CN1222983A - Method for controlling aerodyne for vertical avoidance of a zone - Google Patents
Method for controlling aerodyne for vertical avoidance of a zone Download PDFInfo
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- CN1222983A CN1222983A CN 97195704 CN97195704A CN1222983A CN 1222983 A CN1222983 A CN 1222983A CN 97195704 CN97195704 CN 97195704 CN 97195704 A CN97195704 A CN 97195704A CN 1222983 A CN1222983 A CN 1222983A
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Abstract
A method of automatically controlling an aircraft to avoid a vertical zone includes several steps. The aircraft first acquires limits of the zone to be avoided. The zone is modeled by a cylindrical volume which is limited by a horizontal contour with upper and lower altitudes of the zone. The cylindrical volume associated with a scheduled route of the aircraft is located and points of entry and exit in the cylindrical volume are determined. A new flight altitude is calculated in order to avoid the zone. A point of change of altitude is calculated to reach an avoidance altitude. The new flight altitude is updated and the point of change of altitude is input into an automatic pilot.
Description
The present invention relates to control automatically the method in aerodyne for vertical avoidance zone, such as the meteorologic district of danger or to the district comfortable and the dangerous influence of safety of flying.
Its particularly suitable but be not limited to and avoid invisible zone, for example strong vortex such as sunny air swirl or the district of obvious ice hazard is arranged.This zone is by large-scale horizontal profile and veritcal limit boundary up and down.This information is for example to be used such as data transmission sets such as data link by aircraft to receive, and is might be sent according to the contiguous aircraft information transmitted that ADS (correlated observation automatically) system is housed by land station.
Current, rely on the driver to distinguish the meteorological problem of manual handle by in the visual line of sight in this district, avoiding or take to take a risk to pass this, these operations must be considered quantity of parameters, particularly, and the weight of fuel in the standing order in the spatial domain of being passed, the performance of aircraft and the fuel tank thereof.In addition, suppose that so-called sunny weather meteorologic phenomena is sightless with regard to its definition, usually the driver only enters the warning that very short time of zone at this phenomenon place just received this phenomenon in the past, in many cases, this deficiency of time is so that he can consider that all call parameters determine that the best avoids the course line.
Purpose of the present invention is the task that overcomes this shortcoming and alleviate the driver.Be this purpose, the method that automatic control aerodyne for vertical avoidance has the fixed area of predetermined geometric profile has been proposed, this aircraft is equipped with robot pilot, predetermined path, cruising flight highly and to the position of the point of being scheduled to the runway landing is input to wherein.
According to the present invention, this method is characterised in that it comprises following continuous step :-with horizontal profile and up and down the height form obtain the boundary in the zone that will avoid, reach the model of setting up the zone that to avoid with horizontal profile and the cylinder volume of highly demarcating up and down,-locate this cylinder volume with respect to the predefined paths of aircraft whether to pass this cylinder volume so that determine this path, if this cylinder volume is passed in-predetermined path, determine predetermined path entering and exit point in the cylinder volume, the best and maximum height that-calculating aircraft can reach, and the current weight of considering aircraft is calculated the weight when passing through inlet point, and in order to reach the fuel consumption of this point,-for vertically avoiding the height of this zone as the boundary up and down in this zone, aircraft current, maximum and optimum height, and from the new flying height of calculating of the function of the position in the position of the predetermined exit point of this cylinder volume and aircraft level point, and to calculate in order arriving and to avoid this height and the point of change height, and-upgrade new flying height, and input change position highly is in robot pilot.
Rely on these measures, eliminated the burden of revising flight planning and control aircraft in order to avert danger the district on one's body from the driver fully.
According to special characteristic of the present invention,, the overhead height in this district can when the maximum height that inlet point arrives is above, perhaps when predetermined level point is positioned at the cylinder volume, just avoid this district by flying below when being positioned at aircraft.
According to another special characteristic of the present invention, avoid highly preferably equaling the optimum height of aircraft on inlet point.
Describe embodiment with reference to the accompanying drawings with the non-limiting example mode below according to method of the present invention, in the accompanying drawing:
Fig. 1 comprises the electronic equipment that is intended to realize according to the aircraft of the computing machine of method of the present invention with diagrammatic representation;
Fig. 2 passes the skeleton view in course line of aircraft of the cylinder volume in the zone that encirclement will avoid with diagrammatic representation;
Fig. 3 illustrates with respect to the initial prebriefed pattern of the aircraft of cylinder [sic] volume that surrounds the zone that will avoid and the possible cut-open view that passes through vertical plane of avoiding the course line;
Fig. 4,5a and 5b illustrate in order to handle the performed algorithm of information about the boundary in the zone that will avoid with figure.
As shown in fig. 1, according to the method for avoiding of the present invention is special in computing machine 4 execution that are installed on the aircraft design, and the data transmission bus 5 that computing machine 4 usefulness are called " aircraft bus " is coupling on the guider that comprises robot pilot 14 and navigator 16; On digital data transmission apparatus such as data link 15; And comprise control assembly with such as on the people/machine interface arrangement (MMI) 6 that is installed in the signalling elements such as display screen 7 and loudspeaker 8 in the pilothouse.
In known manner, robot pilot 14 is included in the storer of the prebriefed pattern that wherein records the aircraft that comprises horizontal course line and vertically profiling.Horizontal course line comprises by a series of straight line line segments between takeoff point and the destination and path that one section transition course line that might be connected on another section is constituted.Vertically profiling is specifically indicated cruising altitude and to the position of the point of predetermined runway landing.
Can receive from land station or be positioned at the weather information of the aircraft of a-n radio range a-n by the data transmission device of forming such as the data link communication system 15.This information might be located such as the strong vortex or the tangible meteorological activity district of ice-formation condition it.
When receiving this information, computing machine 4 is algorithm shown in the execution graph 4 just.This algorithm comprises the at first data of image data transmitting device 15 issues in step 21, and defines this meteorologic district (Fig. 2) with horizontal profile and the cylinder volume 10 that highly defines up and down.
In step 22, computing machine 4 is with respect to the path 2 of this predetermined flight planning regulation in location, meteorologic district.In order to accomplish this point, computing machine 4 visits for example are stored in the regulation of the predetermined flight planning in the robot pilot 14.
If aircraft can not enter this meteorologic district, continue to analyze the information that data transmission device 15 provides just turn back to the starting point 20 of algorithm.In opposite situation, computing machine 4 sends and goes to the message of display 7 so that meteorological activity district 10 will be passed in the path 2 that alerting driver aircraft 1 is advanced in step 23.This information can be used on the map that shows the movement area on the screen 7, and the boundary in this district of stack is replenished above.
Need to determine the course line avoided then, such as at A1-A2-A3-A4 that passes through above the cylinder volume 10 or the B1-B2-B3-B4 that passes through below the cylinder volume, these are illustrated among Fig. 3.These course lines by from exit point A1, the B1 in initial predetermined course line so that meet the Level Change stage A 1-A2, the B1-B2 that avoid height, and avoiding uniform height stage A 2-A3, the B2-B3 on the height and turning back to landing stage A 3-A4, the B3-B4 of prebriefed pattern and turn back to some A4, B4 definition on the prebriefed pattern.
Should point out that in some cases, this reentry point can be positioned at initially predetermined T back, level point, avoid the course line and avoiding direct and landing course line 2 ' junction on the height.
In step 24, computing machine 4 triggers avoids determining of course line.In this step, it determines the concrete height of avoiding, and its computational algorithm example is illustrated among Fig. 5 a and the 5b, and determines that exit point A1, B1 from prebriefed pattern is so that arrive avoid highly (Fig. 3) of appointment.
This point is to climb or the air traffic control of fall rate and the current height of aircraft 1 and the difference of avoiding between the height that will arrive are calculated by the feature that counts aircraft, regulation maximum.
In step 25, computing machine 4 wait for driver certifyings be included in determine in the step 24 avoid the course line in interior new flight planning, wait until always and passed through till exit point A1, the B1 in initial predetermined path 2 (step 26).Bide one's time waiting, computing machine 4 calculates the distance value with the current location that shows this exit point A1, B1 and aircraft 1, this value (step 27) of periodic refresh.
If at this waiting time, driver certifying new flight planning, the latter is sent to robot pilot 14 replaces initial predetermined path 2 (step 28).Computing machine 4 is standby by the fresh information in step 21 once more then.
If by driver's new flight planning unconfirmed before exit point A1, the B1, then computing machine 4 sends that messages have passed through this exit point to driver's explanation and to avoid this district impossible now in step 29.Immediately in step 30, its calculates the current location of aircraft 1 and enters distance between the inlet point Z in the zone of defining with cylinder volume 10.As long as aircraft 1 is no show point Z still, show this distance and periodic refresh (step 31) all the time.After this point Z, computing machine 4 sends warning message driver aircraft 1 in meteorologic district 10 (step 32).Computing machine 4 is before turning back to step 21 image data and wiping warning message then, waits for coming out from the district that cylinder volume 10 defines, and this will consider from the position of the exit point Z in this district and with reference to the current location and the speed (step 33) of aircraft 1.
Among Fig. 5 a, avoid height determine calculate the position of the inlet point Z that enters the district that will avoid from the current weight of considering aircraft and fuel consumption and start with from the current location of aircraft 1 to distance this point and aircraft weight in this (step 41).
In step 42, computing machine 4 is considered weight and the performance and the distance from this point to the aircraft of aircraft, determines aircraft 1 the best (alt.opti) on a Z and maximum (alt.max) highly.If the upper limit height (alt.upp.zone) in the district that avoids is not more than the maximum height (alt.max) (step 43) that aircraft 1 can arrive on a Z, computing machine 4 just enters the step 58 shown in Fig. 5 b.Otherwise it is impossible upwards avoiding (above the zone), thereby must avoid (below the zone) downwards, and computing machine 4 enters step 44, and whether the lower limit height (alt.low.zone) in the district 10 that its check therein will be avoided satisfies original height and the minimum condition that allows height (alt.min) that depends on that original flight planning is given.This minimum constructive height can be such as (corresponding to the minimum operation height such as the flight of the regularity more than FL195 plane plane) regularity such as MEA (minimum course line height) and MORA (minimum is left the course line height) height source or the operability source.
For example, the lower limit height in this district must allow height greater than minimum, and must be greater than deduct the value (alt.D) that a certain predetermined value draws from elemental height.
If the lower limit height in this district does not satisfy these conditions, avoid this district automatically and be impossible and handle and proceed from step 29.Otherwise whether computing machine 4 checks the lower limit height (alt.low.zone) in this district greater than the optimum height (alt.opti) that calculates in step 42 in step 45.If that satisfies (alt.avoid) avoids height corresponding to optimum height (step 46), and if not, then avoids highly just being positioned at district's 10 following height (step 47) that calculate with certain safety coefficient.
The following algorithm that guarantees comprises definite landing starting point of landing.
In order to accomplish this point, computing machine 4 is determined the position of predetermined paths 2 from the exit point Z ' of cylinder volume 10 in step 48, and the distance between the some T that runway lands of should and be scheduled to.If this distance is greater than threshold value, for example 100 nautical miles, this expression aircraft can satisfy level point T (step 50) on predetermined height.Otherwise aircraft 1 does not satisfy this level point T, but will remain on the landing stage Z ' that avoids satisfying up to it on the height prebriefed pattern of previous calculations.Then computing machine 4 determine corresponding to down or on avoid new level point T ' or the T ' ' (step 51) of course line at the point of avoiding satisfying on the height initial predetermined landing course line 2 '.Completing steps 50 and 51 o'clock are carried out and are proceeded by step 25.
If in step 43, the maximum height (alt.max) that the height (alt.upp.zone) in district 10 can arrive less than the aircraft 1 that calculates in step 42, computing machine 4 determines whether predetermined level point T is arranged in district 10 in step 58, and this is (Fig. 5 b) that determines by the distance between the current location that compares aircraft 1 and some Z ' and the T.T is positioned at the zone as fruit dot, and upwards avoiding is impossible and computing machine 4 is avoided downwards calculating by the step 59 that enters check therein and whether might avoid downwards.Otherwise, in step 60 computing machine by will distinguish 10 below height (alt.low.zone) with minimum allow height (alt.min) and value (alt.D) (by deduct original flight planning given certain predetermined altitude be worth) relatively determine whether and may avoid downwards.If it is impossible to avoid downwards, just avoid by this top, district.
If by above this district with below fly and all may avoid, and if the current height (alt.aircraft) of aircraft 1 less than optimum height (alt.opti) (step 64), then upwards avoid, avoid downwards otherwise carry out.
In step 59, upwards avoid can not and computing machine by as described will distinguish 10 below height (alt.low.zone) and minimum height values (alt.min and alt.D) relatively determines whether and might avoid downwards.If it is impossible to avoid downwards, handles and proceed from step 29.
In order upwards to avoid after step 60 or 64, computing machine 4 is with the height (alt.upp.zone) in optimum height (alt.opti) and district 10 relatively (step 65).If optimum height, is avoided height (alt.avoid) greater than the height in district 10 corresponding to optimum height (alt.opti) (step 66), otherwise, the height (alt.upp.zone) (step 67) of height avoided corresponding to the district 10 that has safety coefficient.In order to determine that the execution of algorithm is proceeded by step 48 to the position of the level point of runway T or T ' '.
Similarly, for avoiding downwards of steps performed 56 or 64 back, whether computing machine 4 check optimum heights (alt.opti) are less than the below height (alt.low.zone) (step 68) of distinguishing 10, avoid the below height (step 69) of height (alt.avoid) corresponding to the district 10 that has safety coefficient, otherwise corresponding to optimum height (70).
Computing machine enters above-described step 48 so that determine to the level point of runway T or T ' then.
In the practice, the height that requires aircraft to observe is to calculate with the form on flight plane, flight plane be separated by 100 feet (30.48 meters).Thereby, in step 42, computing machine also by the height rounding that will calculate to immediate, correspondingly determine maximum flight best, separately plane on the lower flight plane.In step 43, in fact the height that will distinguish compares with maximum flight plane.In step 44 and 60, with the below height in this district with by from initial predetermined flight plane, for example deduct the value alt.D that draws behind the height on three flight planes and with maximum flight plane FL195 relatively.
Similarly, avoiding highly is to use the safety coefficient corresponding to the flight plane used in flight plane and the step 47,67 and 69 to calculate.
Claims (8)
1, controls the method that aerodyne for vertical avoidance has the fixed area of predetermined geometric profile automatically, aircraft (1) is equipped with predetermined path (2,2 ') and comprise cruising flight height and to the vertical course line profile input robot pilot (14) wherein of the point (T) of predetermined runway landing
It is characterized in that this method comprises following consecutive steps :-with horizontal profile and go up the boundary in the zone that form collection (21) of (alt.low.zone) height under (alt.upp.zone) will avoid, reach the model of setting up the zone that to avoid with horizontal profile and the cylinder volume of highly demarcating up and down,-with respect to the predefined paths (2 of aircraft (1), 2 ') locate this cylinder volume (10) and whether pass this cylinder volume so that determine this path, if-predefined paths (2,2 ') pass cylinder volume (10), determine (41) predefined paths (2,2 ') inlet point (Z) in cylinder volume (10) and exit point (Z '), the best (alt.opti) that-calculating (42) aircraft (1) can arrive and maximum (alt.max) are highly, and count the current weight and the weight of aircraft the time of aircraft by inlet point (Z) in order to reach the fuel that this point consumes,-for vertically avoiding this cylinder volume (10) as following (alt.low.zone) in the zone that will avoid and the height of last (alt.upp.zone) boundary, current (alt.aircraft) of aircraft (1), maximum (alt.max) and the best (alt.opti) are highly, and the new flying height (alt.avoid) of calculating of the predetermined outlet of aircraft (1) (Z ') and the function of position of landing (T) point, and change height point (A1, B1) avoid height (alt.avoid) so that arrive, and-the new flying height (alt.aircraft) of renewal (28), and input changes the height point, and (A1, position B1) is in robot pilot (14).
2, according to the method for claim 1,
It is characterized in that, when the below in this district height (alt.low.zone) greater than certain preset limit (alt.D, alt.min) time, and, the height (alt.upp.zone) in this district entering the maximum height (alt.max) that can arrive on the inlet point in this district (Z) when above when being positioned at aircraft, perhaps when predetermined level point is arranged in cylinder volume (10), this method comprises avoids (46,47,69,70) this zone by flying below cylinder volume (10).
3, according to the method for claim 1 or 2,
It is characterized in that on inlet point (Z), avoid the optimum height (alt.opti) that height (alt.avoid) preferably equals aircraft (1).
4, according to the method for one of claim of front,
It is characterized in that also comprising the current location of regular calculating and demonstration (27) aircraft (1) and be withdrawn into distance between the exit point (A1) of avoiding course line (A1-A4) from predetermined path (2), if just selectedly avoid affirmation that the course line is subjected to the operator and start (28) and comprise and carry out the selected new route of avoiding the course line.
5, according to the method for claim 4,
It is characterized in that, comprise that also new route is not identified if passed through exit point (A1), distance between current location of just regular calculating and demonstration (31) aircraft (1) and the zone (10) that will avoid, and when aircraft (1) enters the district (10) that will avoid, show (32) warning message.
6, according to the method for one of claim of front,
It is characterized in that, in the situation that flight is done to avoid below the zone that will avoid, if and predetermined path (2,2 ') from the distance between exit point of cylinder volume (10) (Z ') and the predetermined level point (T) less than predetermined threshold value, the method comprises that calculatings (51) goes up new level point of the point that satisfies the landing course line of initially being scheduled to (2 ') (T ') corresponding to avoiding the course line avoiding height (alt.avoid).
7, according to the method for one of claim of front,
It is characterized in that if might avoid this zone with following flight in the above, the method comprises that selection (64) is positioned at respect to aircraft (1) and avoid the course line on optimum height (alt.opti) direction.
8, according to the method for one of claim of front,
It is characterized in that the zone that will avoid is dangerous meteorologic district, especially clear sky vortex, icing area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 97195704 CN1222983A (en) | 1996-06-07 | 1997-06-03 | Method for controlling aerodyne for vertical avoidance of a zone |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR96/07078 | 1996-06-07 | ||
| CN 97195704 CN1222983A (en) | 1996-06-07 | 1997-06-03 | Method for controlling aerodyne for vertical avoidance of a zone |
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| Publication Number | Publication Date |
|---|---|
| CN1222983A true CN1222983A (en) | 1999-07-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 97195704 Pending CN1222983A (en) | 1996-06-07 | 1997-06-03 | Method for controlling aerodyne for vertical avoidance of a zone |
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| CN (1) | CN1222983A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1299179C (en) * | 2001-10-11 | 2007-02-07 | 山德尔埃维翁尼克斯有限公司 | Method and apparatus for predictive altitude display |
| CN101095090B (en) * | 2005-11-15 | 2010-07-21 | 贝尔直升机泰克斯特龙公司 | Control system of automatic circle flight |
| CN101033957B (en) * | 2001-10-11 | 2012-01-04 | 山德尔埃维翁尼克斯有限公司 | Method and device for predicting high and displaying same |
| CN102339065A (en) * | 2010-07-20 | 2012-02-01 | 空中客车运营简化股份公司 | Automatic management method and device of a lateral trajectory for an emergency descent of an aircraft |
| CN102375454A (en) * | 2010-07-20 | 2012-03-14 | 空中客车运营简化股份公司 | Method and device for determining and updating a target altitude for an emergency descent of an aircraft |
| CN106323295A (en) * | 2016-08-29 | 2017-01-11 | 中国船舶重工集团公司第七0九研究所 | Method for diverting aircraft under dangerous weather conditions on basis of weather radar data |
-
1997
- 1997-06-03 CN CN 97195704 patent/CN1222983A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1299179C (en) * | 2001-10-11 | 2007-02-07 | 山德尔埃维翁尼克斯有限公司 | Method and apparatus for predictive altitude display |
| CN101033957B (en) * | 2001-10-11 | 2012-01-04 | 山德尔埃维翁尼克斯有限公司 | Method and device for predicting high and displaying same |
| CN101095090B (en) * | 2005-11-15 | 2010-07-21 | 贝尔直升机泰克斯特龙公司 | Control system of automatic circle flight |
| CN102339065A (en) * | 2010-07-20 | 2012-02-01 | 空中客车运营简化股份公司 | Automatic management method and device of a lateral trajectory for an emergency descent of an aircraft |
| CN102375454A (en) * | 2010-07-20 | 2012-03-14 | 空中客车运营简化股份公司 | Method and device for determining and updating a target altitude for an emergency descent of an aircraft |
| CN102339065B (en) * | 2010-07-20 | 2016-03-23 | 空中客车运营简化股份公司 | The automatic management method of the side track that airplane emergency declines and equipment |
| CN102375454B (en) * | 2010-07-20 | 2016-04-13 | 空中客车运营简化股份公司 | For determining for the emergency descent of aircraft and upgrading the method and apparatus of object height |
| CN106323295A (en) * | 2016-08-29 | 2017-01-11 | 中国船舶重工集团公司第七0九研究所 | Method for diverting aircraft under dangerous weather conditions on basis of weather radar data |
| CN106323295B (en) * | 2016-08-29 | 2019-04-19 | 中国船舶重工集团公司第七0九研究所 | A kind of aircraft under the dangerous meteorological condition based on weather radar data for communication changes boat method |
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