CN103699132B - 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 spiral into when near visual, the apparatus and method of pilot's safety navigation and guiding are provided.
Background technology
Visual spiraling is after pilot completes 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 usual vector aircraft of air traffic control (ATC) carries out straight in landing, and for airpark, visually spirals, and is recurrent thing.Sometimes due to the traffic conditions around bad weather condition or airport, be not suitable for carrying out straight line and enter closely, now ATC may require that flight unit carries out visual spiraling near.And in other cases, guidance station can only vector aircraft to the center on airport, instead of to runway terminal, now pilot must take visual spiraling near to suitable runway.
Most of aircraft there is an airborne RNAV system carry out the navigation of second-mission aircraft between airport.Such as, from an airport in the flight course on another remote airport, taking off in the near future until aircraft is close to 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 by controlling automatically to fly with being coupled of 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.Visual spiral into be closely carry out in low clearance situation low-speed maneuver flight, the general only apparatus for supporting list procedure flight of current district system, spiral into closely support is very limited to visual, visual spiraling into mainly still relying on time near checks the manual flight that chart information is carried out.
Because working load is large, aircraft landing is a complicated job inherently, spirals into near for visual, and pilot needs to distribute more notice and observes situation beyond aircraft, therefore all the more so for visual spiraling.Lower in visibility, alpine terrain is complicated and under the situation such as operation at night; visual spiral then higher near danger; aircraft to be remained in protection zone especially difficult; accidentally probably cause fatal crass, therefore visually spiral into being closely a challenge greatly for pilot.
Visually spiral near security to improve, need the means that some robotizations are provided to pilot, replace a part of manual operation of pilot, thus make pilot more energy can be paid close attention to safe condition outside aircraft itself and machine, set up and stable visually spiral into closely.
Summary of the invention
For the deficiency that prior art exists, the object of the present invention is to provide a kind of aid visual to spiral near device, to improve visual spiraling into automatization level time near, alleviate flight unit burden, and in flight course, constantly automatic monitoring is carried out to state of flight, 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.
Spiral into a near device for aid visual, comprise Database Systems, navigation sensor, control inputs device, display device, audible alarm device and total system:
Described Database Systems store airfield runway information, visual spiral approach minimum standard, visually spiral into nearly standard, visual restriction of spiraling, and aircraft classification information; Airfield runway information, visual spiral approach minimum standard, visual restriction of spiraling all come from the chart of announcement, information in database is that standard A RINC424 form stores or before taking off 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 belonging to this aircraft.
The information such as aircraft position, speed, course, wind speed and direction determined by described navigation sensor; Navigation sensor is the built-in GPS/ Beidou receivers of apparatus of the present invention, or existing inertial navigation system, aviation attitude system, radio navigation system and atmospheric engine on aircraft.
Described control inputs device provides pilot to formulate and visually spirals into nearly plan, select aircraft classification, selects visually to spiral into the operation-interface of nearly classification, and interface is the form of multi-functional control display, or focuses in display device and take contactor control device.Control inputs device comprise select visual spiral into plesiotype, select airport and runway, selection aircraft classification, confirm visual spiraling into the operation of near-path.
Described display device provides the visual plan information that spirals, position, guiding, the text of prompting and warning information and figure display;
Described audible alarm device provides the sound alarm of danger situation alarm, comprises prompting of going around, and exceeds the alarm of protection zone;
Described total system carries out calculating and the process of described various tasks; Total system is independent application specific processor, or is integrated in flight management system, RNAV system.
Airplane information is extracted and after determining aircraft position, speed, wind speed and direction, course information by sensor device from database, to be inputted by control inputs device and through the calculating of total system and process, 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.
One is carried out aid visual and to be spiraled approach method, comprises the steps:
1), from Database Systems, extract airport and runway information is selective, pilot determines to implement visually to spiral near airport and runway;
2), run visual the spiraling into nearly standard of (PANSOPS) two kinds from termination environment instrument flight procedure standard (TERPS) of FAA and the aerial navigation procedure service-aircraft of ICAO to select, pilot determines visually to spiral into after nearly standard, calculate visual spiraling near protection zone according to type of airplane by total system, and show over the display;
3) present case, determined according to aircraft navigation sensor and the turn performance of aircraft own, by automatically planning or manually participating in planning to determine visually to spiral into near-path, the path of planning should in protection zone, after confirming through pilot, as the benchmark that pilot guides; Described artificial participation is planned to touch manner planning, to touch track auto modification, forms applicable the visual of aircraft flight and spirals into near-path; Or the mode of input text information, generated by input runway, minimum descent altitude and three hem width degree.
4), confirm that the visual of implementary plan spirals after near-path pilot, flight guidance information is provided according to confirmed visual spiraling into near-path, be shown to pilot or issue automatic flight control system, described guidance information is the key instruction of coupling automatic flight control system, or display flight director information over the display.
5), spiral into closely carrying out process monitoring to aircraft is visual; if there is exceeding protection zone; or can not set up and stablize into nearly state, then provide prompting and alarm, pilot takes necessary measure according to corresponding prompting and warning information thus avoids dangerous generation.
Tool of the present invention has the following advantages:
The visual convoluted path generated under a) automatic or manual participation is provided, guiding is provided after pilot confirms, improve automaticity, alleviate driver's burden, make pilot that more energy can be had to go the situation outside observation machine to carry out into nearly decision-making;
B) provide visual protection zone of spiraling to calculate and display, and monitor in real time in visual process of spiraling, the danger situation consciousness of driver can be improved, 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 that aid visual of the present invention is spiraled a preferred embodiment schematic diagram of approach method.
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 near-path schematic diagram Fig. 5.
Fig. 6 is that visual the spiraling into near-path that auto modification of the present invention is manually planned is illustrated.
Embodiment
Further illustrate the present invention below in conjunction with accompanying drawing 1-Fig. 6 how to realize.
Embodiment
Be illustrated in figure 1 a kind of aid visual to spiral near device, comprise:
Database Systems 101, store airfield runway information, visual spiral approach minimum standard, visually spiral into nearly standard, visual restriction of spiraling, and aircraft classification information.Airfield runway information, landing minimum standard, visual restriction of spiraling are all come from the chart of announcement, and the information in database can be that standard A RINC424 form stores, and also can be before taking off or self-defining by pilot in flight course.Aircraft classification information needs the aircraft loaded according to this device to determine, fixed storage in a database in a preferred embodiment, also can revise.
Navigation sensor 102, determines the information such as aircraft position, speed, course, wind speed and direction.Navigation sensor can be the built-in GPS/ Beidou receivers of apparatus of the present invention, also can be existing inertial navigation system, aviation attitude system, radio navigation system, atmospheric engine on aircraft.
Control inputs device 103, provides pilot to formulate and visually spirals into nearly plan, selects aircraft classification, selects visual spiraling into the operation-interface of nearly classification.Typical man-machine interface is a form for multi-functional control display, may also be to focus in display device and takes contactor control device.
Display device 104, provides the visual plan information that spirals, position, guiding, the text of prompting and warning information and figure display.Display device can be multi-functional control display, also can be the EFIS on aircraft.
Audible alarm device 105, provides the sound alarm of danger situation alarm, comprises prompting of going around, exceeds the alarms such as protection zone.
Total system 106, carries out calculating and the process of described various tasks.Can be independent application specific processor, also can be integrated in flight management system, RNAV system.
Fig. 2 is that aid visual of the present invention is spiraled a preferred embodiment of approach method.During system starts, first enter preparation 201 program, complete loading navigational route database, and receive the position of navigation sensor information determination aircraft.What pilot received ATC spirals after nearly instruction, and by control inputs device selective pan precession plesiotype 202, whether systems axiol-ogy has determined destination airport, if do not had, then point out pilot to select airport, 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 by pilot according to chart determine airport be suitable for visually to spiral into nearly standard 204.
Now according to the restriction of selected airport and the aircraft classification calculating also nearly protection zone 205 of display panel precession storing the machine in a database.Now system enters and monitors into nearly safety 207 states, the position of aircraft after the prediction regular hour, if judge that aircraft will exceed protection zone, then and the danger that the mode that text glimmers points out pilot potential; If aircraft crosses protection zone, then provide with the text alert of vivid color or sound alarm 210.In addition in vertical, if aircraft is lower than minimum descent altitude, also provides clear and definite prompting 210 and inform pilot, the now guarantee of obstacle clearance remaining is the thing in pilot oneself limitation of liability.If the aircraft five limit the most laggard nearly stage does not set up landing configuration, or does not set up stable approach speed, or the situation that course-line deviation is larger, then propose prompting 210 of going around and advise.
On the other hand, pilot selects the required runway 206 landed according to visual situation, or select visual circling procedure 206 from Navigation Database, this device builds visual spiral approach path 208, then pilot assesses the path calculated, if pilot confirms path 209, this visual convoluted path is as the basic foundation monitored and guide.Once confirmation path, then guide calculating according to path and the current state of aircraft, provide director information 211 over the display, pilot is with reference to path and visual approach.Or export key instruction information to automatic flight control system, this guidance mode works the most laggard nearly flight path, until pilot disconnects automatic Pilot always.
In the first alternative, pilot visual spiral near process, arrive five limits time, discovery do not have foundation stablize into nearly state or runway visual condition be not suitable for land, now pilot can reselect to build and visually spiral into near-path, and now this device removes the original visual convoluted path generated.Pilot direction of initially going around always towards airport, to ensure obstacle detouring safe margin and to keep aircraft within visual protection zone of spiraling, until higher than minimum descent altitude, and should can add announcement go-around procedure.Then, if air traffic control license, pilot can reselect visual spiraling into plesiotype, and recalculates visual convoluted path, then re-starts visual spiraling near according to new guidance information.
In another alternative, fly to receive ATC instruction need to change runway visual spiraling near procedure, and now can reselect runway by this device, then this device rebuilds path, after pilot confirms, regenerates guidance information.
Fig. 3 visually spirals near protection zone schematic diagram, and it is that aircraft must consider the region of obstacle clearance remaining in visual maneuvering flight (spiraling).The protection zone 301 that the precession of native system automatic calculating dial is near, the determination mode of protection zone 301 is: with every bar runway threshold center for the center of circle, the region surrounded with the tangent line 304 between the circular arc 303 of visual spiral section radius 302 generation and circular arc.The standard that radius 302 is selected according to system storage standard in a database or pilot is determined, optional standard is the TERPS standard of PANS-OPS and FAA of ICAO, and considers the classification of aircraft.The classification of aircraft is divided into A, B, C, D, E class, is stored in database 101.
Fig. 4 describes the example determining protection zone when requiring for airport is restricted.Restriction aircraft is between runway 403 and runway 404, and region beyond distance navigation platform 401 distance to a declared goal 402 is visual spirals near.Namely dash area is visually spiral near restricted area 405, needs to consider when calculating protection zone 301.
According to various criterion, the visual maximal rate of spiraling for all kinds of aircraft is different with the definition of the visual district's radius 302 that spirals, and concrete data are as shown in the table:
To be that the present invention is visual spiral into the diagram of near-path 503 Fig. 5, and visual the spiraling into near-path 403 of planning is limited in visual spiraling in nearly protection zone 301, and could as the foundation of final vectored flight through the confirmation of pilot.Before confirmation, visual spiraling into near-path presents to pilot with conspicuous color, after verification, then becomes the track color normally used.
Visual spiraling into near-path 503 is made up of incision flight path 508, three limit 507, finally turning limit 502 and the most laggard nearly flight path 506.The position cutting flight path 508 current according to aircraft 501 is determined, can be cut or 45 degree of incision three limits 507 by 90 degree, but the parallel method of runway 509 that three limits 507 and needs land is contrary.Pilot is visually spiraled into time near in enforcement, and before carrying out incision flight path or in incision track flight process, adjustment is highly to MDA, then repeatedly limit, finally turn limit flight course in keep MDA altitude.After completing the most laggard near side (ns) flight of incision of turning, pilot's falling head completes landing.
In the background of the invention, can determine in different ways describedly visually to spiral into near-path 503, in a preferred embodiment, according to the present case of aircraft 501, automatically calculate visual spiraling into near-path 503 according to selected landing runway 509 and the MDA that stores from database.The starting point 505 of the most laggard nearly flight path 506 calculates according to the gliding angle of acquiescence 3 °, generates with MDA is highly crossing.Acquiescence gliding angle also can be modified according to actual needs.Three hem width degree 504 refer to the horizontal width of three limits to runway, and its maximal value is limited by landform and meteorological condition, and minimum value is then by aircraft turn performance limitations.Turn performance refers to aircraft (gradient 25 ° under normal data restriction, air speed is less than the maximum disc determined according to aircraft classification and revolves approach speed and determine) complete minimal curve radius needed for 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 inputs MDA height with text mode by control inputs device 103 according to pilot, three hem width degree 504, gliding angle information generate visual spiraling into near-path 503.The priority of the MDA height of pilot's input is higher than the information stored in database.
In addition, in the second alternative, pilot can plan into near-path by the mode of touch-control, and Fig. 6 describes a kind of implementation.In display device 102, program plan spirals into near-path 601; the present invention is according to the performance of aircraft; and visually spiral into the restriction of nearly protection zone 301, to the planned trajectory auto modification of pilot's planning, formed aircraft optimization can fly visually to spiral into near-path 503.
Claims (9)
1. spiral into a near device for aid visual, comprise Database Systems, navigation sensor, control inputs device, display device, audible alarm device and total system, is characterized in that:
Described Database Systems store airfield runway information, visual spiral approach minimum standard, visually spiral into nearly standard, visual restriction of spiraling, and aircraft classification information;
Described navigation sensor determines aircraft position, speed, course, wind speed and direction information;
Described control inputs device provides pilot to select visually to spiral into plesiotype, select airport and runway, selection aircraft classification, confirm visually to spiral into the operation-interface of near-path;
Described display device provides the visual plan information that spirals, position, guiding, the text of prompting and warning information and figure display;
Described audible alarm device provides the sound alarm of danger situation alarm, comprises prompting of going around, and exceeds the alarm of protection zone;
Described total system is used for:
One, from Database Systems, extract airfield runway information and aircraft classification information, determine that enforcement is visual by control inputs device and display device for pilot and spiral near airfield runway and aircraft classification; Two, spiral near protection zone according to the calculating of aircraft classification is visual; Three, aircraft position, speed, course, wind speed and direction information and the turn performance of aircraft own is provided according to navigation sensor, automatic planning or input through pilot visual that necessary information planning recommends and spiral into near-path, is shown to pilot into near-path by display device by visual spiraling or issues automatic flight control system; Four, spiraling into closely carrying out process monitoring to aircraft is visual, providing prompting and alarm by audible alarm device and display device to pilot.
2. according to claim 1ly a kind ofly spiral near device for aid visual, it is characterized in that: described airfield runway information, visual spiral approach minimum standard, visual restriction of spiraling all come from the chart of announcement, information in Database Systems is that standard A RINC424 form stores, or before taking off or self-defined by pilot in flight course.
3. according to claim 1ly a kind ofly spiral near device for aid visual, it is characterized in that: described navigation sensor is built-in GPS/ Beidou receiver, or existing inertial navigation system, aviation attitude system, radio navigation system and atmospheric engine on aircraft.
4. according to claim 1ly a kind ofly to spiral near device for aid visual, it is characterized in that: described control inputs device adopts the form of multi-functional control display, or focus in display device and take contactor control device.
5. according to claim 1ly a kind ofly to spiral near device for aid visual, it is characterized in that: described display device is multi-functional control display, or the EFIS on aircraft.
6. according to claim 1ly a kind ofly to spiral near device for aid visual, it is characterized in that: described total system is independent application specific processor, or be integrated in flight management system, RNAV system.
7. adopt the device described in any one of claim 1-6 to carry out aid visual to spiral approach method, it is characterized in that, the method comprises the steps:
1), from Database Systems, extract airport and runway information is selective, pilot determines to implement visually to spiral near airport and runway;
2), select from visual the spiraling into nearly standard of TERPS and ICAOPANSOPS two kinds, pilot determines visually to spiral into after nearly standard, calculate visual spiraling near protection zone according to type of airplane by total system, and show over the display;
3) aircraft position, provided according to navigation sensor, speed, course, wind speed and direction information and the turn performance of aircraft own, by automatically planning or manually participating in planning to determine visually to spiral into near-path, the path of planning should in protection zone, after confirming through pilot, as the benchmark that pilot guides;
4), pilot confirm that the visual of implementary plan spirals after near-path, provide flight guidance information according to confirmed visual spiraling into near-path, be shown to pilot or issue automatic flight control system;
5), spiral into closely carrying out process monitoring to aircraft is visual; if there is exceeding protection zone; or can not set up and stablize into nearly state, then provide prompting and alarm, pilot takes necessary measure according to corresponding prompting and warning information thus avoids dangerous generation.
8. aid visual according to claim 7 is spiraled near method, it is characterized in that, described step 4) in guidance information be the key instruction of coupling automatic flight control system, or display flight director information over the display.
9. aid visual according to claim 7 is spiraled near method, it is characterized in that, described step 3) in artificial participation be planned to touch manner planning, to touch track auto modification, formed be applicable to the visual of aircraft flight spiral into near-path; Or the mode of input text information, generated by input runway, minimum descent altitude and three hem width degree.
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| EP3540713A1 (en) * | 2018-03-12 | 2019-09-18 | Honeywell International Inc. | Systems and methods for providing circling approach data onboard an aircraft |
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| CN108717300B (en) * | 2018-04-24 | 2022-10-28 | 中国商用飞机有限责任公司北京民用飞机技术研究中心 | Auxiliary monitoring device in flight control system |
| FR3098628B1 (en) | 2019-07-08 | 2021-09-10 | Thales Sa | METHOD AND ELECTRONIC SYSTEM FOR MANAGING THE FLIGHT OF AN AIRCRAFT IN THE PHASE OF VISUAL APPROACH TO A LANDING RUNWAY, ASSOCIATED COMPUTER PROGRAM |
| CN112706933B (en) * | 2020-10-26 | 2022-08-30 | 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 |
| 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 |
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Inventor after: Qi Lin Inventor after: Chu Yan Inventor after: Sun Xiaomin Inventor before: Qi Lin Inventor before: The inventor has waived the right to be mentioned Inventor before: Sun Xiaomin |
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Inventor after: Qi Lin Inventor after: Xue Guanglong Inventor after: Sun Xiaomin Inventor before: Qi Lin Inventor before: Chu Yan Inventor before: Sun Xiaomin |
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Effective date of registration: 20220526 Address after: 200241 Building 5, No. 432, ziyue Road, Minhang District, Shanghai Patentee after: Shanghai avionics Co.,Ltd. Address before: 432 Guiping Road, Xuhui District, Shanghai, 2003 Patentee before: CHINA AERONAUTICAL RADIO ELECTRONICS Research Institute |
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