode of operation among the first M1, second M2 and third M3 operating modes.
- the technical method verifies the operating state of the GNSS locating means and the integrity of the terrain database C establishing the field safety cordon D, and checking the operating state of the active sensor telemetry A and GNSSIAHRS assisting in the construction of the B sensor safety cordon.
- the method according to the invention displays the sensor security cordon B in the event of failure of the means of locating or of the corruption of the terrain database C and displays a "field" alarm in the event of failure of the locating means or C cumulative database database corruption with a failure of the active sensor telemetric A.
- the method according to the invention verifies the operating state of the GNSS locating means and the integrity of the terrain database C establishing the field safety cordon D, verifies the operation of the sensor Telemetry active A and GNSS / AHRS establishing the sensor safety cordon B, and displays the safety cordon D, in case of failure of the active telemetric sensor A or the GNSS / AHRS system.
- the method according to the invention uses a state vector VE representing information from on-board navigation sensors, to construct the terrain safety cordon D and the sensor safety cordon B.
- the method of the invention displays a velocity vector V symbolizing the aircraft and its relative positioning with respect to the displayed cord and with respect to the terrain T. This is apparent from the Figures 3 to 6 .
- the method according to the invention constructs a three-dimensional trajectory, predictive of the terrain tracking using a two-dimensional route drawn by the pilot, the terrain database C and a simulated state vector ( VE ') for the entire road.
- the technical process records the trajectory in three dimensions as well as the data relating to the terrain resulting from the simulation, so as to follow said trajectory by a control system with automatic or manual controls.
- the technical method displays the field safety cordon D or the safety hybrid cable E, built in real time from the terrain database C and the measurements of the active telemetric sensor A, for a useful and effective control of the proper operation of the autopilot system.
- the method uses a terrain database C including a database of obstacles C '.
- the figure 3 represents an example of ground security cordon D constructed according to the method according to the invention and displayed on a screen.
- the terrain security cordon D is constructed from at least one terrain database C and obstacles C '.
- the terrain and the terrain T are displayed simultaneously with the terrain safety cordon D.
- the velocity vector v is also displayed.
- the terrain database C if necessary supplemented with the obstacle database C ', also has a given level of security.
- a smoothing (smoothing algorithm) and an addition proportional to the error margins provided by said terrain database C make it possible to increase the height of the terrain safety cordon D.
- Information from a GNSS such as the HFoM or the VFoM can also be used for this purpose.
- the figure 4 represents an example of security cordon B, built according to the method of the invention and displayed on a screen.
- the sensor safety cordon B is constructed by this technical process from measurements made by an active telemetric sensor A.
- the latter is for example a LIDAR or RADAR rangefinder.
- Other three-dimensional obstacle sensors are employed in embodiments of the invention.
- the sensor safety cordon B makes it possible to get closer to the terrain T and obstacles.
- the figure 5 represents an example of hybrid safety cord E, built according to the method of the invention and displayed on a screen.
- the hybridized safety cord E is constructed from at least one terrain database C and obstacles C ', completed and / or modified if necessary with information from the active sensor rangefinder A.
- This active sensor telemetric A detects for example a mast 1 in an angular sector w1 and the method of the invention enhances the safety cordon D field in this angular sector w1. It is the same for the method of the invention to replace in the relevant angular sector w1, the safety cordon D field by the security cordon sensor B. This corresponds for example to a case where obstacles are not listed in the bases of data C and C '.
- the angular sectors w, w1 defined and calculated by the method of the invention are not illustrated on the figure 5 only for didactic purposes to understand the construction of a cord and are not displayed on a screen in the embodiments of the invention.
- the operations of modifying or complementing the databases C and C ', or alternatively replacing a portion of the security cordon D in certain angular sectors w1 by a security cordon B, are performed by a mission calculator managing the database (certified or not). This mission calculator is integrated into the embedded avionics system.
- the field safety cordon D is completed according to the method of the invention with the information of the active sensor telemetric A if they are available. If a FOR field of view for one of the security cords B, D is greater than the other, this is the most extensive security cordon that will be displayed in the angular sectors w concerned. The driver thus has a default cord in certain angular sectors w.
- an advantage is that the invention does not use the active telemetric sensor A, which can provide false echoes in some cases and be detectable.
- the figure 6 shows an example of a hybrid field monitoring cord ST constructed according to the method according to the invention and displayed on a screen.
- the ST Hybrid Field Tracking Cord is constructed from the Sensor B Safety Cord of the figure 4 and the field security cordon D of the figure 3 .
- the FOR field of view for the active telemetric sensor A does not cover all of the angular sectors w covered by the safety cordon D. Thus, the latter will be displayed outside the field of view FOR of the active telemetric sensor.
- the sensor safety cordon B which is closest to the field, is displayed first, and if there is no or no information from the active range sensor A, the field safety line D is displayed.
Abstract
Description
La présente demande est issue de la demande de brevet
L'invention se rapporte au domaine technique général de l'aide au pilotage pour aéronef à basse altitude. Dans ce genre de configuration de vol, souvent au plus près des obstacles et du sol, il convient de disposer de marges de sécurité fiables, lorsque le pilote suit une trajectoire manuellement ou à l'aide du système de pilotage automatique. Ces marges, représentatives de la distance séparant l'aéronef du terrain, sont affichées sur un écran par exemple sous forme de cordon de sécurité et revêtent un caractère vital, notamment lors de vols à faible visibilité.The invention relates to the general technical field of flight aid for aircraft at low altitude. In this type of flight configuration, often close to the obstacles and the ground, it is necessary to have reliable safety margins when the pilot follows a trajectory manually or with the aid of the autopilot system. These margins, representative of the distance separating the aircraft from the ground, are displayed on a screen for example in the form of a safety cordon and are vital, especially during low visibility flights.
La présente invention concerne plus particulièrement la navigation à basse altitude et plus précisément le suivi de terrain à altitudes variables en continu, avec un aéronef du genre giravion, hélicoptère par exemple, de manière à éviter des collisions avec le terrain ou avec des obstacles.The present invention relates more particularly to low-altitude navigation and more precisely to monitoring terrain at variable altitudes continuously, with an aircraft of the genus rotorcraft, helicopter for example, so as to avoid collisions with the terrain or with obstacles.
Les abréviations usuelles suivantes sont utilisées ci-après :
- LIDAR (« Light Détection And Ranging ») : détection et télémétrie par la lumière,
- RADAR (« Radio Détection And Ranging ») : détection et télémétrie radio,
- AHRS (« Attitude and Heading Referential System »): système de reference de cap et d'attitudes,
- GPS (« Global Positioning System ») : système de positionnement global,
- GNSS(« Global Navigation Satellite System ») : système de positionnement par satellites (incluant la solution GPS),
- FOR (« Field Of Regard ») : champ visuel (angle d'ouverture de la fenêtre d'acquisition),
- MSL (« Mean Sea Level ») : niveau d'altitude moyen de la mer,
- WGS (« World Geodetic System ») : système de référencement mondial de l'altitude,
- HFoM (« Horizontal Figure of Merit ») : erreur de position dans le plan horizontal,
- VFoM (« Vertical Figure of Merit ») : erreur de position dans le plan vertical.
- LIDAR ("Light Detection And Ranging"): detection and telemetry by light,
- RADAR (Radio Detection And Ranging): radio detection and telemetry,
- AHRS ("Attitude and Heading Referential System"): a reference system for heading and attitudes,
- GPS ("Global Positioning System"): global positioning system,
- GNSS ("Global Navigation Satellite System"): satellite positioning system (including GPS solution),
- FOR ("Field Of Regard"): visual field (opening angle of the acquisition window),
- MSL (Mean Sea Level): mean altitude level of the sea,
- WGS ("World Geodetic System"): global altitude referencing system,
- HFoM ("Horizontal Figure of Merit"): position error in the horizontal plane,
- VFoM ("Vertical Figure of Merit"): Position error in the vertical plane.
Par exemple lors des évacuations de blessés ou lors de vols à basse altitude sous une couche de nuages, les hélicoptères essaient de voler au plus près du terrain tout en évitant une collision avec ledit terrain. Afin de réaliser du vol contour basse altitude et d'éviter les collisions avec le terrain, les pilotes d'hélicoptères volent à vue. Les moyens connus ne permettent de réaliser ce genre de mission qu'en condition de bonne visibilité ou en visibilité dégradée, mais à des altitudes non adaptées à toutes les missions. Ces altitudes sont en général relatives aux informations d'une base de données terrain avec référencement d'obstacles possible.For example, during the evacuation of wounded or during low-level flights under a layer of clouds, the helicopters try to fly as close to the terrain while avoiding a collision with the said terrain. In order to achieve low altitude contour flight and avoid collisions with the terrain, helicopter pilots fly on sight. The known means only allow this kind of mission to be carried out in conditions of good visibility or poor visibility, but at altitudes that are not adapted to all missions. These altitudes are generally related to the information of a terrain database with possible obstacle referencing.
On connaît à ce jour deux familles de solutions pour réaliser des vols à basse altitude en restant au plus près du terrain et en évitant les obstacles.To date, two families of solutions are known for flying at low altitude while remaining as close to the terrain and avoiding obstacles.
L'une des familles concerne des méthodes utilisant des bases de données relatives au terrain (élévation sur un géoïde de référence (MSL sur WGS84 par exemple)), le cas échéant avec des bases de données d'obstacles (géo-localisées avec leur(s) hauteur(s) sur sol). Ces méthodes présentent une grande dépendance vis-à-vis de moyens de géo-localisation. Une perte par exemple d'un système GNSS présente un inconvénient majeur pour poursuivre la mission selon les conditions initiales. En outre, on est confronté au problème du manque de précision des bases de données « terrain ». Des obstacles du genre câble ne sont pas toujours référencés avec précision. Pour respecter les marges de sécurité en vol, l'hélicoptère est donc amené à voler à une altitude trop élevée par rapport au reliefOne of the families concerns methods using terrain databases (elevation on a geoid of reference (MSL on WGS84 for example)), if necessary with obstacle databases (geo-localized with their height (s) on the ground). These methods are highly dependent on geolocation means. A loss for example of a GNSS system has a major drawback to continue the mission according to the initial conditions. In addition, there is the problem of the lack of precision of the "field" databases. Cable-like obstacles are not always accurately referenced. To respect the safety margins in flight, the helicopter is therefore required to fly at an altitude too high compared to the terrain
Une autre famille concerne des méthodes utilisant des senseurs actifs télémétriques. Ces méthodes présentent l'inconvénient de ne pas permettre une anticipation sur les virages à effectuer et de ne pas fournir un aspect prédictif de trajectoire sur le long terme. Une méthode utilisant des senseurs actifs télémétriques est par exemple décrite dans le document
En outre, ces méthodes sont très dépendantes de la qualité du senseur télémétrique utilisé. A titre d'exemple, ces senseurs ont des portées variables (de 500 mètres à 2000 mètres), détectent les câbles en mode LIDAR mais pas tous en mode RADAR et détectent tous les autres obstacles en mode RADAR quelle que soit la météo mais pas en mode LIDAR. Ces méthodes conduisent donc à augmenter le stress et la charge de travail du pilote.In addition, these methods are very dependent on the quality of the telemetry sensor used. For example, these sensors have variable ranges (from 500 meters to 2000 meters), detect cables in LIDAR mode but not all in RADAR mode and detect all other obstacles in RADAR mode whatever the weather but not in LIDAR mode. These methods lead to increase the stress and the workload of the pilot.
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Lorsqu'un senseur télémétrique est utilisé, les méthodes connues sont aussi très dépendantes de la qualité de ce senseur télémétrique et ne permettent pas de pallier une défaillance dudit senseur télémétrique. Le pilote se trouve donc dans une situation où il ne peut pas utiliser un cordon de sécurité, lequel est soit indisponible, soit altéré avec des données fausses ou imprécises. Ces méthodes décrites nécessitent également de voler à une altitude élevée en cas de visibilité réduite. Des problèmes de réflexions d'ondes inhérents aux senseurs télémétriques ne sont pas écartés avec lesdites méthodes.When a telemetric sensor is used, the known methods are also very dependent on the quality of this telemetric sensor and do not make it possible to overcome a failure of said telemetric sensor. The pilot is therefore in a situation where he can not use a security cordon, which is either unavailable or corrupted with false or inaccurate data. These described methods also require flying at high altitude in the event of reduced visibility. Problems of wave reflections inherent to telemetry sensors are not discarded with said methods.
Toutes les mesures d'un moyen de géo localisation ne sont à ce jour pas souvent prises en compte, à savoir que les erreurs de mesures fournies par les moyens GNSS types HFoM (Horizontal Figure of Merit) ou VFoM (Vertical Figure of Merit) donnant des indications sur les erreurs de mesures horizontales et verticales ne sont pas souvent prises en compte dans les calculs de trajectoire pour les vols à basse altitude.All the measurements of a means of geolocation are not currently taken into account, namely that the measurement errors provided by GNSS means HFoM (Horizontal Figure of Merit) or VFoM (Vertical Figure of Merit) giving indications of horizontal and vertical measurement errors are often not taken into account in trajectory calculations for low-level flights.
Un but de l'invention vise à proposer une aide au pilotage ne présentant pas les inconvénients mentionnés ci-dessus.An object of the invention is to provide a piloting aid does not have the disadvantages mentioned above.
Un autre but de l'invention vise à proposer une aide au pilotage particulièrement bien adaptée aux giravions en général et aux hélicoptères en particulier.Another object of the invention is to provide a steering aid particularly suitable for rotorcraft in general and helicopters in particular.
Encore un but de l'invention vise à proposer une aide au pilotage particulièrement utile pur de voler au plus près du terrain et des obstacles, tout en n'altérant pas les marges de sécurité en vol.Yet another object of the invention is to provide a particularly useful flight control aid to fly closer to the field and obstacles, while not altering the margins of safety in flight.
Les buts sont atteints par la présente invention, qui est définie par les revendications.The objects are achieved by the present invention, which is defined by the claims.
Ces buts sont notamment atteints à l'aide d'un procédé technique d'aide au pilotage pour un aéronef qui utilise des données issues d'au moins un senseur actif télémétrique pour construire un cordon de sécurité senseur pour l'évitement du terrain et des obstacles survolés. Pour ce faire, cette réalisation prévoit :
- de définir et calculer des secteurs angulaires sur le champ de vision face au pilote,
- de construire un cordon de sécurité terrain à l'aide d'au moins une base de données terrain,
- de construire pour au moins une partie des secteurs angulaires un cordon hybridé de sécurité lequel reprend pour chaque secteur angulaire concerné le plus élevé des cordons de sécurité senseur et de sécurité terrain,
- et d'afficher l'un des cordons comprenant le cordon hybridé de sécurité, le cordon de sécurité terrain et le cordon de sécurité senseur.
- to define and calculate angular sectors on the field of vision facing the pilot,
- construct a field cordon with at least one field database,
- constructing, for at least a portion of the angular sectors, a hybrid safety cordon which, for each angular sector concerned, takes up the highest of the safety and ground safety cords,
- and to display one of the cords including the hybrid safety cord, the field safety cord and the sensor safety cord.
Selon un exemple de mise en oeuvre, le procédé conforme à l'invention prévoit d'afficher le cordon de sécurité terrain dans au moins un premier mode de fonctionnement.According to an exemplary implementation, the method according to the invention provides for displaying the field safety cordon in at least a first mode of operation.
Selon un exemple de mise en oeuvre, le procédé conforme à l'invention prévoit d'afficher le cordon hybridé de sécurité dans un second mode de fonctionnement.According to an exemplary implementation, the method according to the invention provides for displaying the hybrid safety cordon in a second mode of operation.
Selon un exemple de mise en oeuvre, le procédé conforme à l'invention prévoit d'afficher un cordon hybridé de suivi de terrain dans au moins un troisième mode de fonctionnement, ledit cordon hybridé de suivi de terrain étant construit avec le cordon de sécurité senseur et avec le cordon de sécurité terrain en cas d'absence ou de perte de mesures du senseur actif télémétrique ou en cas d'un champ de vision non couvert par ledit senseur actif télémétrique.According to an exemplary implementation, the method according to the invention provides to display a hybrid field monitoring cord in at least a third mode of operation, said hybridized field monitoring cord being constructed with the sensor safety cordon and with the field safety cordon in the event of absence or loss of measurements of the active telemetric sensor or in the case of a field of vision not covered by said active telemetric sensor.
Selon un exemple de mise en ouvre, le procédé conforme à l'invention prévoit d'afficher le cordon de sécurité senseur dans au moins un mode de fonctionnement additionnel.According to an exemplary implementation, the method according to the invention provides for displaying the sensor security cordon in at least one additional operating mode.
Selon un exemple de mise en oeuvre, le procédé conforme à l'invention prévoit, lorsque le cordon de sécurité senseur et le cordon de sécurité terrain sont dépourvus d'erreurs de construction, de sélectionner un mode de fonctionnement parmi les premier et second modes de fonctionnement.According to an exemplary implementation, the method according to the invention provides, when the sensor safety cordon and the field safety cordon are devoid of construction errors, to select an operating mode from among the first and second modes of operation. operation.
Selon un exemple de mise en oeuvre, le procédé conforme à l'invention prévoit, lorsque le cordon de sécurité senseur et le cordon de sécurité terrain sont dépourvus d'erreurs de construction, de sélectionner un mode de fonctionnement parmi les premier, second et troisième modes de fonctionnement.According to an exemplary implementation, the method according to the invention provides, when the sensor security cordon and the field safety cordon are devoid of construction errors, to select a mode of operation among the first, second and third operating modes.
Selon un exemple de mise en oeuvre, le procédé conforme à l'invention prévoit de vérifier l'état de fonctionnement des moyens de localisation et l'intégrité de la base de données terrain établissant le cordon de sécurité terrain, à vérifier l'état de fonctionnement du senseur actif télémétrique et du système GNSS/AHRS établissant le cordon de sécurité senseur, à afficher le cordon de sécurité senseur en cas de panne des moyens de localisation ou de corruption de la base de données terrain et à afficher une alarme terrain en cas de panne des moyens de localisation ou de corruption (absence) de la base de données terrain, cumulée avec un panne du senseur actif télémétrique.According to an exemplary implementation, the method according to the invention provides for checking the operating status of the means of location and integrity of the field database establishing the safety cordon field, to check the operating status of the active sensor telemetry and GNSS / AHRS system establishing the sensor safety cordon, to display the sensor safety cordon in the event of failure of the locating means or of the corruption of the field database and displaying a field alarm in the event of failure of the means of localization or of corruption (absence) of the field database accumulated with a sensor failure telemetry active.
Selon un exemple de mise en oeuvre, le procédé conforme à l'invention prévoit de vérifier l'état de fonctionnement des moyens de localisation et l'intégrité de la base de données terrain établissant le cordon de sécurité terrain, à vérifier le fonctionnement du senseur actif télémétrique et du système AHRS/GNSS établissant le cordon de sécurité senseur, et à afficher le cordon de sécurité terrain en cas de panne du senseur actif télémétrique ou du système GNSS/AHRS.According to an exemplary implementation, the method according to the invention provides for verifying the operating state of the locating means and the integrity of the field database establishing the field safety cordon, to check the operation of the sensor telemetry and AHRS / GNSS system establishing the sensor safety cordon, and displaying the field safety cordon in the event of a failure of the active telemetric sensor or the GNSS / AHRS system.
Selon un exemple de mise en oeuvre, le procédé conforme à l'invention prévoit d'utiliser un vecteur d'état représentant les informations provenant de senseurs de navigation embarqués, pour construire le cordon de sécurité terrain et le cordon de sécurité senseur.According to an exemplary implementation, the method according to the invention provides for using a state vector representing the information from on-board navigation sensors, to construct the field safety cordon and the sensor safety cordon.
Selon un exemple de mise en ouvre, le procédé conforme à l'invention prévoit d'afficher un vecteur vitesse symbolisant l'aéronef et son positionnement relatif par rapport au cordon affiché.According to an exemplary implementation, the method according to the invention provides for displaying a speed vector symbolizing the aircraft and its relative positioning with respect to the displayed bead.
Selon un exemple de mise en oeuvre, le procédé conforme à l'invention prévoit de construire une trajectoire en trois dimensions, prédictive du suivi de terrain en utilisant un vecteur d'état simulé, la base de données terrain et une route en deux dimensions tracée par le pilote.According to an exemplary implementation, the method according to the invention provides for constructing a three-dimensional trajectory, predictive of the terrain monitoring using a simulated state vector, the terrain database and a two-dimensional road drawn by the pilot.
Selon un exemple de mise en oeuvre, le procédé conforme à l'invention prévoit d'enregistrer la trajectoire en trois dimensions ainsi que les données relatives au terrain issues de la simulation de manière à faire suivre ladite trajectoire par un système de pilote automatique.According to an exemplary implementation, the method according to the invention provides for recording the three-dimensional trajectory as well as the terrain data from the simulation so as to follow said trajectory by an autopilot system.
Selon un exemple de mise en oeuvre, le procédé conforme à l'invention prévoit d'afficher le cordon de sécurité terrain ou le cordon hybridé de sécurité, construit en temps réel à partir de la base de données terrain et des mesures du senseur actif télémétrique pour contrôler le bon fonctionnement du système de pilote automatique.According to an exemplary implementation, the method according to the invention provides for displaying the field safety cordon or the hybrid safety cordon, built in real time from the field database and measurements of the active telemetric sensor. to control the proper operation of the autopilot system.
Selon un exemple de mise en oeuvre, le procédé conforme à l'invention prévoit d'utiliser une base de données terrain comprenant une base de données d'obstacles.According to an exemplary implementation, the method according to the invention provides for using a field database comprising a database of obstacles.
L'invention présente l'avantage de pouvoir fournir un aspect prédictif du terrain rencontré.The invention has the advantage of being able to provide a predictive aspect of the terrain encountered.
Un autre avantage de l'invention est lié à la possibilité en cas de panne du senseur actif télémétrique, de construire un cordon de sécurité à partir d'une base de données terrain se substituant à la perte de mesures dudit senseur.Another advantage of the invention is related to the possibility in case of failure of the active telemetric sensor, to construct a security cordon from a field database replacing the loss of measurements of said sensor.
Encore un autre avantage de l'invention est lié à la possibilité d'anticiper les manoeuvres en phases de virage. En raison de sa portée, et de son champs de vue (FOR : Field Of Regard), un capteur télémétrique n'a pas la capacité en virage à fort roulis d'anticiper l'élévation au dessus du terrain sur les zones que l'aéronef va « découvrir ».Yet another advantage of the invention is related to the possibility of anticipating the maneuvers in turn phases. Because of its range, and field of view (FOR: Field Of Regard), a telemetry sensor does not have the ability to turn at a high roll to anticipate the elevation above terrain on areas that the aircraft will "discover".
Un avantage supplémentaire de l'invention est lié à la sécurisation de la détection d'obstacles grâce au senseur actif télémétrique, en cas de défaillance ou de manque de précision de la base de données terrain (avec ou sans base de données d'obstacles). Même les câbles ou autres objets non référencés ou mal référencés par la base de données terrain, sont détectés et permettent donc de voler avec plus de sécurité.An additional advantage of the invention is related to the securing of obstacle detection thanks to the active telemetric sensor, in the event of failure or lack of precision of the terrain database (with or without an obstacle database) . Even cables or other objects that are not referenced or incorrectly referenced by the terrain database are detected and thus allow you to fly more safely.
Grâce au fait que l'invention permet qu'un cordon de sécurité soit affiché pour une trajectoire préenregistrée selon les contraintes de construction du cordon à tout instant du vol, le pilote peut utilement vérifier le bon fonctionnement du système avec un pilote automatique. Cette vérification se fait par le contrôle de la position du vecteur vitesse de l'hélicoptère par rapport au cordon de sécurité affiché.Thanks to the fact that the invention allows a safety cordon is displayed for a prerecorded path according to the construction constraints of the cord at any time of the flight, the pilot can usefully check the proper operation of the system with an autopilot. This verification is done by checking the position of the helicopter's speed vector in relation to the safety cordon displayed.
L'invention permet au pilote du choisir entre différents modes de fonctionnement. Le pilote peut ainsi choisir, en fonction de la nature de sa mission ou des conditions météorologiques, le mode d'aide au pilotage le plus adéquat pour effectuer le vol à basse ou très basse altitude.The invention allows the pilot to choose between different modes of operation. The pilot can thus choose, depending on the nature of his mission or weather conditions, the most appropriate piloting assistance mode to perform the flight at low or very low altitude.
L'invention et ses avantages apparaîtront avec plus de détails dans le cadre de la description qui suit avec un exemple de réalisation donné à titre illustratif et non limitatif en référence aux figures annexées qui représentent :
- la
figure 1 , un schéma fonctionnel d'exemple de mise en oeuvre du procédé d'aide au pilotage conforme à l'invention, - la
figure 2 , un schéma logique illustrant les étapes d'un exemple de mise en ouvre du procédé conforme à l'invention, - la
figure 3 , un exemple de cordon de sécurité terrain construit grâce au procédé conforme à l'invention et affiché sur un écran, ledit cordon étant construit à partir d'au moins une base de données terrain et obstacles, - la
figure 4 , un autre exemple de cordon de sécurité senseur construit grâce au procédé conforme à l'invention et affiché sur un écran, ledit cordon étant construit à partir de mesures effectuées par un senseur actif télémétrique, - la
figure 5 , un autre exemple de cordon hybridé de sécurité construit grâce au procédé conforme à l'invention et affiché sur un écran, ledit cordon étant construit à partir d'au moins une base de données terrain et obstacles complété et/ou modifié le cas échéant avec des informations issues du senseur actif télémétrique, - et la
figure 6 , un autre exemple de cordon hybridé de suivi de terrain construit grâce au procédé conforme à l'invention et affiché sur un écran, ledit cordon étant construit à partir du cordon de sécurité senseur de lafigure 4 et du cordon de sécurité terrain de lafigure 3 .
- the
figure 1 , an exemplary functional block diagram of the method of assisting the piloting according to the invention, - the
figure 2 a logic diagram illustrating the steps of an exemplary implementation of the method according to the invention, - the
figure 3 an example of a field safety cordon constructed using the method according to the invention and displayed on a screen, said cord being constructed from at least one terrain and obstacle database, - the
figure 4 another example of a sensor safety cordon constructed by means of the method according to the invention and displayed on a screen, said cord being constructed from measurements made by a telemetric active sensor, - the
figure 5 another example of a hybrid safety cordon constructed by means of the method according to the invention and displayed on a screen, said cord being constructed from at least one terrain and obstacle database completed and / or modified where appropriate with information from the active sensor telemetry, - and the
figure 6 , another example of hybridized field monitoring cord constructed by the method according to the invention and displayed on a screen, said cord being constructed from the sensor safety cord of thefigure 4 and the cordon of safety ground of thefigure 3 .
Les éléments structurellement et fonctionnellement identiques, présents sur plusieurs figures distinctes sont affectés d'une seule et même référence numérique ou alphanumérique.The structurally and functionally identical elements present in several distinct figures are assigned a single numerical or alphanumeric reference.
La
Ce procédé d'aide au pilotage pour un aéronef prévoit d'utiliser des données mesurées issues d'au moins un senseur actif télémétrique A pour construire un cordon de sécurité senseur B pour l'évitement du terrain et des obstacles.This piloting aid method for an aircraft provides for the use of measured data from at least one active telemetric sensor A to construct a sensor safety cordon B for the avoidance of terrain and obstacles.
Dans la présente, les termes « senseur actif télémétrique » doivent être compris de façon large et non limitative, englobant également tous moyens de capture d'images à distance, notamment des imageurs 3D ou stéréoscopiques.As used herein, the term "telemetric active sensor" must be understood in a broad and non-limiting manner, encompassing any means of remote image capture, in particular 3D or stereoscopic imagers.
Le procédé d'aide au pilotage pour un aéronef construit un cordon de sécurité terrain D à l'aide d'au moins une base de données terrain C. Cette dernière comprend par exemple une base de données obstacles C'.The flight aid method for an aircraft constructs a terrain security cordon D using at least one terrain database C. The latter comprises for example an obstacle database C '.
La construction du cordon de sécurité terrain D et du cordon de sécurité senseur B est effectuée en utilisant des algorithmes spécifiques et connus et un vecteur d'état VE ou un vecteur d'état simulé VE'. Les vecteurs d'état VE et VE' sont basés sur l'ensemble des paramètres de navigation tels que l'accélération a, la vitesse v, les informations issues de l'AHRS (attitudes : roulis, tangage et lacet) et de GNSS (position : Latitude, Longitude, Altitude MSL et erreurs horizontales et verticales : HFoM et VFoM).The construction of the terrain security cordon D and the security cordon B is carried out using specific and known algorithms and a state vector VE or a simulated state vector VE '. The state vectors VE and VE 'are based on the set of navigation parameters such as acceleration a, velocity v, information from the AHRS (attitudes: roll, pitch and yaw) and GNSS ( position: Latitude, Longitude, MSL altitude and horizontal and vertical errors: HFoM and VFoM).
Ce procédé technique définit et calcule également des secteurs angulaires w sur un champ de vision FOR face au pilote.This technical process also defines and calculates angular sectors w on a field of view FOR facing the pilot.
Ce procédé construit ensuite, pour au moins une partie des secteurs angulaires w, un cordon hybridé de sécurité E, lequel reprend pour chaque secteur angulaire w concerné, le plus élevé des cordons de sécurité senseur B et de sécurité terrain D.This method then builds, for at least a portion of the angular sectors w, a hybrid safety cord E, which takes for each angular sector w concerned, the highest of the safety sensor B and security cordon D.
Ce procédé technique affiche ensuite, à l'aide d'un écran F, l'un des cordons comprenant le cordon hybridé de sécurité E, le cordon de sécurité terrain D et le cordon de sécurité senseur B. Le cordon affiché est de préférence superposé aux secteurs angulaires w du champ de vision FOR.This technical process then displays, using a screen F, one of the cords comprising the hybrid safety cord E, the safety cordon D and the safety cordon B. The displayed cord is preferably superimposed to the angular sectors w of the FOR field of view.
Selon une de mise en ouvre, le procédé de l'invention affiche le cordon de sécurité terrain D dans au moins un premier mode de fonctionnement M1.According to an implementation, the method of the invention displays the field safety cordon D in at least a first operating mode M1.
Selon une autre mise en oeuvre, le procédé de l'invention affiche le cordon hybridé de sécurité E dans un second mode de fonctionnement M2.According to another embodiment, the method of the invention displays the hybrid safety cord E in a second mode of operation M2.
Selon encore un autre exemple, le procédé de l'invention affiche un cordon hybridé de suivi de terrain ST dans au moins un troisième mode de fonctionnement M3.According to yet another example, the method of the invention displays a hybridized field-monitoring cord ST in at least a third mode of operation M3.
Le cordon hybridé de suivi de terrain ST est construit selon le procédé technique avec le cordon de sécurité senseur B et avec le cordon de sécurité terrain D en cas d'absence ou de perte de mesures du senseur actif télémétrique A ou en cas d'un champ de vision FOR non couvert par ledit senseur actif télémétrique A.The ST Hybrid Field Tracking Cord is constructed using the technical process with Sensor Safety Cord B and Field Safety Cord D in the event of absence or loss of measurements of Telemetric Active Sensor A or in case of field of vision FOR not covered by said active sensor telemetric A.
Selon un exemple de l'invention, le procédé technique affiche le cordon de sécurité senseur B dans au moins un mode de fonctionnement additionnel.According to an example of the invention, the technical method displays the sensor safety cordon B in at least one additional operating mode.
La
Le procédé de l'invention vérifie la non corruption des cordons de sécurité B et D à l'aide de moyens de détection respectifs MD1 et MD3. La vérification du fonctionnement des cordons se fait de la façon suivante :
- avec un senseur actif, si aucune information n'est délivrée par le senseur ou que les données ont un signal indiquant des mesures erronées (faux échos par exemple), le cordon de sécurité senseur est déclaré invalide.
- avec une base de données uniquement : si la vérification de départ indique une base de données n'étant pas suffisamment à jour, non définie sur la zone à survoler ou corrompue physiquement, le cordon de sécurité terrain est déclaré invalide
- with an active sensor, if no information is provided by the sensor or the data has a signal indicating erroneous measurements (false echoes for example), the sensor safety cord is declared invalid.
- with a database only: if the initial check indicates a database that is not sufficiently up to date, not defined on the area to be overflown or physically corrupted, the field safety cordon is declared invalid
Selon un exemple de l'invention consiste, lorsque le cordon de sécurité senseur B et le cordon de sécurité terrain D sont dépourvus d'erreurs de construction, le procédé technique sélectionne un mode de fonctionnement parmi les premier M1 et second M2 modes de fonctionnement.According to an example of the invention, when the sensor safety cord B and the safety cordon D are devoid of construction errors, the technical method selects an operating mode from among the first M1 and second M2 operating modes.
Selon un autre exemple de l'invention consiste, lorsque le cordon de sécurité senseur B et le cordon de sécurité terrain D sont dépourvus d'erreurs de construction, le procédé technique sélectionne un mode de fonctionnement parmi les premier M1, second M2 et troisième M3 modes de fonctionnement.According to another example of the invention, when the sensor safety cord B and the safety cordon D are devoid of construction errors, the technical method selects a mode of operation among the first M1, second M2 and third M3 operating modes.
Selon un exemple de l'invention le procédé technique vérifie l'état de fonctionnement des moyens de localisation GNSS et l'intégrité de la base de données terrain C établissant le cordon de sécurité terrain D, et vérifier l'état de fonctionnement du senseur actif télémétrique A et du système GNSSIAHRS aidant à la construction du cordon de sécurité senseur B.According to an example of the invention, the technical method verifies the operating state of the GNSS locating means and the integrity of the terrain database C establishing the field safety cordon D, and checking the operating state of the active sensor telemetry A and GNSSIAHRS assisting in the construction of the B sensor safety cordon.
Le procédé conforme à l'invention affiche le cordon de sécurité senseur B en cas de panne des moyens de localisation ou de corruption de la base de données terrain C et affiche une alarme « terrain » en cas de panne des moyens de localisation ou de corruption de la base de données terrain C cumulée avec une panne du senseur actif télémétrique A.The method according to the invention displays the sensor security cordon B in the event of failure of the means of locating or of the corruption of the terrain database C and displays a "field" alarm in the event of failure of the locating means or C cumulative database database corruption with a failure of the active sensor telemetric A.
Selon un exemple de mise en ouvre, le procédé conforme à l'invention vérifie l'état de fonctionnement des moyens de localisation GNSS et l'intégrité de la base de données terrain C établissant le cordon de sécurité terrain D, vérifie le fonctionnement du senseur actif télémétrique A et du système GNSS/AHRS établissant le cordon de sécurité senseur B, et affiche le cordon de sécurité terrain D, en cas de panne du senseur actif télémétrique A ou du système GNSS/AHRS.According to an exemplary implementation, the method according to the invention verifies the operating state of the GNSS locating means and the integrity of the terrain database C establishing the field safety cordon D, verifies the operation of the sensor Telemetry active A and GNSS / AHRS establishing the sensor safety cordon B, and displays the safety cordon D, in case of failure of the active telemetric sensor A or the GNSS / AHRS system.
Le procédé conforme à l'invention utilise un vecteur d'état VE représentant les informations provenant de senseurs de navigation embarqués, pour construire le cordon de sécurité terrain D et le cordon de sécurité senseur B.The method according to the invention uses a state vector VE representing information from on-board navigation sensors, to construct the terrain safety cordon D and the sensor safety cordon B.
Selon un exemple, le procédé de l'invention affiche un vecteur vitesse V symbolisant l'aéronef et son positionnement relatif par rapport au cordon affiché et par rapport au terrain T. ceci ressort des
Selon un autre exemple, le procédé conforme à l'invention construit une trajectoire en trois dimensions, prédictive du suivi de terrain en utilisant une route en deux dimensions tracée par le pilote, la base de données terrain C et un vecteur d'état simulé (VE') pour la totalité de la route.In another example, the method according to the invention constructs a three-dimensional trajectory, predictive of the terrain tracking using a two-dimensional route drawn by the pilot, the terrain database C and a simulated state vector ( VE ') for the entire road.
Selon un exemple le procédé technique enregistre la trajectoire en trois dimensions ainsi que les données relatives au terrain issues de la simulation, de manière à faire suivre ladite trajectoire par un système de pilotage avec commandes automatiques ou manuelles.According to one example, the technical process records the trajectory in three dimensions as well as the data relating to the terrain resulting from the simulation, so as to follow said trajectory by a control system with automatic or manual controls.
Par exemple, le procédé technique affiche le cordon de sécurité terrain D ou le cordon hybridé de sécurité E, construit en temps réel à partir de la base de données terrain C et des mesures du senseur actif télémétrique A, pour un contrôle utile et efficace du bon fonctionnement du système de pilotage automatique.For example, the technical method displays the field safety cordon D or the safety hybrid cable E, built in real time from the terrain database C and the measurements of the active telemetric sensor A, for a useful and effective control of the proper operation of the autopilot system.
Selon un exemple, le procédé utilise une base de données terrain C comprenant une base de données d'obstacles C'.In one example, the method uses a terrain database C including a database of obstacles C '.
La
La base de données terrain C, le cas échéant complétée de la base d'obstacles C', présente également un niveau de sécurité donné. Un lissage (algorithme de lissage) et un rajout proportionnels aux marges d'erreurs fournies par ladite base de données terrain C permettent d'augmenter la hauteur du cordon de sécurité terrain D. Des informations issues d'un GNSS telles que la HFoM ou la VFoM peuvent aussi être utilisées à cet effet.The terrain database C, if necessary supplemented with the obstacle database C ', also has a given level of security. A smoothing (smoothing algorithm) and an addition proportional to the error margins provided by said terrain database C make it possible to increase the height of the terrain safety cordon D. Information from a GNSS such as the HFoM or the VFoM can also be used for this purpose.
La
La
Les secteurs angulaires w, w1 définis et calculés par le procédé de l'invention, ne sont illustrés sur la
Les opérations de modification ou de complément des bases de données C et C', ou alternativement de remplacement d'une portion de cordon de sécurité terrain D dans certains secteurs angulaires w1 par un cordon de sécurité senseur B, sont effectuées par un calculateur de mission gérant la base de données (certifiée ou non). Ce calculateur de mission est intégré au système avionique embarqué.The operations of modifying or complementing the databases C and C ', or alternatively replacing a portion of the security cordon D in certain angular sectors w1 by a security cordon B, are performed by a mission calculator managing the database (certified or not). This mission calculator is integrated into the embedded avionics system.
En cas d'absence de données terrain pour un ou plusieurs secteurs angulaires w, le cordon de sécurité terrain D est complété selon le procédé de l'invention avec les informations du senseur actif télémétrique A si elles sont disponibles. Si un champ de vision FOR pour l'un des cordons de sécurités B, D est supérieur à l'autre, c'est ce cordon de sécurité le plus étendu qui sera affiché dans les secteurs angulaires w concernés. Le pilote dispose ainsi d'un cordon par défaut dans certains secteurs angulaires w.In the absence of field data for one or more angular sectors w, the field safety cordon D is completed according to the method of the invention with the information of the active sensor telemetric A if they are available. If a FOR field of view for one of the security cords B, D is greater than the other, this is the most extensive security cordon that will be displayed in the angular sectors w concerned. The driver thus has a default cord in certain angular sectors w.
Dans le mode de fonctionnement M1, affichant le cordon de sécurité terrain D, un avantage est que l'invention n'utilise pas le senseur actif télémétrique A, lequel peut fournir de faux échos dans certains cas et être détectable.In the M1 operating mode, displaying the field safety cordon D, an advantage is that the invention does not use the active telemetric sensor A, which can provide false echoes in some cases and be detectable.
La
Naturellement, la présente invention est sujette à des variantes outre les modes de réalisations décrits.Naturally, the present invention is subject to variants in addition to the embodiments described.
Claims (15)
caractérisé en ce que le procédé :
characterized in that the method
caractérisé en ce qu'il prévoit de afficher le cordon de sécurité terrain (D) dans au moins un premier mode de fonctionnement.Process according to claim 1,
characterized in that it provides for displaying the field safety cordon (D) in at least one first mode of operation.
caractérisé en ce que ce procédé prévoit de afficher le cordon hybridé de sécurité (E) dans un second mode de fonctionnement.Method according to claim 1 or 2,
characterized in that said method provides for displaying the hybrid safety cordon (E) in a second mode of operation.
caractérisé en ce que ce procédé prévoit d'afficher un cordon hybridé de suivi de terrain (ST) dans au moins un troisième mode de fonctionnement, ledit cordon hybridé de suivi de terrain (ST) étant construit avec le cordon de sécurité senseur (B) et avec le cordon de sécurité terrain (D) en cas d'absence ou de perte de mesures du senseur actif télémétrique (A) ou en cas d'un champ de vision (FOR) non couvert par ledit senseur actif télémétrique.Method according to one of claims 1 to 3,
characterized in that said method provides for displaying a hybridized field-tracking cord (ST) in at least one third mode of operation, said hybrid field-tracking cord (ST) being constructed with the sensor safety cord (B) and with the field safety cordon (D) in the absence or loss of measurements of the active telemetric sensor (A) or in the case of a field of view (FOR) not covered by said active telemetric sensor.
caractérisé en ce que ce procédé prévoit d'afficher le cordon de sécurité senseur (B) dans au moins un mode de fonctionnement additionnel.Method according to one of claims 1 to 4,
characterized in that said method provides for displaying the sensor safety cordon (B) in at least one additional operating mode.
caractérisé en ce que lorsque le cordon de sécurité senseur (B) et le cordon de sécurité terrain (D) sont dépourvus d'erreurs de construction, le procédé sélectionne le mode de fonctionnement parmi les premier et second modes de fonctionnement.Process according to claim 3,
characterized in that when the sensor safety cord (B) and the field safety cord (D) are free of construction errors, the method selects the operating mode from the first and second modes of operation.
caractérisé en ce que, lorsque le cordon de sécurité senseur (B) et le cordon de sécurité terrain (D) sont dépourvus d'erreurs de construction, le procédé sélectionne le mode de fonctionnement parmi les premier, second et troisième modes de fonctionnement.Process according to claim 5,
characterized in that , when the sensor safety cord (B) and the field safety cord (D) are free of construction errors, the method selects the operating mode from among the first, second and third modes of operation.
caractérisé en ce qu'il prévoit de vérifier l'état de fonctionnement des moyens de localisation et l'intégrité de la base de données terrain (C) établissant le cordon de sécurité terrain (D), de vérifier l'état de fonctionnement du senseur actif télémétrique (A) et du système GNSS/AHRS établissant le cordon de sécurité senseur (B), et d'afficher le cordon de sécurité senseur (B) en cas de panne des moyens de localisation ou de corruption de la base de données terrain (C) et d'afficher une alarme terrain en cas de panne des moyens de localisation ou de corruption de la base de données terrain (C) cumulée avec une panne du senseur actif télémétrique (A).Process according to claim 1,
characterized in that it provides for verifying the operating status of the locating means and the integrity of the terrain database (C) establishing the field safety cordon (D), to check the operating state of the sensor telemetry (A) and GNSS / AHRS system establishing the sensor safety cordon (B), and display the sensor safety cordon (B) in case of failure means for locating or corrupting the terrain database (C) and for displaying a field alarm in the event of failure of the location means or of the accumulation of the accumulated terrain database (C) with a failure of the active sensor telemetry (A).
caractérisé en ce que ce procédé prévoit de vérifier l'état de fonctionnement des moyens de localisation et l'intégrité de la base de données terrain (C) établissant le cordon de sécurité terrain (D), de vérifier le fonctionnement du senseur actif télémétrique (A) et du système GNSS/AHRS établissant le cordon de sécurité senseur (B), et d'afficher le cordon de sécurité terrain (D) en cas de panne du senseur actif télémétrique (A) ou du système GNSS/AHRS.Method according to claim 1 or 8,
characterized in that said method provides for verifying the operating status of the locating means and the integrity of the terrain database (C) establishing the field safety cordon (D), verifying the operation of the active telemetric sensor ( A) and the GNSS / AHRS system establishing the sensor safety cordon (B), and display the field safety cordon (D) in case of failure of the active telemetric sensor (A) or the GNSS / AHRS system.
caractérisé en ce que ce procédé prévoit d'utiliser un vecteur d'état (VE) représentant les informations provenant de senseurs de navigation embarqués, pour construire le cordon de sécurité terrain (D) et le cordon de sécurité senseur (B).Method according to one of claims 1 to 9,
characterized in that said method provides for using a state vector (VE) representing information from on-board navigation sensors to construct the terrain safety cordon (D) and the sensor safety cordon (B).
caractérisé en ce que ce procédé prévoit d'afficher un vecteur vitesse (V) symbolisant l'aéronef et son positionnement relatif par rapport au cordon affiché.Process according to one of Claims 1 to 10,
characterized in that this method provides for displaying a velocity vector (V) symbolizing the aircraft and its relative positioning with respect to the displayed cord.
caractérisé en ce que ce procédé prévoit de construire une trajectoire en trois dimensions, prédictive du suivi de terrain en utilisant un vecteur d'état simulé (VE'), la base de données terrain (C) et une route en deux dimensions tracée par le pilote.Process according to claim 11,
characterized in that said method provides for constructing a three-dimensional trajectory predictive of terrain tracking using a simulated state vector (VE '), the terrain database (C) and a two-dimensional route drawn by the pilot.
caractérisé en ce que ce procédé prévoit d'enregistrer la trajectoire en trois dimensions ainsi que les données relatives au terrain issues de la simulation de manière à faire suivre ladite trajectoire par un système de pilotage automatique.Process according to claim 12,
characterized in that said method provides for recording the three-dimensional trajectory as well as the terrain-related data from the simulation so as to follow said trajectory by an autopilot system.
caractérisé en ce que ce procédé prévoit d'afficher le cordon de sécurité terrain (D) ou le cordon hybridé de sécurité (E), construits en temps réel à partir de la base de données terrain (C) et des mesures du senseur actif télémétrique (A) pour contrôler le bon fonctionnement du système de pilotage automatique.Process according to claim 13,
characterized in that said method provides for displaying the field safety cordon (D) or the safety hybrid cable (E), constructed in real time from the terrain database (C) and measurements of the active telemetric sensor (A) to control the proper operation of the autopilot system.
caractérisé en ce que ce procédé prévoit d'utiliser une base de données terrain (C) comprenant une base de données d'obstacles (C').Method according to one of claims 1 to 14,
characterized in that said method provides for using a terrain database (C) comprising an obstacle database (C ').
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1002991A FR2962838B1 (en) | 2010-07-16 | 2010-07-16 | IMPROVED AIRCRAFT ASSISTING AID METHOD |
Publications (2)
Publication Number | Publication Date |
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EP2407953A1 true EP2407953A1 (en) | 2012-01-18 |
EP2407953B1 EP2407953B1 (en) | 2014-11-12 |
Family
ID=43618754
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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EP11005138.0A Active EP2407953B1 (en) | 2010-07-16 | 2011-06-24 | Enhanced piloting assistance method for an aircraft |
Country Status (4)
Country | Link |
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US (1) | US8566018B2 (en) |
EP (1) | EP2407953B1 (en) |
FR (1) | FR2962838B1 (en) |
IL (1) | IL213821A (en) |
Cited By (2)
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FR3014233A1 (en) * | 2013-12-03 | 2015-06-05 | Eurocopter France | AIRCRAFT SYSTEM FOR SIGNALING THE PRESENCE OF AN OBSTACLE, AIRCRAFT AND OBSTACLE DETECTION METHOD |
US9583011B2 (en) | 2015-01-28 | 2017-02-28 | Airbus Helicopters | Aircraft system for signaling the presence of an obstacle, an aircraft equipped with this system, and method for the detection of an obstacle |
Families Citing this family (2)
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CA2845795A1 (en) * | 2011-04-08 | 2013-07-18 | Covidien Lp | Flexible microwave catheters for natural or artificial lumens |
WO2016195816A2 (en) * | 2015-04-22 | 2016-12-08 | Astronautics Corporation Of America | Electronic display of compass/map information for rotorcraft providing improved depiction of surrounding obstacles |
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Also Published As
Publication number | Publication date |
---|---|
US8566018B2 (en) | 2013-10-22 |
FR2962838A1 (en) | 2012-01-20 |
IL213821A (en) | 2014-06-30 |
US20120016580A1 (en) | 2012-01-19 |
IL213821A0 (en) | 2011-12-01 |
EP2407953B1 (en) | 2014-11-12 |
FR2962838B1 (en) | 2012-07-13 |
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