CN103699132A - Device and method for assisting visual disc to precess and approach - Google Patents
Device and method for assisting visual disc to precess and approach Download PDFInfo
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Abstract
The invention discloses a device and a method for assisting a visual disc to precess and approach. To complete the eye disk precession approach task, after determining the landing airport, the present apparatus calculates the protected area of eye disk precession approach and the pilot may choose to automatically or manually participate in generating the eye disk precession approach path. After the pilot confirms, the guiding information of the visual disc precession approach is calculated according to the path to assist the visual disc precession, the device constantly monitors the flight state in the subsequent approach process, and once the potential danger is detected, the pilot is reminded to take necessary measures to avoid the danger. The invention can effectively improve the automation level of the visual disk when the visual disk is screwed in and is close, lighten the burden of the flight unit and improve the flight safety.
Description
Technical field
The present invention relates to a kind of apparatus and method of auxiliary air navigation, particularly visual, spiral under near situation, the apparatus and method of pilot's safety navigation and guiding are provided.
Background technology
Visual spiraling is that pilot completes after instrument approach, carries out visual orbit and makes aircraft arrival be unsuitable for the landing position that straight line enters near runway.For large airport, the common vector aircraft of air traffic control (ATC) carries out straight in landing Hang Kongqiwanchengyibiaojinjinhou，Hou Jinjinhangji30°, and for airpark, visual spiraling is recurrent thing.Sometimes, due to bad weather condition or airport traffic conditions around, be not suitable for carrying out straight line and enter closely, now the ATC unit that may require to fly carries out visual spiraling into closely.And under other situations, guidance station can only arrive the center on airport by vector aircraft, rather than arrive runway terminal, now pilot must take visual spiraling near to suitable runway.
On most of aircrafts, there is an airborne RNAV system to carry out the navigation of second-mission aircraft between airport.For example, from an airport to the flight course on another remote airport, taking off in the near future until aircraft approaches destination airport, the flight of RNAV system vector aircraft together with robot pilot.RNAV system is airborne computer, accepts the input of pilot, sensor, guidance station and ATC.Based on these inputs, calculate the flight path between airport, can assisting in flying person navigate, or control flight automatically by the coupling with robot pilot.Some simple RNAV systems calculate and level of control navigation, and other senior RNAV systems can calculate and control vnav cruise and path descent profile.The visual low-speed maneuver flight of spiraling and carrying out in low clearance situation into being closely, current district system is only apparatus for supporting list procedure flight generally, to visual, spiral very limitedly into nearly support, visually spiral main when near or rely on and check the artificial flight that chart information is carried out.
Because working load is large, aircraft landing itself is exactly a complicated job, for visual, spirals into near, and pilot need to distribute more notice to observe the situation beyond aircraft, therefore all the more so for visual spiraling.Lower in visibility, alpine terrain is complicated and the situation such as operation at night under; visual spiral higher near danger; aircraft to be remained in protection zone especially difficult; accidentally probably cause fatal crass, therefore visual spiraling into closely challenging greatly for mono-of pilot Lai Shuoshi.
In order to improve visual spiraling near security, the means of some robotizations need to be provided to pilot, replace a part of manual operation of pilot, thereby make pilot more energy can be paid close attention to the safe condition outside aircraft itself and machine, set up stable visual spiraling near.
Summary of the invention
The deficiency existing for prior art, the object of the present invention is to provide a kind of aid visual to spiral near device, to improve visual automatization level of spiraling when near, alleviate flight unit burden, and in flight course, constantly state of flight is carried out to automatic monitoring, improve flight safety.
Another object of the present invention is to provide and utilize this device to carry out aid visual to spiral near method.
Goal of the invention of the present invention is achieved by the following technical solution.
For aid visual, spiral into a near device, comprise Database Systems, navigation sensor, control inputs device, display device, audible alarm device and total system:
Described Database Systems storage airfield runway information, visual spiral approach minimum standard, visual spiraling into nearly standard, the visual restriction of spiraling, and aircraft classification information; Airfield runway information, visual spiral approach minimum standard, the visual restriction of spiraling all come from the chart of announcement, information in database be standard A RINC424 form storage or take off before or self-defined by pilot in flight course, aircraft classification information is determined according to airport of entry landing speed, be divided into A, B, C, D, E class, pilot can revise and determine the classification under this aircraft.
Described navigation sensor is determined the information such as aircraft position, speed, course, wind speed and direction; Navigation sensor is the built-in GPS/ Beidou receivers of apparatus of the present invention, or existing inertial navigation system on aircraft, boat appearance system, radio navigation system and atmospheric engine.
Described control inputs device provides pilot to formulate visual spiraling into nearly plan, selects aircraft classification, selects visual spiraling into the operation-interface of nearly classification, and interface is the form that multi-functional control shows, or focuses on and in display device, take contactor control device.Control inputs device comprises to be selected visually to spiral into plesiotype, select airport and runway, selection aircraft classification, confirms visual spiraling into the operation in shortcut footpath.
Described display device provides the text of the visual plan information that spirals, position, guiding, prompting and warning information and figure to show;
Described audible alarm device provides the sound alarm of danger situation alarm, comprises the prompting of going around, and exceeds the alarm of protection zone;
Described total system carries out calculating and the processing of described various tasks; Total system is independent application specific processor, or is integrated in flight management system, RNAV system.
From database, extract airplane information and determine after aircraft position, speed, wind speed and direction, course information by sensor device, by control inputs device, input and pass through calculating and the processing of total system, the text of the visual plan information that spirals, position, guiding, prompting and warning information or graphical information are shown in display device for pilot's reference.
Carry out the aid visual approach method that spirals, comprise the steps:
1), from Database Systems, extract airport and runway information is selective, pilot determines and implements visual spiraling near airport and runway;
2), from the termination environment instrument flight procedure standard (TERPS) of FAA and the aerial navigation procedure service of ICAO-aircraft operation (PANS OPS) two kinds of visual spiraling, into nearly standard, select, pilot determines visual spiraling after nearly standard, according to type of airplane, by total system, calculate visual spiraling near protection zone, and show on display;
3) current situation and the turn performance of aircraft own, according to aircraft navigation sensor, determined, by automatic planning or artificial participation planning, determine visual spiraling into shortcut footpath, in the Ying protection zone, path of planning, after confirming through pilot, the benchmark guiding as pilot; Described artificial participation is planned to touch manner planning, and touch track is revised automatically, forms applicable the visual of aircraft flight and spirals into shortcut footpath; Or the mode of input text information, by input runway, minimum descent altitude and three hem width degree, generate.
4), pilot, confirm that the visual of implementary plan spirals behind shortcut footpath, according to confirmed visual spiraling, into shortcut footpath, provide flight guidance information, be shown to pilot or issue automatic flight control system, described guidance information is the key instruction of coupling automatic flight control system, or is presented at the flight director information on display.
5), to aircraft is visual, spiral into closely carrying out process monitoring; if there is surpassing protection zone; or can not set up and stablize into nearly state, prompting and alarm are provided, thereby pilot takes necessary measure to avoid dangerous generation according to corresponding prompting and warning information.
Tool of the present invention has the following advantages:
A) provide the visual path of spiraling generating under automatic or manual participation, after pilot confirms, provide guiding, improved automaticity, alleviated driver's burden, make pilot can have more energy to go the situation outside observation machine to enter nearly decision-making;
B) provide the visual protection zone of spiraling calculate and show, and monitor in real time in the visual process of spiraling, can improve driver's danger situation consciousness, reduce the chance of collision obstacle, improve visual spiraling into nearly security.
Accompanying drawing explanation
Fig. 1 is that the present invention is spiraled into the structural representation of near device for aid visual.
Fig. 2 is spiral a preferred embodiment schematic diagram of approach method of aid visual of the present invention.
To be that the present invention is visual spiral near protection zone schematic diagram Fig. 3.
Fig. 4 is the protection zone signal of the restricted requirement of the present invention.
To be that the present invention is visual spiral into shortcut footpath schematic diagram Fig. 5.
Fig. 6 is that the present invention's visual spiraling that correction is manually planned automatically illustrated into shortcut footpath.
Embodiment
How below in conjunction with accompanying drawing 1-Fig. 6, further illustrate the present invention realizes.
Embodiment
Be illustrated in figure 1 a kind of aid visual and spiral near device, comprising:
Fig. 2 is a spiral preferred embodiment of approach method of aid visual of the present invention.When system is started working, first enter 201 programs of preparation, complete loading navigational route database, and receive the position that navigation sensor information is determined aircraft.Pilot receives spiraling after nearly instruction of ATC, by control inputs Array selection, spirals into plesiotype 202, and system detects whether determined destination airport, if do not had, points out pilot to select airport, and pilot determines airport 203.Then system is spiraled into nearly standard 204 according to obtaining the visual of this airport in database, or also can according to chart, determine that visual that airport is suitable for spirals into nearly standard 204 by pilot.
The aircraft classification that now limits and be stored in the machine in database according to selected airport is calculated and the nearly protection zone 205 of display panel precession.Now system enters and monitors into nearly safety 207 states, the position of aircraft after the prediction regular hour, if judgement aircraft will exceed protection zone, the mode of text flicker is pointed out pilot potential danger; If aircraft has been crossed protection zone, provide text alert or sound alarm 210 with distinct color.Aspect vertical, if aircraft lower than minimum descent altitude, also provides clear and definite prompting 210, inform pilot in addition, now the assurance of super barrier remaining is the thing in the own limitation of liability of pilot.If the five the most laggard nearly stages of limit of aircraft are not set up landing form, or do not set up and stablize approach speed, or the larger situation of course-line deviation, prompting 210 suggestions propose to go around.
On the other hand, pilot selects the runway 206 of required landing according to visual situation, or select the visual program 206 of spiraling from Navigation Database, this device builds visual spiral approach path 208, then pilot assesses the path calculating, if pilot confirms path 209, and this visual path basic foundation as monitoring and guiding of spiraling.Once confirmation path, guides calculating according to path and the current state of aircraft, and director information 211 is provided on display, pilot is with reference to path visual approach.Or output key instruction information is to automatic flight control system, this guidance mode the most laggard nearly flight path of always working, until pilot disconnects automatic Pilot.
In the first alternative, pilot is spiraled when arriving five limits near process visual, find not set up to stablize into nearly state or the visual condition of runway and be not suitable for landing, now pilot can reselect and build visual spiraling into shortcut footpath, and now this device is removed the original visual path of spiraling generating.Pilot initially goes around direction should be always towards airport, to guarantee obstacle detouring safe margin and to keep aircraft in the visual protection zone of spiraling, until higher than minimum descent altitude, and can add announcement go-around procedure.Then, if air traffic control license, pilot can reselect visual spiraling into plesiotype, and recalculates the visual path of spiraling, and then according to new guidance information, re-starts visual spiraling near.
In another alternative, flight is spiraled into receiving that ATC instruction need to change runway near procedure visual, now can reselect runway by this device, and this device rebuilds path, after pilot confirms, regenerates guidance information.
Fig. 3 is visual spiraling near protection zone schematic diagram, and it is that aircraft must be considered the region of super barrier remaining in visual maneuvering flight (spiraling).The protection zone 301 that the automatic calculating dial precession of native system is near, definite mode of protection zone 301 is: take every runway threshold center is the center of circle, the region that the circular arc 303 generating with the visual zone radius 302 that spirals and the tangent line 304 between circular arc surround.Radius 302 standard that the standard in database or pilot select according to system storage, the PANS-OPS that optional standard is ICAO and the TERPS standard of FAA, and consider the classification of aircraft.The classification of aircraft is divided into A, B, C, D, E class, is stored in database 101.
Fig. 4 has described an example determining protection zone while requiring for airport is restricted.Restriction aircraft is between runway 403 and runway 404, and the regions beyond distance navigation platform 401 distance to a declared goal 402 are visual spirals near.Be that dash area is visual spiraling near restricted area 405, when calculating protection zone 301, need to consider.
According to various criterion, different with the definition of the visual district's radius 302 that spirals for the visual maximal rate of spiraling of all kinds of aircrafts, concrete data are as shown in the table:
To be that the present invention is visual spiral into the diagram in shortcut footpath 503 Fig. 5, and visual the spiraling of planning is limited in visual spiraling in nearly protection zone 301 into shortcut footpath 403, and could be as the final foundation of vectored flight through pilot's confirmation.Before confirming, visual spiraling presented to pilot into shortcut footpath with conspicuous color, after confirming, becomes the track color of normally using.
Visually spiral into shortcut footpath 503 by incision flight path 508, three limits 507, finally turn limit 502 and the most laggard nearly flight path 506 form.Incision flight path 508 location positioning current according to aircraft 501, can spend incision three limits 507 by 90 degree incisions or 45, but three limits 507 is contrary with the parallel method of runway 509 that needs to land.Pilot, implementing visual spiraling when near, adjusts height to MDA before cutting flight path or in incision track flight process, then repeatedly limit, finally turn in the flight course on limit and keep MDA highly to fly.After completing the most laggard near side (ns) flight of the incision of turning, pilot's falling head completes landing.
In background of the present invention, can determine in different ways described visual spiraling into shortcut footpath 503, in a preferred embodiment, according to the current situation of aircraft 501, the selected landing runway 509 of foundation and the MDA storing from database calculate visual spiraling into shortcut footpath 503 automatically.The starting point 505 of the most laggard nearly flight path 506 is calculated according to the gliding angle of 3 ° of acquiescences, highly intersects and generates with MDA.Acquiescence gliding angle also can be modified according to actual needs.Three hem width degree 504 refer to three limits to the horizontal width of runway, and its maximal value is by landform and meteorological condition restriction, and minimum value is limited by aircraft turn performance.Turn performance refers to aircraft (25 ° of gradients under normal data restriction, air speed is less than revolves approach speed according to the definite maximum disc of aircraft classification and determines) complete the required minimal curve radius of continuous turning, three hem width degree 504 in preferred embodiment equal 2 times of this minimal curve radius.
In the first alternative, the present invention according to pilot with text mode by control inputs device 103 input MDA height, three hem width degree 504, gliding angle Information generation is visual spirals into shortcut footpath 503.The priority of the MDA height of pilot's input is higher than canned data in database.
In addition,, in the second alternative, pilot can plan that, into shortcut footpath, Fig. 6 has described a kind of implementation by the mode of touch-control.In display device 102, program plan spirals into shortcut footpath 601; the present invention is according to the performance of aircraft; and visual spiraling into the restriction of nearly protection zone 301, the plan track of pilot's planning is revised automatically, form visual the spiraling into shortcut footpath 503 that can fly of aircraft optimization.
Claims (10)
1. for aid visual, spiral into a near device, comprise Database Systems, navigation sensor, control inputs device, display device, audible alarm device and total system, is characterized in that:
Described Database Systems storage airfield runway information, visual spiral approach minimum standard, visual spiraling into nearly standard, the visual restriction of spiraling, and aircraft classification information;
Described navigation sensor is determined aircraft position, speed, course, wind speed and direction information;
Described control inputs device provides pilot to formulate visual spiraling into nearly plan, selects aircraft classification, selects visual spiraling into the operation-interface of nearly classification;
Described display device provides the text of the visual plan information that spirals, position, guiding, prompting and warning information and figure to show;
Described audible alarm device provides the sound alarm of danger situation alarm, comprises the prompting of going around, and exceeds the alarm of protection zone;
Described total system carries out calculating and the processing of described various tasks;
From database, extract airplane information and determine after aircraft position, speed, wind speed and direction, course information by sensor device, by control inputs device, input and pass through calculating and the processing of total system, the text of the visual plan information that spirals, position, guiding, prompting and warning information or graphical information are shown in display device for pilot's reference.
2. according to claim 1 a kind ofly spiral near device for aid visual, it is characterized in that: described airfield runway information, visual spiral approach minimum standard, the visual restriction of spiraling all come from the chart of announcement, information in database is standard A RINC424 form storage, or before taking off or self-defined by pilot in flight course.
3. according to claim 1 a kind ofly spiral near device for aid visual, it is characterized in that: described navigation sensor is the built-in GPS/ Beidou receivers of apparatus of the present invention, or existing inertial navigation system on aircraft, boat appearance system, radio navigation system and atmospheric engine.
4. according to claim 1 a kind ofly spiral near device for aid visual, is characterized in that: described control inputs device comprises to be selected visually to spiral into plesiotype, select airport and runway, selection aircraft classification, confirms visual spiraling into the operation in shortcut footpath.
5. according to a kind of described in claim 1 or 4, for aid visual, spiral near device, it is characterized in that: the interface of described control inputs device is the form that multi-functional control shows, or focus on and in display device, take contactor control device.
6. according to claim 1 a kind ofly spiral near device for aid visual, is characterized in that: described display device is multi-functional control display, or the EFIS on aircraft.
7. according to claim 1 a kind ofly spiral near device for aid visual, is characterized in that: described total system is independent application specific processor, or is integrated in flight management system, RNAV system.
8. adopt device described in claim 1-7 to carry out the aid visual approach method that spirals, it is characterized in that, the method comprises the steps:
1), from Database Systems, extract airport and runway information is selective, pilot determines and implements visual spiraling near airport and runway;
2), from TERPS and two kinds of visual spiraling of ICAO PANS OPS, into nearly standard, select, pilot determines visual spiraling after nearly standard, according to type of airplane, by total system, calculate visual spiraling near protection zone, and show on display;
3) current situation and the turn performance of aircraft own, according to aircraft navigation sensor, determined, by automatic planning or artificial participation planning, determine visual spiraling into shortcut footpath, in the Ying protection zone, path of planning, after confirming through pilot, the benchmark guiding as pilot;
4), pilot, confirm that the visual of implementary plan spirals behind shortcut footpath, according to confirmed visual spiraling, into shortcut footpath, provide flight guidance information, be shown to pilot or issue automatic flight control system;
5), to aircraft is visual, spiral into closely carrying out process monitoring; if there is surpassing protection zone; or can not set up and stablize into nearly state, prompting and alarm are provided, thereby pilot takes necessary measure to avoid dangerous generation according to corresponding prompting and warning information.
9. aid visual according to claim 8 is spiraled near method, it is characterized in that, the guidance information in described step 4) is the key instruction of coupling automatic flight control system, or is presented at the flight director information on display.
10. aid visual according to claim 8 is spiraled near method, it is characterized in that, the artificial participation in described step 3) is planned to touch manner planning, and touch track is revised automatically, forms applicable the visual of aircraft flight and spirals into shortcut footpath; Or the mode of input text information, by input runway, minimum descent altitude and three hem width degree, generate.
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| CN108717300A (en) * | 2018-04-24 | 2018-10-30 | 中国商用飞机有限责任公司北京民用飞机技术研究中心 | A kind of auxiliary monitoring device in flight control system |
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| EP3764341A1 (en) | 2019-07-08 | 2021-01-13 | Thales | Method and electronic system for flight management of an aircraft in visual approach phase of a runway, associated computer program |
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| CN112706933A (en) * | 2020-10-26 | 2021-04-27 | 中国商用飞机有限责任公司 | System and method for determining and displaying automatic flight approach and landing capability |
| CN113033621A (en) * | 2021-03-05 | 2021-06-25 | 南京航空航天大学 | Method for identifying unstable approach and inducement thereof of civil aircraft |
| CN113033621B (en) * | 2021-03-05 | 2022-01-18 | 南京航空航天大学 | Method for identifying unstable approach and inducement thereof of civil aircraft |
| CN114721431A (en) * | 2022-04-06 | 2022-07-08 | 中国商用飞机有限责任公司 | Simulation method for predicting hovering approach flight trajectory |
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