KR101671687B1 - The method for terrain-following flight display of the aircraft - Google Patents

Abstract

The present invention relates to a terrain tracking and flight display method, and more particularly, to a method and apparatus for displaying a terrain tracking flight display, which includes a target altitude input step for inputting a target altitude and a need for calculating a vertical acceleration required for an aircraft to reach a target altitude using aircraft flight information and terrain information A vertical acceleration calculation step, and a display step in which a symbol is displayed on the screen in accordance with the calculated vertical acceleration.
The terrain tracking flight display method and apparatus according to the present invention can change the position of a displayed symbol according to a target flight altitude, eliminate frequent movement of a symbol, And it is possible to acquire the optimum flightability through the delay time of the pilot.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a display method and apparatus for an aircraft,

The present invention relates to a display method, and more particularly, to a method and apparatus for displaying a cockpit of an aircraft in a terrain tracking flight.

In the battlefield, fighters may have to fly close to the ground to reduce the probability of being attacked from the enemy's radar network.

Modern high-performance fighters are increasing their mission success rates by adopting Terrain Following System (TFS), which allows them to safely fly close to the ground at low altitudes.

Korean Patent No. 887,244 discloses a display method for recognizing a pilot about the features of such an aircraft.

However, this display method has difficulty in follow - up flight due to severe shaking of command signal when passing through rough terrain or external disturbance.

Also, when flying at high speeds, there is a possibility that the Pilot Induced Oscillation (PIO) may occur due to the slow response of the relatively slow pilot.

Korea Patent No. 887,244

The present invention has the following disadvantages: it is difficult to intuitively follow manual operation when the conventional terrain tracking flight is operated, an error occurs between the follow command and the aircraft output due to the response speed of the pilot, The present invention also provides a terrain tracking flight display method and apparatus that solves the above problems.

According to the present invention, there is provided a method for calculating a vertical acceleration, comprising: inputting a target flight altitude to receive a target flight altitude; calculating a required vertical acceleration to calculate an aircraft vertical acceleration required to reach the target flight altitude using aircraft flight information and terrain information; There is provided a terrain tracking flight display method including a display step in which a symbol is displayed on a screen in accordance with an acceleration.

If the required vertical acceleration is larger than the vertical acceleration of the aircraft, the symbol is displayed on the upper side of the flight path indication, and the symbol is displayed on the lower side of the flight path indication if the required vertical acceleration is smaller than the vertical acceleration of the aircraft And the position at which the symbol is displayed on the screen can be configured to move in the vertical direction according to the required vertical acceleration.

Meanwhile, the required vertical acceleration calculation step includes a display cycle setting step for adjusting the display cycle of the symbol movement, a pilot time delay compensation step for reflecting the time difference between recognition and operation of the aircraft pilot, And a speed dependence delay calculation step so that the speed dependence delay can be calculated.

Further, the required vertical acceleration calculation step may generate an alarm signal when the aircraft is in the collision path with the terrain, and the display step may be configured to display the alarm when receiving the alarm signal.

On the other hand, in order to perform such a terrestrial tracking flight display method, a screen representing information necessary for flight, an input unit for inputting a target flight altitude, a flight information of the aircraft, a receiver receiving the topographical information, And a control unit for calculating a required vertical acceleration for reaching the target flight altitude and controlling a screen to display a symbol corresponding to the required vertical acceleration on the screen.

At this time, if the necessary vertical acceleration is larger than the vertical acceleration of the aircraft, the symbol is displayed on the upper side of the flight path mark, and if the required vertical acceleration is smaller than the vertical acceleration of the aircraft, the symbol is controlled to be displayed on the lower side .

The terrain tracking flight display method and apparatus according to the present invention can change the position of a displayed symbol according to a target flight altitude, eliminate frequent movement of a symbol, And it is possible to acquire the optimum flightability through the delay time of the pilot.

1 is a configuration diagram of a first embodiment according to the present invention.
2 is a block diagram of the control unit of the first embodiment according to the present invention.
3 is a flow chart of the first embodiment according to the present invention.
4 is a diagram showing symbols on a screen according to the first embodiment of the present invention.
5 is a view showing an alarm on the screen of the second embodiment according to the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a terrain tracking and flying display method and apparatus according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. In the following description of the embodiments, the names of the respective components may be referred to as other names in the art. However, if there is a functional similarity and an equivalence thereof, the modified structure can be regarded as an equivalent structure. In addition, reference numerals added to respective components are described for convenience of explanation. However, the contents of the drawings in the drawings in which these symbols are described do not limit the respective components to the ranges within the drawings. Likewise, even if the embodiment in which the structure on the drawing is partially modified is employed, it can be regarded as an equivalent structure if there is functional similarity and uniformity. Further, in view of the level of ordinary skill in the art, if a component is naturally considered to be included, description thereof may be omitted.

Hereinafter, the first embodiment of the present invention will be described in detail with reference to FIGS. 1 to 3. FIG.

1 is a configuration diagram of a first embodiment according to the present invention. The terrain tracking display apparatus according to the present invention may include an input unit 41, a receiving unit 42, a control unit 43, and a screen 44, as shown in FIG. The necessary vertical acceleration is calculated by the control unit 43 using the information input to the input unit 41 and the reception unit 42 and is displayed on the screen 44. [ The screen 44 may be provided in the cockpit of the aircraft, and the input unit 41, the receiver 42, and the controller 43 may be provided inside the aircraft including the cockpit.

The input unit 41 is configured to receive input of how much to fly from the ground. The pilot may be provided inside the cockpit so that the pilot can input the target flight altitude, and the target flight altitude can be received by the remote communication. On the other hand, a configuration in which a pilot inputs a constant value is a widely used configuration, so a detailed description thereof will be omitted.

The receiving unit 42 receives information collected from various sensors provided on the aircraft, and the received information is used to calculate the required vertical acceleration. The flight information of the aircraft is provided in various places of the aircraft (not shown) of the aircraft to measure various values and receive the measured values. The terrain information can be configured to use terrain information measured using a pre-built database or in flight.

The control unit 43 calculates the required vertical acceleration for the aircraft to reach the target flight altitude based on the flight information and the terrain information and controls the screen 44 so that the symbol is displayed according to the required vertical acceleration. In addition, there are a speed dependence delay step S400 for varying the scheduling according to the flight speed, a pilot time delay compensation step S300 for reflecting the time from the recognition of the pilot to the operation, the display period And a setting step S200.

The screen 44 may be configured to indicate symbols, current altitude, flight path, target flight altitude, and the like, which are information necessary for flight in the cockpit, and may be provided inside the cockpit. The screen 44 may be provided in the HUD manner and may be modified in various ways that the pilot can visually recognize, for example, a method displayed on the pilot's helmet.

Hereinafter, the control method of the first embodiment will be described in detail with reference to FIG.

2 is a block diagram of the control unit 43 of the first embodiment according to the present invention. As shown in the figure, the control unit 43 includes a target altitude input step S100, a display period setting step S200, a pilot time delay compensation step S300, a speed dependent delay step S400, A necessary vertical acceleration calculation step S500, and a display step S600.

The target flight altitude input step S100 may be performed in the input unit 41 and may include a display period setting step S200, a pilot time delay compensation step S300, a speed dependence delay step S400, a required vertical acceleration calculation step S500 May be performed in the control unit 43 and the display step S600 may be performed in the screen 44. [ Meanwhile, the information received in the receiver 43 may be used in the display period setting step S200 and the speed dependence delay step S400.

In the target flight altitude input step S100, the target flight altitude is input.

In the required vertical acceleration calculation step (S500), the required vertical acceleration to reach the target flight altitude from the inputted target flight altitude and the aircraft response, which is the first feedback signal, is calculated. Terrain information may be obtained from Terrain Profile Matching (TERPROM) or Low Altitude Navigation and Targeting Infrared for Night (LANTIRN). Meanwhile, the current state of the aircraft can be measured through various sensors provided on the aircraft, and flight information can be received from the sensors. On the other hand, in equipment such as TEROROM or LANTIRN, an incremental vertical acceleration can be calculated, and based on this, the required DBTF (Database terrain following) G command is generated.

The response of the aircraft is fed back to the second feedback signal, and the feedback signal is received by the receiver 42. A display cycle setting step S200 and a speed dependence delay step S400 to generate a G command of the current aircraft.

A display step S600 is performed in which the difference between the required DBTF G command and the current G command of the aircraft is applied as a control input and a symbol is displayed on the screen 44 corresponding to the control input.

The pilot who recognizes the symbol manipulates the control point and goes through the pilot time delay compensation step (S300), which reflects the time delay of the branch from the moment it is recognized, and finally the response of the aircraft is output. At this time, the aircraft is followed by the required vertical acceleration calculation value.

On the other hand, as described above, the response of the aircraft is fed back to the first and second feedback signals and received by the signal unit 42, and control can be continuously performed to reach the target flight altitude.

Hereinafter, a description will be given of the order in which the symbols are displayed on the screen 44 with reference to the block diagram of the control unit 43 described above with reference to FIG.

3 is a flow chart of the first embodiment according to the present invention. As shown in the figure, the terrain tracking and flight display method according to the present invention includes the steps of inputting a target altitude (S100), setting a display period (S200), pilot time delay compensation (S300) A vertical acceleration calculation step S500, and a display step S600. The target flight altitude, the display cycle, the pilot time delay, the speed dependent delay value, and the like in the target flight altitude input step S100, the display cycle setting step S200, the pilot time delay compensation step S300, The required vertical acceleration calculation step S500 and the display step S600 may be performed. The display period setting step S200, the pilot time delay compensation step S300, the speed dependence delay step S400, the required vertical acceleration calculation step S500, excluding the target flight altitude input step S100 and the display step S600, May be performed in the control unit.

As described above, the target flight altitude is inputted from the pilot in the target flight altitude input step (S100), and the required vertical acceleration calculation step (S500) is performed using the aircraft flight information and the terrain information, The required vertical acceleration is calculated, and in the display step S600, the symbol 20 is displayed on the screen 44 in accordance with the calculated vertical acceleration. The pilot follows the indicated symbol 20 and is able to fly at the desired flight altitude.

The target flight altitude input step (S100) is a step for determining how much to fly from the ground, and is configured to input various flight altitudes. The target flight altitude can be entered by the pilot on board the aircraft and remotely.

The display period setting step S200 is a step of setting a period in which the position of the symbol 20 indicating the required vertical acceleration is changed on the screen 44 to be described later. The display period setting step S200 is configured to allow the pilot to follow and manipulate the symbol 20 smoothly. The display period setting step S200 may be configured as a low pass filter to prevent the position of the frequent symbol 20 from changing. When flying over rough terrain or when there is noise from the sensor, the current altitude measured on the aircraft is irregular and changes frequently. The required vertical acceleration calculated based on this current altitude also changes frequently. As a result, since the position where the symbol 20 is displayed is rapidly changed and displayed, it is difficult for the pilot to recognize it and follow it. In order to solve such a problem, the display cycle setting step is configured to display the symbol 20 on the screen 44 at a predetermined cycle, so that the pilot 20 is prevented from trembling due to frequent movement of the symbol 20, . On the other hand, the display cycle can be configured to be changed according to the operation of the pilot. The pilot can set the display period so that the pilot 20 can easily follow while observing the cycle at which the symbol 20 is displayed.

The pilot time delay compensation step S300 is configured to reflect the time taken from the moment the symbol 20 is displayed when the symbol 20 is displayed on the screen 44 to the moment when the pilot recognizes it and operates the pilot. In the control system, the time it takes for the pilot to manipulate the steering wheel in response to the symbol 20 may be modeled in the form of a time delay. Accordingly, the time delay of the pilot is compensated before the symbol 20 is displayed to calculate the required vertical acceleration to be described later.

The speed dependence delay step S400 is configured to vary the period for displaying the symbol 20 according to the flight speed of the aircraft. Dependent delay filter that schedules a vertical acceleration signal according to the speed of the aircraft. Pilots can perform periodic up and down operations to maintain the aircraft's target flight altitude, which can lead to Pilot Induced Oscillation (PIO). In the speed dependent delay step S400, as the speed increases, the symbol 20 is delayed and displayed such that the marking period of the symbol 20 becomes longer. As the symbol 20 is frequently displayed at high speed, The induction machine vibrations that can be generated by manipulating the control rod back and forth can be improved.

Meanwhile, the order in which the display cycle setting step S200 and the display speed setting delay step S400 are performed is shown first, but this is only an example, and the speed dependent delaying step S400 is performed first Can be performed simultaneously.

The required vertical acceleration calculation step (S500) is a step in which the vertical acceleration required for the aircraft to reach the target flight altitude is calculated. The required vertical acceleration calculation step (S500) receives the flight information and the terrain information such as the vertical acceleration and the flight velocity vector of the current aircraft, and calculates the required acceleration to reach the target flight altitude based on the received information.

The required vertical acceleration calculation step (S500) derives an appropriate acceleration to reach the target altitude after a predetermined time elapses. If the time required to reach the target altitude is set to be short, a sudden change in vertical acceleration may occur depending on the situation, which may cause problems to the aircraft or the pilot. On the other hand, when the time is set too long, the problem of not coping with the change of the terrain can occur quickly. Therefore, the required vertical acceleration is calculated based on the appropriate time.

The algorithm used in the required vertical acceleration calculation step (S500) can be applied in various ways, so a detailed description thereof will be omitted.

The display step S600 is a step in which the symbol 20 is displayed on the screen 44 so that the pilot can follow the required vertical acceleration when the required vertical acceleration described above is calculated. The vertical acceleration of the aircraft through the required vertical acceleration calculation step S500 and the pilot time delay compensation step S300 are compared and the position of the symbol 20 displayed on the screen 44 changes depending on the difference. The symbol 20 is displayed on the upper side of the flight path marker 10 (FPM) displayed on the display unit. On the other hand, when the necessary vertical acceleration should be small, Is displayed on the lower side. The larger the required vertical acceleration is, the more distant from the flight path display 10, and the smaller the required vertical acceleration, the closer to the flight path display 10 is. This will be described later in detail with reference to FIG.

While the pilot is manually traversing the terrain, the symbol 20 according to the required vertical acceleration must be displayed continuously. Therefore, it can be repeated from the pilot time delay compensation step (S300) after the display step (S600) while the terrain tracking flight is performed. On the other hand, if the display period is not changed, it may be repeated from the display period setting step S200.

4 is a view schematically showing the screen 44 of the first embodiment according to the present invention. The flight path display (10) is displayed in the center part, and the target flight altitude is displayed on the left side, and the current altitude is displayed in numerals on the right side, and other flight information is displayed. The symbol 20 is displayed in a rectangular shape and moves in the vertical direction on the flight path display 10.

As described above, a moving symbol 20 is displayed on the screen 44 so that the pilot can push or pull the pilot to intuitively follow the symbol 20 and adjust the flight altitude.

The screen 44 displays various flight information such as the current altitude, the target altitude, and the flight path marker 10 (FPM: Flight Path Marker) to transmit the flight information to the pilot. At this time, the position of the symbol 20 is changed to transmit the information about the vertical acceleration required for the pilot to the pilot.

4A, when the current vertical altitude is lower than the target vertical altitude and the vertical acceleration required to reach the target vertical altitude should be larger than the current vertical acceleration, the symbol 20 is displayed on the upper side of the flight path indicator 10 . The larger the required vertical acceleration is, the higher the distance from the flight path display 10 is. In this case, as the pilot pulls the pilot and the vertical acceleration is increased, the symbol 20 is gradually displayed to the flight path display 10 side and displayed. When the aircraft reaches the target vertical acceleration, Position to be overlapped with the flight path display 10. At this time, if the control point is reset, the target flying height set after a predetermined time is reached. In the case where the aircraft in the upward trend is somewhat higher than the target flight altitude, the vertical acceleration must be lowered somewhat. At this time, the symbol 20 is moved to a position slightly lower than the flight path indicator 10 and displayed. The pilot then pushes the cockpit again to lower the vertical acceleration and lower the altitude of the flight, which in turn allows the aircraft to fly at the target altitude.

 On the other hand, if the aircraft is flying at a higher altitude than the target altitude and the calculated required vertical acceleration should be less than the current, the symbol 20 is displayed below the target altitude as shown in (c). At this time, the pilot pushes the control point forward to lower the vertical acceleration of the aircraft and lower the altitude. On the screen 44, as the altitude of the aircraft is lowered, the symbol 20 is gradually raised toward the flight path indicator 10, The flight path display 10 and the symbol 20 overlap each other.

Thus, the pilot can maintain the target flight altitude by manipulating the pilot while viewing the symbol 10 and the flight path display 10 displayed on the screen 44 at this time. When the symbol 20 is arranged on the upper side or the lower side of the flight path display 10 while manipulating the steering wheel so as to follow the symbol 20 while viewing the symbol 20, ) Can fly to the target flight altitude.

In this case, when the required vertical acceleration is calculated before the symbol 20 is displayed, a speed dependent delay step (S400) of varying the scheduling according to the flying speed, a pilot time delay compensation step (S300), and a display cycle setting step (S200) for setting a cycle for displaying the symbol (20) may be reflected and may be mounted on the control device.

Hereinafter, a second embodiment according to the present invention will be described with reference to FIG. In the second embodiment, the same components as those in the first embodiment can be included, and a description of the same components will be omitted in order to avoid redundant description.

5 is a diagram showing an alarm display 30 on the screen 44 of the second embodiment according to the present invention. As shown in the figure, in the calculation of the required vertical acceleration (S500), an alarm signal is generated when the aircraft is able to collide with the terrain when flying at the current vertical acceleration. An alarm signal is displayed on the screen (30) may be displayed.

An X-shaped symbol 20 is displayed on the screen 44, and an alarm indicating that the pilot is pulled to 'PULL UP' is displayed. In response, the pilot pulls the pilot to increase the vertical acceleration, The alarm display 30 is terminated.

On the other hand, the type of the alarm displayed on the screen 44 is merely an example, and may be configured in various ways that can be observed by the pilot.

The present invention is capable of displaying a required vertical acceleration command signal (COMMAND CUE) on the screen (44) as indicated by the symbol (20) according to the required vertical acceleration, so that the pilot follows it to easily maintain the target flight altitude There is an effect that can be.

In addition, it is possible to eliminate the frequent movement of the symbol 20, to prevent the inductive swing of the induction machine through the speed dependent delay step (S400), to facilitate the tracing of the terrain tracing, and to obtain the optimum flightability through the pilot time delay step It is effective.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, . Therefore, it should be understood that the above-described embodiments are illustrative in all aspects and not restrictive. The scope of the present invention is defined by the appended claims rather than the detailed description and all changes or modifications derived from the meaning and scope of the claims and their equivalents are to be construed as being included within the scope of the present invention do.

S100: Target flight altitude input step
S200: display cycle setting step
S300: Pilot time delay compensation step
S400: Speed dependent delay step
S500: Required vertical acceleration calculation step
S600: display step
10: Show flight path
20: Symbol
30: Alarm display
41:
42:
43:
44: Screen

Claims (9)

A target flight altitude input step for receiving the target flight altitude;
A required vertical acceleration calculation step of calculating a vertical acceleration necessary for the aircraft to reach the target flight altitude using the aircraft flight information and the terrain information; And
And displaying the symbol on the screen according to the calculated vertical acceleration,
Wherein the required vertical acceleration calculation step comprises:
And a display period setting step of adjusting a display period of the movement of the symbol. The method according to claim 1,
In the displaying step,
If the required vertical acceleration is greater than the vertical acceleration of the aircraft, the symbol is displayed above the flight path indicator,
Wherein the symbol is displayed below the flight path indication if the required vertical acceleration is less than the vertical acceleration of the aircraft. 3. The method of claim 2,
In the displaying step,
Wherein the position of the symbol displayed on the screen is shifted in the vertical direction according to the required vertical acceleration. delete 3. The method of claim 2,
Wherein the required vertical acceleration calculation step comprises:
Further comprising a pilot time delay compensation step that reflects a time difference between recognition and manipulation of the pilot of the aircraft. 3. The method of claim 2,
Wherein the required vertical acceleration calculation step comprises:
Further comprising a speed dependent delay calculation step in which the required vertical acceleration can be calculated corresponding to the speed of the aircraft. 3. The method of claim 2,
The required vertical acceleration calculation step generates an alarm signal when the aircraft is in the collision path with the terrain,
Wherein the displaying step displays an alarm when receiving the alarm signal. A screen showing information necessary for flight;
An input unit for receiving a target flight altitude;
A receiving unit for receiving flight information and terrain information of an aircraft;
Calculating a required vertical acceleration for reaching the target flight altitude using the flight information of the aircraft and the terrain information, and controlling the screen to display a symbol corresponding to the required vertical acceleration,
Wherein,
And sets a display cycle so as to adjust a display cycle of the movement of the symbol. 9. The method of claim 8,
Wherein,
If the required vertical acceleration is greater than the vertical acceleration of the aircraft, the symbol is displayed above the flight path indicator,
Wherein when the required vertical acceleration is smaller than the vertical acceleration of the aircraft, the symbol is controlled to be displayed below the flight path indication.

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