CN113538975B

CN113538975B - RNP AR autonomous monitoring and alarming method and system based on cloud flight tube

Info

Publication number: CN113538975B
Application number: CN202111052891.1A
Authority: CN
Inventors: 王青; 宗军耀; 余亮; 孟繁栋; 万赟
Original assignee: Commercial Aircraft Corp of China Ltd
Current assignee: Commercial Aircraft Corp of China Ltd
Priority date: 2021-09-09
Filing date: 2021-09-09
Publication date: 2021-12-21
Anticipated expiration: 2041-09-09
Also published as: CN113538975A

Abstract

The invention provides an autonomous monitoring and alarming method and system for an RNP AR function. The RNP AR function uses an FMS (including an onboard RNP AR system and a cloud FMS) as a core function carrier, the onboard RNP AR system transmits onboard data to a ground cloud FMS service station in real time and efficiently, and the cloud FMS performs RNP AR calculation. When the calculation result diagnoses faults or error data influencing the approach of the RNP AR, the cloud FMS automatically sends alarm information to the ground tower and the airplane at the same time, and prompts the tower and the pilot that the RNP AR needs to be executed for the missed approach operation.

Description

RNP AR autonomous monitoring and alarming method and system based on cloud flight tube

Technical Field

The invention relates to an aircraft avionics system architecture, in particular to an autonomous monitoring and warning method and system for an RNP AR function.

Background

The RNP AR is required navigation performance (RNP AR) requiring authorization, and refers to the required navigation accuracy in the horizontal direction (longitude and latitude position points) of an aircraft operating in a specified airspace, and the horizontal accuracy alert zone is limited to within 2 times of the RNP value.

The RNP AR function uses a Flight Management System (FMS) as a core function carrier, and is mainly used for special airports with poor clearance conditions, variable meteorological conditions, incomplete communication and navigation facilities, and high difficulty in Flight operation, so as to provide a more accurate and safe Flight method and a more efficient air traffic Management mode. Because the RNP AR technology is mainly applied to a special airport with high flight difficulty, the RNP AR precision requirement is higher, and the requirements on redundancy, horizontal navigation precision and horizontal guidance safety of airborne equipment are higher.

The precision of the RNP AR mainly used by an airport operating the RNP AR in China is RNP AR APCH =0.3, and the precision of the RNP AR Missed APCH =0.3, and the precision requirement puts extremely high requirements on the redundancy of airborne equipment and the safety of a horizontal guiding function related to an avionic system. At present, a pilot needs to pay attention to whether a key device has a fault, whether horizontal navigation precision meets RNP requirements or not and whether horizontal guidance data is correct or not at the stage of executing RNP AR approach, and when any one of the situations occurs, the pilot needs to manually judge whether a missed approach needs to be executed or not and needs to confirm that the missed approach is allowed to be executed after the flight is executed through a tower. The manual judgment has high requirements on pilots, and the working process of the flight crew for manual judgment, communication report with the flight crew, confirmation of the flight crew and feedback of the flight crew from the flight crew occupies the operation time for executing the missed approach, and increases the missed approach risk.

Accordingly, there is a need for systems and methods that ameliorate the deficiencies of the prior art.

Disclosure of Invention

This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

The invention provides an RNP AR autonomous monitoring and alarming method and system based on a cloud flight pipe. The RNP AR function uses a flight management system FMS (comprising an airborne terminal FMS and a cloud terminal FMS) as a core function carrier, the airborne terminal FMS transmits airborne data to a ground cloud terminal FMS service station in real time and efficiently, the cloud terminal FMS automatically calculates and diagnoses equipment faults affecting the RNP AR access, failure of loss level guidance and error data, and uses a 5G technology to make a real-time and accurate judgment result and send the judgment result to a tower and the airborne terminal FMS so as to prompt a unit to execute re-flight.

In an embodiment of the invention, a method for RNP AR autonomous monitoring and alarming based on cloud flight pipe is provided, the method comprising:

receiving airborne equipment data, navigation sensor data and flight management system data from an airborne terminal RNP AR system at a cloud flight management system FMS;

performing an RNP AR performance calculation based on the navigation sensor data;

based on the airborne equipment data, the flight management system data and the result of the RNP AR performance calculation, mainly detecting fault data of the airborne-end RNP AR system; and

and automatically sending the fault data and alarm information to a ground tower and an airborne terminal display system in the airborne terminal RNP AR system under the condition of detecting the fault data.

In another embodiment of the present invention, a system is provided that includes an apparatus that implements the above-described method.

In yet another embodiment of the present invention, a computer-readable storage medium storing instructions that, when executed by a processor, cause a computer to perform the above-described method is provided.

Other aspects, features and embodiments of the present invention will become apparent to those ordinarily skilled in the art upon review of the following description of specific exemplary embodiments of the invention in conjunction with the accompanying figures. While features of the invention may be discussed below with respect to certain embodiments and figures, all embodiments of the invention can include one or more of the advantageous features discussed herein. In other words, while one or more embodiments may have been discussed as having certain advantageous features, one or more of such features may also be used in accordance with the various embodiments of the invention discussed herein. In a similar manner, although example embodiments may be discussed below as device, system, or method embodiments, it should be appreciated that such example embodiments may be implemented in a variety of devices, systems, and methods.

Drawings

So that the manner in which the above recited features of the present disclosure can be understood in detail, a more particular description of the disclosure, briefly summarized above, may be had by reference to aspects, some of which are illustrated in the appended drawings. It is to be noted, however, that the appended drawings illustrate only certain typical aspects of this disclosure and are therefore not to be considered limiting of its scope, for the description may admit to other equally effective aspects.

Fig. 1 is a schematic diagram of a cloud-flight-pipe-based RNP AR autonomous monitoring and warning function implementation architecture according to an embodiment of the present disclosure.

Fig. 2 shows a schematic block diagram of a cloud flight pipe-based RNP AR autonomous monitoring and alerting function according to one embodiment of the present disclosure.

Fig. 3 shows a schematic diagram of an aircraft primary flight display displaying cloud warning information.

Fig. 4 shows a flow diagram of a cloud flight pipe-based RNP AR autonomous monitoring and alerting method according to one embodiment of the present disclosure.

Detailed Description

Various embodiments will now be described more fully hereinafter with reference to the accompanying drawings, which form a part hereof, and which show specific exemplary embodiments. Embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of these embodiments to those skilled in the art. Embodiments may be implemented as a method, system or device. Accordingly, embodiments may take the form of a hardware implementation, an entirely software implementation, or an implementation combining software and hardware aspects. The following detailed description is, therefore, not to be taken in a limiting sense.

The steps in the various flowcharts may be performed by hardware (e.g., processors, engines, memory, circuitry), software (e.g., operating systems, applications, drivers, machine/processor-executable instructions), or a combination thereof. As one of ordinary skill in the art will appreciate, methods involved in various embodiments may include more or fewer steps than those shown.

Various aspects of the disclosure are described in detail below with reference to block diagrams, dataflow diagrams, and method flow diagrams.

As shown in fig. 1, the cloud-flight-pipe-based RNP AR autonomous monitoring and warning function implementation architecture is composed of an onboard RNP AR system 100, a cloud FMS service station 102, and a ground tower 104. In an embodiment of the present invention, the cloud-flight-management-based RNP AR autonomous monitoring and warning function implementation architecture 100 may further include a ground wireless base station 106 for wireless communication between the airborne-side RNP AR system 100, the cloud FMS service station 102, and the ground tower 104.

The cloud flight management refers to a cloud flight management system (deployed in a cloud FMS service station 102), and is an important direction for future development of an FMS technology, the FMS function resides in a network cloud, bidirectional communication is efficiently, timely and reliably performed with an airborne FMS by using a 5G technology, airborne related flight data are obtained, and meanwhile the cloud flight management is integrated to be responsible for enhancing and expanding the FMS function and performance of other airplanes in an airspace and meteorological temperature information.

The onboard end RNP AR system 100 receives the navigation sensor data of the airplane through an onboard receiver, and completes the navigation and control instruction calculation and display of the RNP AR together with a display system and an automatic flight system. Specifically, in one embodiment of the present invention, the onboard-end RNP AR system 100 performs RNP AR performance calculations based on navigation sensor data to generate flight management system data including the RNP AR calculation results (including navigation accuracy data and horizontal guidance data). During or prior to the RNP AR navigation and control instruction calculation, the onboard-end RNP AR system 100 transmits onboard-end RNP AR system data (including onboard equipment data, navigation sensor data, and flight management system data including navigation accuracy data and level guidance data, etc.) to the cloud FMS service station 102 via a wireless communication network (such as a 5G communication network or other technology-based communication network) provided by the ground wireless base station 106.

In another embodiment of the invention, the wireless communication network may also be provided by serving base stations other than the ground base station 106, such as communication base stations deployed on large drones that provide wireless communication networking or networking capabilities. In yet another embodiment of the present invention, the wireless communication network may also be a suitable wireless communication network other than a 5G communication network.

Cloud FMS server 102 may be a network cloud server or server farm hosting FMS functions. Although only one cloud FMS server 102 is shown in FIG. 1, one skilled in the art will appreciate that more than one cloud FMS server 102 may be present.

By utilizing the high network speed and low latency characteristics of the 5G technology, the cloud-end FMS service station 102 can receive the onboard data from the onboard-end RNP AR system 100 in real time, including but not limited to onboard device data, navigation sensor data, navigation accuracy data, and horizontal guidance data.

The cloud FMS service station 102 synchronizes the received data, and after the synchronization, the cloud FMS service station 102 can perform RNP AR performance calculations, or extended and enhanced FMS performance calculations, based on the received navigation sensor data. Subsequently, the cloud FMS service station 102 autonomously detects fault data of the onboard RNP AR system 100. Specifically, the flight management system data or other RNP AR related data provided by the onboard RNP AR system 100 is compared or compared with the result calculated by the cloud FMS service station 102 itself to detect whether there is an onboard RNP AR system fault or error data affecting RNP AR approach, and the cloud FMS service station 102 further detects whether there is a device fault in the onboard RNP AR system based on the onboard device data received from the onboard RNP AR system 100. If the fault data exists, the cloud FMS service station 102 automatically sends the detected fault data and the monitoring alarm information to the ground tower 104 and the onboard end RNP AR system 100 (specifically, the onboard end display system) at the same time, so as to prompt a unit on the aircraft where the ground tower 104 and the onboard end RNP AR system 100 are located to execute an RNP AR missed approach operation.

The ground tower 104 receives the fault data and the monitoring alarm information from the cloud FMS service station 102, immediately and actively performs voice contact with the unit through a voice network after confirmation, confirms the monitoring alarm information to the unit, and requires the unit to execute a missed approach.

Fig. 2 shows a schematic block diagram of a cloud flight pipe-based RNP AR autonomous monitoring and alerting function 200 according to one embodiment of the present disclosure.

The cloud flight tube-based RNP AR autonomous monitoring and warning function is implemented by the onboard RNP AR system 202 (deployed in the onboard RNP AR system 100 shown in fig. 1) in fig. 2, the cloud FMS 216, and the ground tower 218, wherein the autonomous monitoring and warning function is mainly implemented by the cloud FMS 216.

In one embodiment of the invention, the RNP AR function may be initiated at the onboard-end RNP AR system 202, and upon triggering of the RNP AR function, the flight management system 208 in the onboard-end RNP AR system 202 receives navigation sensor data from the navigation sensors 206 and performs RNP AR performance calculations based thereon to send relevant calculations and control instructions to the display system 204 and the flight control system 210. The result of the RNP AR performance calculation may be navigation accuracy data and horizontal guidance data and both may be included in flight management system data generated by the flight management system 208 for transmission to the cloud FMS 216. In another embodiment of the present disclosure, in addition to the navigation sensor data, the navigation sensors 206 also collect or generate onboard device data and communicate it to the flight management system 208 and cloud FMS 216 for detection of device faults.

During the RNP AR function, the onboard-side RNP AR system 202 sends onboard device data and navigation sensor data from navigation sensors 206 and flight management system data from flight management system 208 to cloud FMS 216 over 5G transmission network 212. The cloud end FMS 216 performs synchronization processing on various data received from the onboard end RNP AR system 202, and performs RNP AR performance calculation based on the received navigation sensor data. In another embodiment of the present invention, the cloud FMS 216 further integrates flight data of other aircraft in the airspace for which the cloud flight tube is responsible and other information such as weather temperature information to perform enhancement and expansion calculations of the FMS or RNP AR functions.

The cloud FMS 216, when (or after) performing the RNP AR performance data calculation, autonomously detects fault data of the onboard RNP AR system, including RNP AR system equipment fault information, navigation accuracy not meeting RNP AR requirements, and horizontal guidance data errors, based on the received data of the onboard RNP AR system 202 (including onboard equipment data and flight management system data including navigation accuracy data and horizontal guidance data) and the self-calculated result (detection of the three items will be described in more detail below). Specifically, autonomously detecting fault data of the onboard-side RNP AR system 202 includes 1) comparing and monitoring flight management system data including navigation accuracy data and horizontal guidance data received from the onboard-side RNP AR system 202 with results of RNP AR performance calculations performed at the cloud FMS 216 to detect whether there is a fault affecting RNP AR proximity; and 2) detect whether the onboard end RNP AR system has a device failure that affects performing RNP AR performance calculations at the onboard end RNP AR system based on onboard device data received from the onboard end RNP AR system 202.

Upon detecting the fault data, cloud FMS 216 automatically sends the fault or error data and alert information to ground tower 218 and display system 204 of the aircraft via 5G transmission network 212, prompting the crew to fly back (such as displaying the fault data and alert information via display system 204, specifically at the onboard end primary flight display). The ground tower 218, upon receiving and acknowledging the alert message, also immediately contacts the crew via the voice network 214 and requests a missed approach. Specifically, the method comprises the following steps:

(1) and (3) detecting the RNP AR system equipment fault information:

the cloud FMS 216 monitors the received onboard device data and detects any system or meter failures that would affect the operation of the onboard RNP AR system. If a system or instrument failure is detected that affects the operation of the RNP AR system, the cloud FMS 216 automatically sends an alert message to the tower 218 and the aircraft's flight management system 208 via the 5G transport network 212. System or meter faults affecting RNP AR operation include: autopilot faults, automatic throttle or auto thrust faults, GPS faults, left/right or dual FMC faults, left/right or dual CDU faults, TAWS warnings, and the like.

(2) Detection of RNP AR navigation accuracy:

the cloud end FMS 216 monitors the navigation accuracy data received from the onboard end RNP AR system 202 while performing RNP AR performance calculations, and automatically sends out alert information to the tower 218 and the aircraft flight management system 208 via the 5G transmission network 212 when:

a. the cloud FMS detects GPS PRIMARY loss of signal:

b. the cloud FMS calculates the degradation of the navigation precision;

c. the estimated position error calculated by the cloud FMS is greater than the RNP AR precision;

d. and the horizontal deviation of the two sides calculated by the cloud FMS is inconsistent.

(3) Detection of erroneous horizontal pilot data:

when the RNP AR approach is executed, a pilot often cannot perceive wrong horizontal guidance data, and when the horizontal guidance data calculated by the airborne terminal RNP AR system on two sides are inconsistent, the pilot needs to perform manual judgment by combining equipment such as a standby instrument and a differential GPS. The cloud FMS 216 may autonomously monitor aircraft horizontal guidance data received from the onboard RNP AR system 202 and automatically issue alert messages to the tower 218 and the aircraft's flight management system 208 via the 5G transmission network 212 when:

a. the position of one side calculated by the cloud FMS is inconsistent with the position of the GPS on the same side;

b. the position of one side calculated by the airborne terminal RNP AR system is inconsistent with the position of the same side of the GPS;

c. the left position and the right position calculated by the cloud FMS are inconsistent;

d. the left position and the right position calculated by the airborne terminal RNP AR system are inconsistent;

e. the position calculated by the cloud end FMS is inconsistent with the position of the airborne end FMS;

f. the horizontal deviation of one side calculated by the cloud FMS is inconsistent with the horizontal deviation of the same side calculated by the airborne end RNP AR system.

In an embodiment of the present invention, the warning operation includes the cloud FMS 216 sending the detailed RNP AR system equipment failure detection, RNP AR navigation accuracy detection, results of incorrect horizontal guidance data detection, and corresponding warning information to the tower 218 and the onboard end FMS 202, specifically the display system 204 in the onboard end RNP AR system 202, via the 5G transmission network 212 in real time, to prompt the tower 218 and the pilot that the RNP AR missed approach operation needs to be performed.

Therefore, the autonomous monitoring and warning function based on the cloud flight pipe can improve scene awareness of pilots when RNP AR approaches, effectively reduce working time and workload of crew for manually judging and executing RNP AR missed calls, and improve operation safety and efficiency of the RNP AR.

To distinguish the alarm information of the cloud FMS 216 on the onboard primary flight display (i.e., display system 204), a "CLD" character is added to the cloud alarm information to prompt the pilot that the alarm information is the detection result of the cloud FMS 216. In fig. 3, a schematic diagram of the display of cloud warning information on the aircraft primary flight display 300 is shown, wherein the arrow on the left points to a "CLD" character used to prompt the pilot that the warning information came from the cloud FMS 216.

The personnel at the ground tower 218 determine whether a missed approach is to be performed based on the received inspection result data. Voice contact is immediately made with the crew over voice network 214, confirming and requesting that a missed approach be performed if necessary.

Fig. 4 shows a flow diagram of a cloud flight pipe-based RNP AR autonomous monitoring and alerting method 400 according to one embodiment of the present disclosure.

The method 400 begins at step 402. At step 402, onboard device data, navigation sensor data, and flight management system data are received at a cloud Flight Management System (FMS) from an onboard end RNP AR system. Specifically, in one embodiment of the present invention, the onboard end RNP AR system includes a navigation sensor, a flight management system, an onboard end display system, and a flight control system, and the navigation sensor generates and communicates navigation sensor data to the flight management system. The flight management system performs RNP AR performance calculations at the airborne end based on the navigation sensor data to generate flight management system data including navigation accuracy data and horizontal guidance data. In another embodiment of the present invention, performing the onboard-end RNP AR performance calculation further comprises initiating RNP AR functionality at the onboard-end RNP AR system.

The method 400 then continues to step 404. At step 404, RNP AR performance calculations are performed based on the received navigation sensor data. In one embodiment of the present invention, this step 406 further includes integrating the flight data of other aircraft in the airspace responsible for the cloud flight management with the meteorological temperature information for FMS functionality and performance enhancement and augmentation calculations. In another embodiment of the invention, various data received from the onboard RNP AR system are also processed synchronously at the cloud FMS.

The method 400 then continues to step 406. At step 406, fault data from the main test airborne RNP AR system is calculated based on the onboard equipment data, flight management system data, and the RNP AR performance. In one embodiment of the invention, the step further comprises comparing the flight management system data with the results of the RNP AR performance calculation to detect whether there is fault data affecting RNP AR proximity and whether there is a device fault in the onboard RNP AR system based on the onboard device data, and the fault data includes RNP AR system device fault information, navigation accuracy not meeting RNP AR requirements, horizontal guidance data errors. In one embodiment of the invention, detecting RNP AR system equipment failure information includes detecting received onboard equipment data to detect any system or instrument failure that would affect operation of the RNP AR, detecting that navigation accuracy does not meet RNP AR requirements is accomplished by detecting received onboard navigation accuracy data, and detecting horizontal guidance data errors is accomplished by detecting onboard horizontal guidance data.

The method then continues to decision block 408 to determine whether failure data is detected. If failure data is detected, the method 400 continues to step 410. At step 410, fault data and alarm information is automatically sent to the ground tower and the airborne end display system. In one embodiment of the present invention, this step 410 further includes sending the results of detailed RNP AR system equipment failure detection, RNP AR navigation accuracy detection, erroneous horizontal guidance data detection, and corresponding warning information to the ground tower and the onboard end display system via the 5G transmission network in real time to prompt the ground tower and the pilot that RNP AR missed approach operations need to be performed.

In another embodiment of the present invention, sending the fault data and the warning information to the ground tower and the onboard end display system further includes displaying the fault data and the warning information at a display system (primary flight display) in the onboard end RNP AR system, and the ground tower confirms whether a missed approach needs to be performed based on the received fault data and the warning information, and the unit performs the missed approach immediately after receiving a missed approach request of the tower, otherwise, the RNP AR approach continues to be performed.

If it is determined at decision block 408 that no fault data is detected, the method 400 proceeds to step 412. At step 412, no fault data and alarm signals are sent. In this case, RNP AR approach continues to be performed at the onboard end RNP AR system.

The method for calculating the non-similarity and multi-redundancy RNP AR performance of the cloud end FMS and the airborne end RNP AR system, provided by the invention, has the advantages that the flight management functions are realized by adopting different software and hardware through the airborne RNP AR system and the cloud end FMS, the backup is carried out, the mutual comparison and monitoring are carried out (compared with the airborne end RNP AR system data, the RNP AR approaching data can not be executed due to autonomous detection), the multi-redundancy design scheme is formed, the common mode problem can be solved, and the airplane safety can be improved. Moreover, the number of sets of airborne RNP AR systems is reduced by arranging a cloud FMS to reduce the requirements for airborne data storage, computation and network resources.

Embodiments of the present invention are described above with reference to block diagrams and/or operational illustrations of methods, systems, and computer program products according to embodiments of the invention. The functions/acts noted in the blocks may occur out of the order noted in any flowchart. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality/acts involved.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. An RNP AR autonomous monitoring and alarming method based on cloud flight tube, the method comprises:

and automatically sending the fault data and alarm information to a ground tower and an airborne end display system in the airborne end RNP AR system under the condition of detecting the fault data, wherein the fault data and the alarm information comprise the detailed results of equipment fault detection of the RNP AR system, RNP AR navigation precision detection, wrong horizontal guidance data detection and corresponding alarm information, and the results and the corresponding alarm information are sent to the ground tower and the airborne end display system in real time through a 5G transmission network to prompt the ground tower and a pilot to execute RNP AR re-flight operation.

2. The method of claim 1, wherein the onboard end RNP AR system comprises a navigation sensor, a flight management system, the onboard end display system, and a flight control system.

3. The method of claim 2, wherein the navigation sensor generates and communicates the navigation sensor data to the flight management system, the flight management system performing RNP AR performance calculations based on the navigation sensor data to generate data comprising navigation accuracy data and level guidance data.

4. The method of claim 3, wherein autonomously detecting the fault data comprises:

comparing the navigation precision data and the horizontal guidance data in the flight management system data with an RNP AR performance calculation result of a cloud FMS to detect whether a fault affecting RNP AR approach exists; and

detecting whether the airborne-end RNP AR system has equipment failure or not based on the airborne equipment data.

5. The method of claim 4, wherein the first and second light sources are selected from the group consisting of a red light source, a green light source, and a blue light source,

wherein the fault data includes RNP AR system equipment fault information, navigation accuracy not meeting RNP AR requirements, and horizontal pilot data errors, and

wherein detecting the RNP AR system equipment failure information comprises detecting the onboard equipment data to detect any system or instrument failure that would affect RNP AR operation, detecting that the navigation accuracy does not meet RNP AR requirements is accomplished by detecting the navigation accuracy data, and detecting the horizontal guidance data error is accomplished by detecting the horizontal guidance data.

6. The method of claim 1, further comprising displaying the fault data and the warning information at an onboard end primary flight display.

7. The method of claim 1, further comprising confirming, by the ground tower, whether a missed approach needs to be performed based on the received fault data and the warning information, and the crew performing the missed approach immediately upon receiving a missed approach request from the ground tower.

8. The method of claim 1, wherein performing the RNP AR performance calculations comprises performing FMS function and performance enhancement and expansion calculations that integrate flight data of other aircraft in the airspace in charge of the cloud FMS with meteorological temperature information.

9. A cloud flight pipe based RNP AR autonomous monitoring and alerting system, the system comprising means for performing the method of any of claims 1-8.

10. A computer-readable storage medium having instructions that, when executed, cause a computer to perform the method of any of claims 1-8.