CN111613095B - Operation control method of scene before takeoff for commercial aircraft remote piloting system - Google Patents
Operation control method of scene before takeoff for commercial aircraft remote piloting system Download PDFInfo
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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]
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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]
- G08G5/0043—Traffic management of multiple aircrafts from the ground
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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]
- G08G5/0047—Navigation or guidance aids for a single aircraft
- G08G5/0065—Navigation or guidance aids for a single aircraft for taking-off
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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]
- G08G5/0095—Aspects of air-traffic control not provided for in the other subgroups of this main group
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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]
- G08G5/06—Traffic control systems for aircraft, e.g. air-traffic control [ATC] for control when on the ground
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
A scene operation control method before takeoff for a commercial aircraft remote piloting system is characterized in that a multi-party air-ground cooperative architecture for a specific flight process is established by constructing a commercial aircraft remote piloting system architecture; then, according to the flight type and the capability state of the ground remote pilot, a control mode is established and an operation authorization range is divided; then, an airport scene traffic process organization framework is established, multi-party air-ground cooperative operation is completed according to different stages of the scene operation control process before taking off, the air-ground cooperative framework and the operation authorization range of each party, and finally automatic and intelligent scene control before taking off is achieved. The invention achieves the automatic and intelligent scene control capability through the information interaction of the airborne automatic/autonomous system, the remote ground station and the airport information system.
Description
Technical Field
The invention relates to a technology in the field of aircraft remote control, in particular to a method for controlling operation of a scene before takeoff facing a commercial aircraft remote pilot system.
Background
Airport scene operation is an important component in the flight phase of commercial telepilot aircraft (CRPA). In the composition of flight infrastructure, such as airlines, airspace, satellites, airports, etc., airport resource (terminal airspace) capability and scene operation effectiveness are the core capability and important component of CRPA flight process organization and flight process operation. Particularly in metropolitan high-density take-off and landing airports, airport scene operation capacity, efficiency, certainty and safety not only affect the target requirements of the aircraft itself, but also affect the transport capacity and efficiency of the entire area. Therefore, it is important for CRPA to explore a complete operation control method for the scene before takeoff. With the rapid development of flight transportation capability, especially for urban high-density take-off and landing airports, the complexity of the traffic environment of an airport scene is increased sharply, and the operation capability, efficiency and safety of the airport scene are directly influenced.
This effect is mainly reflected in the following aspects: 1. the independent motion carriers of the airport surface are increased rapidly, so that the probability of airport runway invasion is increased directly, airport surface sliding conflict is increased, the time of the airplane sliding process is prolonged, and the airplane sliding efficiency is reduced; 2. due to the independence and diversity of independent motion carriers of the airport surface, the certainty and predictability of airplane sliding are reduced, the starting and stopping of the sliding process are increased, the sliding fuel oil and emission are increased, and the influence on the airport airspace environment is increased; 3. because of the traditional non-integrated and limited airport surface environment management modes, such as an independent taxiing management mode of a pilot, the visual airplane taxiing monitoring capability, the airport runway sequencing organization based on the taxiing permission, the airport runway running state based on the take-off permission and the independent airport arrival and take-off management, the possibility of airplane taxiing conflict is greatly increased, the complexity of the airport surface traffic environment is increased, and the airport surface running efficiency and safety are reduced. Meanwhile, since no pilot is arranged on the commercial pilotless aircraft, the external real-time information acquired by the remote pilot through the command control data chain is limited by the bandwidth, and the driving experience of the piloted aircraft pilot cannot be achieved. Therefore, the CRPA-oriented airport scene traffic operation and management capability must be established, and the automatic and intelligent scene management capability is achieved through the interaction of an airborne automatic/autonomous system, a remote ground station and an airport information system, so as to meet the requirement of high-speed development of aviation.
Disclosure of Invention
The invention provides a method for controlling the operation of a scene before takeoff for a commercial aircraft remote piloting system, which aims at the defects in the prior art, establishes a method for controlling the operation of the scene before takeoff for the commercial aircraft remote piloting system, and achieves the automatic and intelligent scene control capability through the information interaction of an onboard automatic/autonomous system, a remote ground station and an airport information system.
The invention is realized by the following technical scheme:
the invention relates to a scene operation control method before takeoff for a commercial aircraft remote piloting system, which is characterized in that a multi-party air-ground cooperative architecture facing a specific flight process is established by constructing a commercial aircraft remote piloting system architecture; then, according to the flight type and the capability state of the ground remote pilot, a control mode is established and an operation authorization range is divided; then, an airport scene traffic process organization framework is established, multi-party air-ground cooperative operation is completed according to different stages of the scene operation control process before taking off, the air-ground cooperative framework and the operation authorization range of each party, and finally automatic and intelligent scene control before taking off is achieved.
The commercial aircraft remote piloting system architecture comprises: the airborne system, the command control link, the data communication link and the air-ground coordination system are composed of an airborne automatic subsystem and an airborne autonomous subsystem, wherein: the airborne system receives the instruction signal from the air-ground cooperative system, carries out intelligent processing and execution and outputs the state information of the airplane, the command control link is used for transmitting command and control instructions (such as flight control instructions), the data communication link is used for transmitting data information (such as airplane height, meteorological conditions and the like), and the air-ground cooperative system receives real-time airborne data, carries out cooperative processing and then outputs the flight control instructions to complete remote driving of the airplane.
The air-ground cooperative system comprises: a remote ground station, a monitoring center and an air traffic control center interconnected by a ground-to-ground dedicated link, wherein: the remote ground station takes the airborne system as a relay to cooperatively interact with the monitoring center and the air traffic control center, directly interacts with an airline company and the air traffic control center through a ground-ground dedicated link under the condition that an air-ground data link fails, and the monitoring center and the air traffic control center are respectively connected with the airborne system through a data communication link to transmit flight plans and flight route information.
The multi-party air-ground cooperative architecture comprises: and the airborne automatic subsystem, the airborne autonomous subsystem, the remote pilot, the air traffic control center and the airline company are cooperatively controlled.
The control mode comprises the following steps: nominal case and pilot normal driving state mode, non-nominal case and pilot normal driving state mode, nominal case and pilot abnormal driving state mode, non-nominal case and pilot abnormal driving state mode.
The operation control process comprises the following steps: the method comprises a preparation stage before takeoff, a push-out stage, a slide-out stage, an off-ground sliding stage and a running stage before takeoff.
Technical effects
The invention integrally solves the problem of operation control of the pilotless takeoff scene of the commercial aircraft. By constructing the operation control process of the scene before takeoff of the commercial aircraft remote driving system, the responsibility of a remote pilot, an airborne automatic/airborne autonomous subsystem, an airline company and an air traffic control center in the operation control of the scene before takeoff is determined, the cooperative decision of multiple parts and air spaces is completed, the operation control process of the scene before takeoff is constructed completely and efficiently, and a foundation is laid for the flight control method of the commercial aircraft remote driving system. The airport surface guidance system is provided through airport surface operation and organization, the sliding process monitoring is established, the real-time traffic situation decision control is established, the sliding efficiency of the airplane is enhanced, the throughput rate of an airport runway is improved, the arrival and takeoff flow of the airport is improved, and the integrated organization and control of the airport surface traffic are realized.
Drawings
FIG. 1 is a diagram of a commercial aircraft remote pilot system architecture;
FIG. 2 is an organization chart of traffic process at airport scene;
FIG. 3 is a diagram of an airport surface operations guidance system;
FIG. 4 is a diagram of an airport surface operations monitoring system;
FIG. 5 is a diagram of an airport surface operations control system;
FIG. 6 is a state diagram of the preparation phase prior to takeoff;
FIG. 7 is a push-out phase state diagram;
FIG. 8 is a slide out stage state diagram;
FIG. 9 is a state diagram of the off-site taxiing phase;
fig. 10 is a state diagram of the run before takeoff phase.
Detailed Description
In the embodiment, a multi-party air-ground cooperative architecture facing a specific flight process is established by constructing a commercial aircraft remote piloting system architecture; then, according to the flight type and the capability state of the ground remote pilot, a control mode is established and an operation authorization range is divided; then, an airport scene traffic process organization framework is established, multi-party air-ground cooperative operation is completed according to different stages of the operation control process of the airport scene before taking off, an air-ground cooperative framework and operation authorization ranges of all parties, and finally automatic and intelligent control capability of the airport before taking off is achieved.
As shown in fig. 1, the architecture of the remote piloting system for a commercial aircraft according to the present embodiment includes: the airborne system, the command control link, the data communication link and the air-ground coordination system are composed of an airborne automatic subsystem and an airborne autonomous subsystem, wherein: the remote ground station is connected with the airborne system through a command control link, data which are traditionally displayed in an instrument system of the cockpit are transmitted to the remote ground station through the command control link, and the remote ground station performs visualization processing through ground simulation software in the remote cockpit so that a remote pilot can make decisions; the air-ground cooperative system is communicated with the airborne system through a data communication link; the monitoring center and the air traffic control center are respectively connected with the airborne system through data communication links to transmit information such as flight plans and flight routes; the remote ground station takes an airborne system as a relay to carry out cooperative interaction with the monitoring center and the air traffic control center, and directly interacts with an airline company and the air traffic control center through a ground-ground dedicated link under the condition that an air-ground data link fails; the remote pilot acquires real-time airborne data on the ground and completes remote piloting of the airplane through a remote piloting cabin.
The operation authorization system in the scene operation control process before the takeoff of the commercial aircraft remote piloting system is shown in the following table:
the control mode comprises the following steps: nominal case and pilot normal driving state mode, non-nominal case and pilot normal driving state mode, nominal case and pilot abnormal driving state mode, non-nominal case and pilot abnormal driving state mode. The specific judgment comprises the following steps:
i) under the nominal condition and the normal driving state mode of a remote pilot, an airborne automatic/autonomous system executes a control program to control the airplane to complete a flight task, and the remote pilot is responsible for monitoring the flight process, has the control right on the airplane and is responsible for the safety of the airplane. In this state, the airline dispatchers can simultaneously take charge of the dispatching task of at most 20 airplanes, thereby saving a large amount of expenses for the airlines and improving the economic benefit.
ii) in the non-nominal condition and the normal driving state mode of the remote pilot, due to the complex flying task, in order to improve the safety of the airplane, the airline dispatcher can be used as a copilot of the airplane to assist the remote pilot in one-to-one completing the flying task of the airplane. In this case, the original work content of the assigner will be handed over to other assigners.
And iii) in a nominal condition and an abnormal driving state mode of a remote pilot, monitoring abnormal conditions of the pilot by the ground monitoring system through a human-computer interface of a remote ground station, cutting off a controller of the remote pilot, carrying out emergency treatment on an airborne automatic/autonomous system, backing up the access of the remote pilot, monitoring the flight process, and taking charge of airplane safety, wherein at the moment, an airline dispatcher provides one-to-one assistance.
iv) when the aircraft is in an abnormal state, the ground monitoring system monitors abnormal conditions of the pilot through a human-computer interface of a remote ground station, cuts off the control right of the remote pilot, temporarily transfers the control right of the aircraft to an onboard automatic/autonomous system for emergency treatment, and after the emergency treatment is finished, the backup remote pilot accesses and controls the aircraft to take charge of the safety of the aircraft; when the backup remote pilot does not access control within a preset period, the onboard auto/autonomous system will execute a preset auto landing procedure.
As shown in fig. 2, the multi-party air-ground cooperative operation refers to: on the basis of airport scene capability, the cooperation of a remote pilot, an airborne automatic/autonomous system and the ground engineering of an airline company is utilized to complete airport scene operation guidance, airport scene operation monitoring and airport scene operation control. Therefore, airport surface traffic operation and organization provide airport surface guidance, the sliding process monitoring is established, traffic situation decision control is constructed and implemented, the airplane sliding efficiency is enhanced, the airport runway throughput rate is improved, the airport arrival and departure flow is improved, and the integrated organization and control of airport surface traffic are completed.
The airport surface capability comprises: symbolic lighting guides, taxi location and airport maps, enhanced vision of taxi routes, taxi processes and runway queues, and airport arrival and takeoff processes. The general regulation and control of each element are completed through the cooperative interaction between the remote pilot and the airport administrator of the airline company, and the aim of high efficiency of airport scene capacity is achieved.
The airport scene operation guide means that: the airplane taxiing guidance is provided through an airport scene running guidance system. The method is characterized in that a flight sliding guide process is established no matter in the arrival and sliding process of the airplane or in the takeoff permission pushing and sliding process, a remote pilot is supported to complete the sliding task process of an independent target, airport surface resource planning organization is established, the crowding, idling and unbalance of airport resource demands are reduced, the ordered management of the airplane in the airport surface is realized, the airplane sliding waiting, time delay and conflict are reduced, and the airport surface resource utilization rate and the airplane sliding efficiency are improved.
As shown in fig. 3, the airport surface operation guidance system includes: the device comprises an aircraft window external vision guide unit, a remote ground station electronic flight instrument guide unit and an airport scene traffic environment situation guide unit.
The aircraft extrawindow visual guidance unit comprises: support guidance light, sign and sign that airport scene plane taxied, wherein: the remote pilot guides the lights, signs and signs through the airport scene detected by the airborne monitoring system and transmitted by the command and control (C2) link, and completes the corresponding taxiing process according to the guidance instruction. The light is runway guide light, and provides current runway course and boundary guide guidance for the remote pilot in the approach landing process and the takeoff process. The symbol is a taxi course guide symbol and provides course, exit and turning guide of the remote pilot during taxi. The mark is a path guide mark and provides guidance for indicating and displaying an airport taxiing route of a remote pilot taxiing process. The aircraft extrawindow visual guidance system provides unambiguous and simple taxiing guidance of the airport scene during daytime and normal weather.
The remote ground station electronic flight instrument guide unit comprises a Surface Monitoring Radar (SMR), a secondary radar (S mode responder), an automatic dependent surveillance (ADS-B), a mobile airport digital map, a multifunctional display (MFCD) and a head-on display (HDU), wherein the mobile airport digital map, the multifunctional display (MFCD) and the head-on display (HDU) are arranged on a remote ground station for a remote pilot to use. The airport navigation system comprises a Scene Monitoring Radar (SMR) for providing a picture of an airport scene moving airplane and a vehicle, a secondary radar (S-mode responder) for providing a position and a moving picture of the airplane, an automatic dependent surveillance (ADS-B) for providing a precise position and track picture of the airplane and the vehicle with related equipment through the airplane and the other airplane and the vehicle, a moving airport digital map for providing an airport moving map based on the airplane as a center, a multifunctional display (MFCD) for providing a superimposed display of all guidance information based on the moving airport digital map, and a head-up display (HDU) for providing a related display of all guidance parameters based on an off-window view. Remote ground station electronic flight instrument guidance provides airport scene all-weather (day, night and low visibility weather) plane taxi guidance.
The airport scene traffic environment situation guiding unit comprises a Flight Information System (FIS), a Traffic Information System (TIS), a meteorological information system (WIS), an airport runway operation management system, a take-off and landing management system, an airport taxiing route database and an airborne cockpit traffic information display system (CDTI), wherein: the airport runway operation management system provides runway scheduling, queuing and operation states, the takeoff and landing management system provides airport landing and takeoff scheduling organization, the airport taxi airway database provides airport surface taxi airways and path points, and the remote ground station traffic information display system provides comprehensive display of airport traffic environment. The airport scene traffic environment situation guidance provides airport scene airplanes and vehicles, resources and states, environment and condition situation organization, and supports cooperative decision control of remote pilots and an air management system.
The airport scene operation monitoring refers to the recognition capability of the traffic environment of the airport scene. As shown in fig. 4, the airport surface operation monitoring system includes airport surface traffic condition monitoring, airport surface airplane taxiing condition monitoring, and airport surface organization control condition monitoring.
The airport scene traffic state monitoring refers to the traffic running state monitoring of an airport moving sliding area. The airport scene traffic state monitoring is characterized in that a Scene Monitoring Radar (SMR), a secondary radar (S mode responder) and an automatic dependent surveillance (ADS-B) are integrated to establish a complete and accurate picture covering the airport scene plane taxiing, and the effective state monitoring of the airport scene traffic state is constructed according to the airport scene plane taxiing rule and safety requirements, such as taxiing areas, holding areas, crossing areas, runway queuing, safety isolation and the like.
The airport surface airplane taxiing state monitoring refers to the monitoring of all airplane taxiing processes and safety on the airport surface. The airport surface plane taxiing state monitoring is characterized in that a Surface Monitoring Radar (SMR), a secondary radar (S mode responder) and an automatic dependent surveillance (ADS-B) are integrated to establish all CRPA taxiing state pictures, such as identification numbers, positions, speeds and tracks of taxiing planes, to specify CRPA taxiing routes and time requirements, to provide analysis and prediction of CRPA taxiing conflicts, and to support reconstruction and management of airport surface plane taxiing flight taxiing routes.
The airport surface organization control state monitoring is integrated through a Surface Monitoring Radar (SMR), a secondary radar (S mode responder) and automatic dependent surveillance (ADS-B), the configuration of the airport surface taxiing plane is established, the operation intention of the airport surface taxiing plane is constructed, such as arrival, take-off, runways, taxiing routes, parking ramps and terminal gates, the organization of airport surface taxiing is determined, permission, sequencing, priority and safety isolation are provided, the operation congestion, delay and waiting analysis of the airport surface are provided, and the organization and reconstruction management of airport surface resources are supported.
As shown in fig. 5, the airport surface operation control includes: airplane taxiing operation control, traffic safety and hazard control and airport surface operation organization control. The method comprises the steps that through airport surface airplane taxiing operation control, airplane taxiing target, time and resource requirements are established, airplane taxiing route organization analysis is supported, and airplane taxiing sequence is improved; by airport surface traffic safety and hazard control, the situation and safety requirements of the airport surface traffic environment are established, hazard identification and warning are supported, and the airport surface traffic safety capability is provided; the control is organized through airport scene operation, flight arrival and takeoff management is supported, airplane starting, sliding and queuing permission and priority are established, and the airport scene operation efficiency and throughput rate are improved.
The airplane taxiing operation control refers to the control of all airplane taxiing processes on an airport scene. The airport surface airplane sliding operation control constructs an airplane sliding situation guiding mode by establishing an airplane sliding traffic environment situation organization, and a sliding route and permission are displayed in an airplane cockpit, so that the guiding capacity of the moving, sliding and pushing processes of the airport surface is improved, and the operation efficiency of pilots is improved; establishing airplane taxiing state guiding and displaying capacity, such as runway exit indication, and supporting a pilot to adjust a deceleration process or a taxiing braking process; and (3) establishing the perception capability of the traffic environment around the airplane, such as other airplane taxi maneuvers and tracks, and supporting the decision and adjustment of the taxi maneuvers of the remote pilot.
The airport traffic safety and hazard control refers to airport traffic environment hazard identification and alarm management. Airport surface traffic safety and hazard control constructs a self airplane taxiing route and a monitoring mode by establishing an airport surface traffic environment situation organization, such as displaying a planning taxiing route in an airplane cockpit, monitoring airplane taxiing deviation, improving the airplane taxiing deviation out-of-range alarm and improving the safety of airplane self taxiing maneuver; establishing runway running states and guidance display, constructing runway intrusion monitoring, such as crossing requests and runway occupation states of other airstrip, providing runway intrusion alarms, and supporting taxi maneuvering decisions and adjustment of remote pilots; establishing a safe interval of the airplane taxi maneuver, constructing an exceeding minimum safe isolation alarm, and supporting the remote pilot taxi maneuver decision or cooperating with an air traffic control system.
The airport surface operation organization control refers to airport surface airplane taxiing target demand control and airport traffic throughput rate balance control. The airport surface operation organization control identifies the planned target and the demand of the taxiing plane by establishing the composition of the airport surface taxiing plane, determines the airport resource capacity and the composition, constructs the airport surface traffic situation organization based on the flight taxiing plan target, and forms the airport surface flight taxiing route distribution, the runway operation distribution and the time sequence distribution. The airport surface operation organization control is used for meeting and taking off target requirements, establishing an airport surface airplane movement, sliding and pushing organization, establishing an airport surface traffic situation perception of a pilot cockpit and an air traffic control system, enhancing the operation and area sliding safety of an airport runway, reducing the takeoff queuing length and time of the runway, optimizing the runway operation, improving the runway throughput rate and improving the airport surface operation efficiency.
The operation control process of the scene before takeoff comprises the following steps: the method comprises a preparation stage before takeoff, a push-out stage, a slide-out stage, an off-site taxiing stage and a running stage before takeoff.
The preparation stage before takeoff, as shown in fig. 6, is from the time when the remote pilot controls the aircraft to arrive at the stand until the flight crew obtains the clearance permission issued by the clearance control. This phase is mainly a direct preparation before take-off, comprising external inspection of the aircraft, preparation before switching on the power supply, initial preparation before flying, preparation before flying and waiting for clearance, repeating clearance. The participants at this stage include: airborne automated/autonomous systems, remote pilots, airline ground services, and air traffic control centers.
The preparation stage before takeoff specifically comprises the following steps: firstly, an external inspection program of the airplane is finished by the ground engineering of an airline company, and the state of the airplane is verified to be good; then, the remote pilot sets a cockpit panel and performs APU alarm test, and the power supply is switched on after the cockpit panel setting and the APU alarm test are completed; then, an airborne automatic/autonomous system completes the initial preparation before flight, including IRS calibration, confirming the oxygen pressure, the hydraulic oil quantity, the engine lubricating oil quantity, and verifying the correct settings of the engine, oxygen and the like; then, a remote pilot checks the flight instrument, confirms that the indication setting is correct, and sets the positions of a speed reduction plate handle, a reverse thrust handle, a thrust handle and a flap handle; then, an airborne automatic/autonomous system sets radio tuning and inputs CDU performance data; the remote pilot receives the airport information report and applies for release permission; the air traffic control receives the aircraft release request, confirms the aircraft release conditions (conflict conditions of control areas and flight forecast of the aircraft), and issues release permission to the remote pilot after confirmation; finally, the remote pilot receives clearance permission and repeats the correctness.
The push-out phase, as shown in fig. 7, is from the time the remote pilot receives clearance permission until the engine is started and the slow vehicle is stable, and includes: preparation before applying for start permission, application for start permission, check before start and push-out driving. The participants at this stage include: airborne automated/autonomous systems, remote pilots, airline ground services, and air traffic control centers.
The push-out stage comprises the following specific steps: firstly, setting takeoff reference information and flight segment information by an airborne automatic/autonomous system, and checking the information by a remote pilot; then, ground engineering is used for confirming whether an external cabin door is closed or not, and confirming whether a side window of a cockpit is closed or not and locking the side window; then the remote pilot applies for starting permission to the empty pipe center; after receiving the starting request, the air traffic control center confirms the starting conditions of the airplane (conflict condition of the control area, flight forecast of the airplane and flight permission). If the starting condition is not met, the air traffic control center sends a non-agreed starting instruction and predicted driving or taking-off time to the remote pilot, and the remote pilot waits at a bridge parking space after receiving the instruction; when the starting condition is met, sending push-out driving permission to a remote pilot by the air traffic control center; setting a fuel panel and a hydraulic panel by an airborne automatic/autonomous system, turning on an anti-collision lamp, setting balancing, finishing a check list before starting, and confirming the operation by a remote pilot; then, the remote pilot sends a pushout and driving command to the ground engineering of the airline company, the ground engineering sends a setting or brake releasing command to the remote pilot after receiving the command, and the remote pilot sets according to the ground engineering command to control the airplane to be pushed out from the bridge parking space under the dragging of the tractor; then the remote pilot sends an engine starting request to ground engineering, and after the ground engineering receives and verifies the request, the ground engineering sends a starting agreement instruction to the remote pilot; the remote pilot receives the instruction, starts the engine, monitors the state of the engine, stabilizes the engine in a slow vehicle, and disconnects the internal communication until the start is completed.
The slipping-out stage, as shown in fig. 8, is from the start of engine slow running to the start of coasting, and includes: a pre-taxi procedure and a slide-out procedure. Wherein the pre-taxi procedure includes verifying engine starting handles, setting electric gates, verifying ground personnel and equipment evacuation, etc., and completing a pre-taxi inspection order. The slide out procedure includes applying for a taxi clearance, waiting for a taxi clearance, receiving the taxi clearance and verifying the taxi route, turning on the taxi lights and runway exit lights. The participants at this stage include: on-board automated/autonomous systems, remote pilots, ground controllers, and airline ground operations.
The slide-out stage comprises the following specific steps: firstly, a remote pilot verifies that an engine starting handle is positioned at a slow car clamping position, an onboard automatic/autonomous system sets a switch as required, ground crew verifies that ground personnel and equipment withdraw, then the onboard automatic/autonomous system sets a take-off flap as required, a responder mode is switched as required, and a check list before taxiing is completed; the remote pilot then requests a taxi clearance from the air traffic control center, which confirms the taxi conditions of the aircraft (taxi conditions near the airport, traffic conditions in the airport taxi area, flight clearance). If the taxi condition is not met, the air traffic control center sends a disapproved taxi instruction and the estimated start taxi time to the remote pilot, and the remote pilot waits at a push-out position after receiving a rejection instruction; when the taxi condition is met, sending a taxi permission to a remote pilot by the air traffic control center, verifying a taxi route by the remote pilot, and sending a taxi-out signal to ground crew; after receiving the aircraft slide-out signal, the ground aircraft issues a slide-out permission to a remote pilot; the remote pilot receives the roll-out clearance and turns on the taxi lights and runway exit lights.
The off-site taxiing phase, as shown in fig. 9, is from the start of taxiing until the aircraft enters the takeoff runway, and includes: glide and traverse across runways. Wherein, the sliding comprises updating FMC off-field program/radio navigation equipment according to the requirement, updating a take-off simple command according to the requirement, releasing the brake and the like; crossing the runway includes setting position lights, setting transponders, and finally crossing the runway. The participants in this phase are mainly airborne automated/autonomous systems, remote pilots and airline ground crew.
The specific steps of the off-site taxiing stage comprise: firstly, the remote pilot refers to the airport plan to verify the taxi route and update the taxi simple command if necessary; inspecting the side barrier-free object by ground engineering; then, a remote pilot holds the hand wheel by hand, releases the brake, slides along the sliding line and simultaneously observes the surrounding conditions; updating a takeoff profile by the airborne automatic/autonomous system as required, using a runway, an initial course, an initial climb coverage, an departure procedure, etc. and updating an FMC departure procedure/radio navigation device as required, verifying a CDU set takeoff page, verifying a CDU set leg page, and confirming the procedures by the remote pilot; and the remote pilot confirms whether the runway needs to be traversed. If the runway needs to be crossed, the remote pilot sets the position lamp to be in a STROBE & STEADY mode, sets the responder to be in a TA/RA mode, pays attention to observation by ground crew and controls the airplane to continuously cross the runway after confirming that the runway is not influenced; after crossing the runway, the remote pilot sets the position lamp to be in a STEADY mode, sets the responder to be in an ALT ON/XPNDR/AUTO mode, and controls the airplane to slide to a take-off runway waiting point.
The pre-takeoff roll-off phase, as shown in fig. 10, refers to the time from the arrival of the aircraft on the takeoff runway until the aircraft leaves the ground and the landing gear is retracted, and includes: waiting for runway admission, preparation before takeoff, waiting for takeoff admission, and roll-out procedures. The participants at this stage include: airborne automated/autonomous systems, remote pilots, and air traffic centers.
The pre-takeoff roll-off stage comprises the following specific steps: firstly, updating a take-off simple order by a remote pilot according to needs, and applying for runway admission to an air traffic control center; the air traffic control center receives the application of the airplane entering the runway and issues permission of the airplane entering the runway to the remote pilot; verifying that the runway and the runway entry point are correct by an onboard automatic/autonomous system, confirming that five sides have no influence, updating the runway position as required, using a position lamp and the like as required, setting a transponder, a WXR and the like as required, setting a terrain display as required, and confirming that the setting is correct by a remote pilot; then, an airborne automatic/autonomous system executes a check sheet before takeoff and is confirmed by a remote pilot; the remote pilot applies for taking-off permission to the air traffic control center; the air traffic control center receives the airplane takeoff application and issues airplane takeoff permission to the remote pilot; turning on all landing lights by the onboard automated/autonomous system; confirming that the course of the airplane is consistent with the course of the takeoff runway by a remote pilot, and adjusting thrust to verify that the engine works stably; when the speed reaches VR, the remote pilot controls the aircraft wheel lift, verifies the altimeter knowledge positive rise rate, and finally puts the undercarriage handle in UP position and retracts the undercarriage.
According to the method for controlling the operation of the scene before takeoff for the commercial aircraft remote piloting system, a commercial aircraft remote piloting system architecture is constructed, an airborne automatic/autonomous + remote pilot + air traffic control center + air ground cooperative architecture of an airline company for a specific flight process is established, a preparation stage before takeoff, a push-out stage, a slide-out stage, a departure taxiing stage and a slide-off stage before takeoff for the scene operation control before takeoff are completed, and automatic and intelligent control capability of the scene before takeoff is realized.
By integrating the improvement, the method for controlling the operation of the scene before takeoff based on the commercial aircraft remote driving system makes clear the responsibilities of a remote pilot, an airborne automatic/autonomous system, an airline company and an air traffic control center in the scene operation control before takeoff by constructing the process for controlling the operation of the scene before takeoff of the commercial aircraft remote driving system, completes the cooperative decision of multiple parts of the air space, constructs the complete process for controlling the operation of the scene before takeoff, and lays the foundation for the method for controlling the flight of the commercial aircraft remote driving system. The airport surface guidance system is provided through airport surface operation and organization, the sliding process monitoring is established, the real-time traffic situation decision control is established, the sliding efficiency of the airplane is enhanced, the throughput rate of an airport runway is improved, the arrival and takeoff flow of the airport is improved, and the integrated organization and control of the airport surface traffic are realized.
Compared with the prior art, the invention establishes an airport surface operation guiding, operation monitoring and operation control system, enhances the airplane taxiing efficiency, improves the airport runway throughput rate and improves the airport surface airplane orderliness.
The foregoing embodiments may be modified in many different ways by those skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (1)
1. A scene operation control method before takeoff for a commercial aircraft remote piloting system is characterized in that a multi-party air-ground cooperative architecture facing a specific flight process is established by constructing a commercial aircraft remote piloting system architecture; then, according to the flight type and the capability state of the ground remote pilot, a control mode is established and an operation authorization range is divided; then, establishing an airport scene traffic process organization structure, and completing multi-party air-ground cooperative operation according to different stages of the scene operation control process before taking off, an air-ground cooperative structure and operation authorization ranges of all parties, thereby finally achieving automatic and intelligent scene control before taking off;
the commercial aircraft remote piloting system architecture comprises: the airborne system, the command control link, the data communication link and the air-ground coordination system are composed of an airborne automatic subsystem and an airborne autonomous subsystem, wherein: the airborne system receives the instruction signal from the air-ground cooperative system, carries out intelligent processing and execution and outputs the state information of the airplane, the command control link is used for transmitting command and control instructions, the data communication link is used for transmitting data information, the air-ground cooperative system receives real-time airborne data and carries out cooperative processing and then outputs a flight control instruction, and remote driving of the airplane is completed;
the multi-party air-ground cooperative operation refers to: on the basis of airport scene capacity, the cooperation of a remote pilot, an airborne automatic/autonomous system and the ground engineering of an airline company is used for finishing airport scene operation guidance, airport scene operation monitoring and airport scene operation control;
the operation control process of the scene before takeoff comprises the following steps: a preparation stage before takeoff, a push-out stage, a slide-out stage, an off-site taxiing stage and a running stage before takeoff;
the air-ground coordination system comprises: a remote ground station, a monitoring center and an air traffic control center interconnected by a ground-to-ground dedicated link, wherein: the remote ground station takes an airborne system as a relay to cooperatively interact with a monitoring center and an air traffic control center, directly interacts with an airline company and the air traffic control center through a ground-ground dedicated link under the condition that an air-ground data link fails, and the monitoring center and the air traffic control center are respectively connected with the airborne system through a data communication link to transmit flight plans and flight route information;
the multi-party air-ground cooperative architecture comprises: the mutual cooperative control among the airborne automatic subsystem, the airborne autonomous subsystem, the remote pilot, the air traffic control center and the airline company is realized;
the control mode comprises the following steps: a nominal condition and pilot normal driving state mode, an off-nominal condition and pilot normal driving state mode, a nominal condition and pilot abnormal driving state mode, an off-nominal condition and pilot abnormal driving state mode;
in the control mode:
i) under a nominal condition and a normal pilot driving state mode, an airborne automatic/autonomous system executes a control program to control the airplane to complete a flight task, and a remote pilot is responsible for monitoring the flight process, has a control right on the airplane and is responsible for the safety of the airplane;
ii) in the off-nominal condition and normal pilot driving state mode, the airline dispatch personnel will act as a copilot of the aircraft to assist the remote pilot in one-to-one completing the flight mission of the aircraft;
iii) under the nominal condition and the abnormal driving state mode of the pilot, the ground monitoring system monitors the abnormal condition of the pilot through a human-computer interface of the remote ground station, cuts off a controller of the remote pilot, an airborne automatic/autonomous system processes the emergency condition, and backs up the remote pilot to access and monitor the flying process;
iv) in the non-nominal condition and the abnormal pilot driving state mode, when the ground monitoring system monitors abnormal conditions of the pilot through the human-computer interface of the remote ground station, the control right of the remote pilot is cut off, the control right of the airplane is temporarily transferred to the airborne automatic/autonomous system for emergency treatment, and after the emergency treatment is finished, the backup remote pilot accesses and controls the airplane to take charge of airplane safety; when the backup remote pilot does not access control within a preset period, the airborne automatic/autonomous system executes a preset automatic landing program;
the airport surface capability comprises: the light guide of the symbol, the sliding position, the airport map and the visual enhancement of each sliding route, the sliding process, the runway queuing and the airport arrival and takeoff process are carried out, and the total regulation and control of each element are completed through the cooperative interaction between a remote pilot and an airport administrator of an airline company, so that the high-efficiency target of the airport scene capacity is achieved;
the airport scene operation guide means that: the airport surface operation guiding system is used for guiding the airplane to slide, and no matter the airplane arrives and slides, or the takeoff permission pushing-out and sliding process, a flight sliding guiding process is required to be established, so that a remote pilot is supported to finish the sliding task process of an independent target, an airport surface resource planning organization is established, the crowding, idling and unbalance of airport resource requirements are reduced, the ordered management of the airplane on the airport surface is realized, the airplane sliding waiting, delay and conflict are reduced, and the airport surface resource utilization rate and the airplane sliding efficiency are improved;
the airport surface operation monitoring system comprises an airport surface traffic state monitoring system, an airport surface airplane sliding state monitoring system and an airport surface organization control state monitoring system, wherein the airport surface operation monitoring system refers to the recognition capability of an airport surface traffic environment;
the airport scene operation control comprises the following steps: the method comprises the following steps of airplane sliding operation control, traffic safety and hazard control and airport surface operation organization control, wherein airplane sliding target, time and resource requirements are established through the airport surface airplane sliding operation control, airplane sliding route organization analysis is supported, and airplane sliding orderliness is improved; by airport surface traffic safety and hazard control, the situation and safety requirements of the airport surface traffic environment are established, hazard identification and warning are supported, and the airport surface traffic safety capability is provided; the control is organized through airport scene operation, the management of flight arrival and take-off is supported, the permission and the priority of airplane starting, sliding and queuing are established, and the airport scene operation efficiency and the throughput rate are improved;
the airport surface operation guiding system comprises: the system comprises an aircraft window external vision guide unit, a remote ground station electronic flight instrument guide unit and an airport scene traffic environment situation guide unit;
the aircraft extrawindow visual guidance unit comprises: support guidance light, symbol and sign that airport scene plane taxied, wherein: the remote pilot guides lights, symbols and marks on the airport scene detected by an airborne monitoring system downloaded through a command and control link, and completes the corresponding sliding process according to the guiding indication;
the remote ground station electronic flight instrument guide unit comprises a Scene Monitoring Radar (SMR), a secondary radar (S mode responder), an automatic dependent surveillance (ADS-B), a mobile airport digital map, a multifunctional display (MFCD) and a head-of-view display (HDU), wherein the mobile airport digital map, the multifunctional display (MFCD) and the head-of-view display (HDU) are arranged on a remote ground station for a remote pilot to use;
the airport scene traffic environment situation guiding unit comprises a Flight Information System (FIS), a Traffic Information System (TIS), a meteorological information system (WIS), an airport runway operation management system, a take-off and landing management system, an airport taxiing airway database and an airborne cockpit traffic information display system (CDTI);
the airport scene traffic state monitoring refers to the traffic running state monitoring of an airport moving sliding area; the airport surface airplane taxiing state monitoring refers to the monitoring of all airplane taxiing processes and safety on the airport surface; the airport scene organization control state monitoring is integrated through a Scene Monitoring Radar (SMR), a secondary radar (S mode responder) and automatic dependent surveillance (ADS-B), the configuration of an airport scene taxi is established, the operation intention of the airport scene taxi is constructed, the organization of the airport scene taxi is determined, permission, sequencing, priority and safety isolation are provided, the operation congestion, delay and waiting analysis of the airport scene are provided, and the organization and reconstruction management of airport scene resources are supported;
the airplane taxiing operation control refers to the control of all airplane taxiing processes on an airport scene; the airport surface traffic safety and hazard control refers to airport surface traffic environment hazard identification and alarm management; the airport surface operation organization control refers to the balance control of airport surface airplane taxiing target demand control and airport traffic throughput rate;
the preparation stage before takeoff is started when a remote pilot controls an airplane to arrive at a stand until a unit obtains a release permission issued by release control;
the push-out phase is started from the time when the remote pilot receives clearance permission until the engine is started and the slow vehicle is stable, and comprises the following steps: preparing before applying for starting permission, checking before starting and pushing out driving;
the slipping-out stage is from the start of engine slow running stabilization until the start of sliding, and comprises the following steps: a pre-coast and a slide-out procedure;
the off-site taxiing stage is from the start of taxiing until the airplane enters a takeoff runway, and comprises the following steps: sliding and crossing a runway;
the pre-takeoff roll-off stage is that the aircraft starts from reaching a takeoff runway until the aircraft leaves the ground and retracts the landing gear, and comprises the following steps: waiting for runway entering permission, preparing before takeoff, waiting for takeoff permission and sliding out;
the preparation stage before takeoff comprises the following specific steps: firstly, an external inspection program of the airplane is completed by the ground aircraft of an airline company, and the state of the airplane is verified to be good; then, the remote pilot sets a cockpit panel and performs APU alarm test, and the power supply is switched on after the cockpit panel setting and the APU alarm test are completed; then the airborne automatic/autonomous system completes the initial preparation before flight; then, a remote pilot checks the flight instrument, confirms that the indication setting is correct, and sets the positions of a speed reduction plate handle, a reverse thrust handle, a thrust handle and a flap handle; then, an airborne automatic/autonomous system sets radio tuning and inputs CDU performance data; the remote pilot receives the airport information report and applies for release permission; the air traffic control receives the aircraft release request, confirms the aircraft release condition and issues release permission to the remote pilot after confirmation; finally, the remote pilot receives the clearance permission and repeats the correctness;
the push-out stage comprises the following specific steps: firstly, setting takeoff reference information and flight segment information by an airborne automatic/autonomous system, and checking the information by a remote pilot; then, ground engineering confirms whether the external cabin door is closed or not, and confirms whether a side window of a cockpit is closed and locked or not; then the remote pilot applies for starting permission to the empty pipe center; after receiving the starting request, the empty pipe center confirms the starting condition of the airplane; when the starting condition is not met, the air traffic control center sends a non-approved starting instruction and estimated driving or taking-off time to the remote pilot, and the remote pilot waits at the parking space of the bridge after receiving the instruction; when the starting condition is met, sending push-out driving permission to a remote pilot by the air traffic control center; setting a fuel panel and a hydraulic panel by an airborne automatic/autonomous system, turning on an anti-collision lamp, setting balancing, finishing a check list before starting, and confirming the operation by a remote pilot; then the remote pilot sends a push-out and driving instruction to the ground engineering of the airline company, the ground engineering sends a setting or brake releasing instruction to the remote pilot after receiving the instruction, and the remote pilot sets according to the ground engineering instruction to control the airplane to be pushed out from the bridge parking space under the dragging of the tractor; then the remote pilot sends an engine starting request to ground engineering, and after the ground engineering receives and verifies the request, the remote pilot sends a starting approval instruction; the remote pilot receives the instruction, starts the engine, monitors the state of the engine, stabilizes the engine in a slow vehicle, and disconnects internal communication until the start is completed;
the slide-out stage comprises the following specific steps: checking that an engine starting handle is positioned at a slow vehicle clamping position by a remote pilot, setting an electric door by an airborne automatic/autonomous system, checking that ground personnel and equipment evacuate by ground crew, setting a take-off flap by the airborne automatic/autonomous system, switching a transponder mode and completing a check list before sliding; then, the remote pilot applies for a taxi permission to the air traffic control center, and the air traffic control center confirms the taxi condition of the airplane; when the taxi condition is not met, the air traffic control center sends a disapproved taxi instruction and the estimated start taxi time to the remote pilot, and the remote pilot waits at a push-out position after receiving a rejection instruction; when the taxi condition is met, sending taxi permission to a remote pilot by the air traffic control center, verifying a taxi route by the remote pilot, and sending a taxi-out signal to ground crew; after receiving the aircraft slide-out signal, the ground aircraft issues a slide-out permission to a remote pilot; the remote pilot receives the slide-out permission and turns on the taxi light and the runway disengagement light;
the specific steps of the off-site taxiing stage comprise: firstly, the remote pilot refers to the airport plane diagram, verifies the taxi route and updates the taxi simple command; inspecting the side barrier-free object by ground engineering; then, a remote pilot holds the hand wheel by hand, releases the brake, slides along the sliding line and simultaneously observes the surrounding conditions; updating a takeoff profile by an airborne automated/autonomous system, using a runway, an initial heading, an initial climb coverage, an departure procedure and updating an FMC departure procedure/radio navigation device, verifying a CDU set takeoff page, verifying a CDU set leg page, and confirming the procedures by a remote pilot; the remote pilot confirms whether the runway needs to be crossed or not; when the runway needs to be crossed, the remote pilot sets the position lamp to be in a STROBE & STEADY mode, sets the responder to be in a TA/RA mode, observes the responder by ground engineering attention and controls the airplane to continuously cross the runway after confirming that the runway has no influence; after crossing the runway, a remote pilot sets the position lamp to be in a STEADY mode, sets the responder to be in an ALT ON/XPNDR/AUTO mode, and controls the airplane to slide to a take-off runway waiting point;
the pre-takeoff roll-off stage comprises the following specific steps: updating a take-off simple command by a remote pilot, and requesting runway admission to an air traffic management center; the air traffic control center receives the application of the airplane entering the runway and issues permission of the airplane entering the runway to the remote pilot; verifying that the runway and runway entry point are correct by the airborne automated/autonomous system, confirming that none of the five sides are affected, updating the runway position, using the position light, setting the transponder, WXR, setting the terrain display, and confirming that the settings are correct by the remote pilot; then, executing a check list before takeoff by an airborne automatic/autonomous system, and confirming by a remote pilot; the remote pilot applies for taking-off permission to the air traffic control center; the air traffic control center receives the airplane takeoff application and issues airplane takeoff permission to the remote pilot; turning on all landing lights by the onboard automated/autonomous system; confirming that the course of the airplane is consistent with the course of the takeoff runway by a remote pilot, and adjusting thrust to verify that the engine works stably; when the speed reaches VR, the aircraft is controlled by the remote pilot to lift the wheel, the altimeter is verified to verify the positive rate of rise, and finally the landing gear handle is placed in the UP position to retract the landing gear.
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| CN113075492A (en) * | 2021-04-27 | 2021-07-06 | 亿航智能设备（广州）有限公司 | Power-on management system and power-on management method of aircraft |
| CN113541731B (en) * | 2021-09-08 | 2021-12-17 | 中国商用飞机有限责任公司 | Method, system, and medium for automatically switching to a backup tuning system |
| CN114355875B (en) * | 2021-11-19 | 2024-02-23 | 仓擎智能科技(上海)有限公司 | Unmanned guided vehicle-based aircraft docking method, medium and device |
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