EP1812917B1 - Vermeidung von geländekollisionen von flugzeugen sowie alarmverfahren und -vorrichtung - Google Patents

Vermeidung von geländekollisionen von flugzeugen sowie alarmverfahren und -vorrichtung Download PDF

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Publication number
EP1812917B1
EP1812917B1 EP05817428A EP05817428A EP1812917B1 EP 1812917 B1 EP1812917 B1 EP 1812917B1 EP 05817428 A EP05817428 A EP 05817428A EP 05817428 A EP05817428 A EP 05817428A EP 1812917 B1 EP1812917 B1 EP 1812917B1
Authority
EP
European Patent Office
Prior art keywords
aircraft
slope
terrain
avoidance
database
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Not-in-force
Application number
EP05817428A
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English (en)
French (fr)
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EP1812917A1 (de
Inventor
Christophe Bouchet
Jean-Pierre Demortier
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Airbus Operations SAS
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Airbus Operations SAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Airbus Operations SAS filed Critical Airbus Operations SAS
Publication of EP1812917A1 publication Critical patent/EP1812917A1/de
Application granted granted Critical
Publication of EP1812917B1 publication Critical patent/EP1812917B1/de
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/04—Anti-collision systems
    • G08G5/045—Navigation or guidance aids, e.g. determination of anti-collision manoeuvers
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0073—Surveillance aids
    • G08G5/0086—Surveillance aids for monitoring terrain

Definitions

  • the present invention relates to a method and an alarm and terrain avoidance device for an aircraft, in particular a transport aircraft.
  • said second means determines the avoidance trajectory (which is taken into account by the third means to detect a risk of collision with the terrain), by using a slope having a fixed and invariable value, generally 6 ° for an airplane transport, and this regardless of the type of the aircraft and regardless of its actual performance.
  • a terrain avoidance device of the aforementioned type is known.
  • This known device provides for determining two trajectories which are then compared with the profile of the terrain overflown, one of said trajectories representing the predicted effective trajectory of the aircraft and the other trajectory may in particular correspond to a predicted climb trajectory.
  • This prior document provides for taking into account the maneuverability of the aircraft to predict these trajectories, without however indicating the manner in which these trajectories are actually calculated or predicted.
  • the present invention relates to a warning and terrain avoidance method for an aircraft, which overcomes the aforementioned drawbacks.
  • the avoidance trajectory is determined by taking into account the actual performance of the aircraft, thanks to the characteristics of said database. and measuring said effective values. Consequently, the detection of a risk of collision with the terrain takes into account the actual capabilities of the aircraft, which notably makes it possible to avoid false alarms and to obtain particularly reliable surveillance.
  • the document EP-0 750 238 mentioned above does not provide for determining and using a slope (for an avoidance trajectory) which depends on the actual values of particular flight parameters.
  • a predetermined fixed value is used to form said database, which makes it possible to reduce the size of the database.
  • the value of this flight parameter which has the most unfavorable effect on the slope of the aircraft, is used as a predetermined fixed value for a flight parameter.
  • the centering of the aircraft can be fixed on the front limit value which is the most penalizing.
  • a minimum stabilized speed is known which is known and the aircraft flies normally during a usual terrain avoidance procedure following a collision risk warning, it is that is, a fixed value corresponding to a speed protection value for flight controls of the aircraft.
  • a predetermined value corresponding to a better slope speed, and not to a minimum speed, as used in the invention, is advantageously used for the speed. previous example.
  • the slope of the aircraft is deduced, in the event of engine failure, from a minimum slope representative of a normal operation (without failure) of all the engines of the engine. the aircraft, to which a reduction is applied depending on said nominal failure.
  • said abatement is calculated by means of a polynomial function modeling said nominal slope (slope of the aircraft with all engines in operation).
  • said device of the aforementioned type is remarkable, according to the invention, in that it comprises, in addition, at least one performance database of the aircraft, relating to a maneuvering slope. flight avoidance by the aircraft, based on particular flight parameters, and a fifth means for determining during a flight of the aircraft the actual values of said particular parameters, and in that said second means is formed of in order to determine said avoidance trajectory, based on information received respectively from said database and said fifth means.
  • the design of said database therefore takes into account a predictive ability with respect to the climb performance of the aircraft to avoid terrain.
  • the speed of the avoidance phase being predetermined (at a minimum speed, as specified below) to then provide the associated slope, it is thus freed from the current speed of the aircraft (which is necessarily higher at said minimum speed), which makes it possible to stabilize the avoidance slope calculated by the device according to the invention and thus to avoid false alarms.
  • the device according to the invention comprises a plurality of such databases which relate respectively to different categories of aircraft, and a selection means for selecting, from among these databases, that which is relating to the aircraft on which said device is mounted, said second means using information from the database thus selected to determine said avoidance trajectory.
  • the figures 1 and 2 are the block diagrams of two different embodiments of a warning device and terrain avoidance according to the invention.
  • the device 1 according to the invention and schematically represented on the figures 1 and 2 is intended to detect any risk of collision of an aircraft, in particular a transport aircraft, with the surrounding terrain and to alert the crew of the aircraft when such a risk is detected, so that the latter can then implement a terrain avoidance maneuver.
  • said database Bi, B1, B2, Bn is formed on the ground during a preliminary stage, before a flight of the aircraft, in the manner specified below.
  • said slope is calculated in the usual way, as a function of said flight parameters, from standard documentation of aircraft performance (for example the flight manual), which is derived from failed models. by flight tests.
  • a predetermined fixed value is used to form said database Bi, B1, B2, Bn, which makes it possible to reduce the size of the database Bi, B1 , B2, Bn.
  • the value of this flight parameter is used as a predetermined fixed value for a flight parameter. has the most adverse effect on the slope of the aircraft.
  • the centering of the aircraft can be fixed on the front limit value which is the most penalizing, and air sampling configurations (anti-icing and air conditioning) can be set so as to remain conservative vis-à-vis the performance of the aircraft.
  • a fixed value corresponding to a speed protection value for flight controls of the aircraft is used for the speed, that is to say a minimum speed that the aircraft normally flies.
  • a speed V ⁇ max speed at maximum incidence
  • a speed VSW of type "Stall Warning” in English, that is to say stall warning.
  • the performance database Bi, B1, B2, Bn makes it possible to calculate in real time the capabilities of the aircraft to be avoided from above, any obstacle that presents itself in front of it and / or along the flight plan. monitoring.
  • the device 1 according to the invention determines the avoidance trajectory, taking into account the actual performance of the aircraft, thanks to the characteristics of said database Bi, B1, B2, Bn and the measurements of said actual values. . Therefore, the detection of a risk of collision with the terrain takes into account the actual capabilities of the aircraft, which allows in particular to avoid false alarms and to obtain particularly reliable surveillance.
  • Each of these categories of aircraft comprises either a single type of aircraft (a category then corresponds to a type), or a set of aircraft types presenting, for example, substantially equivalent performances and grouped under the same category (each category then comprises Several types).
  • the selection of the representative database of the aircraft is carried out by pin programming, ie "pin programming" (that is to say with terminals of a connector between the aircraft and the device 1, corresponding to logical levels 0 or 1 depending on the category of aircraft).
  • pin programming that is to say with terminals of a connector between the aircraft and the device 1, corresponding to logical levels 0 or 1 depending on the category of aircraft.
  • This programming can alternatively be carried out in a software way: the selection means 13 receives for example by a data link a numerical value which depends on the category of aircraft and it realizes the selection according to this numerical value received.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Alarm Systems (AREA)
  • Burglar Alarm Systems (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Navigation (AREA)

Claims (10)

  1. Verfahren zum Warnen vor und Vermeiden von Geländekollisionen für ein Flugzeug, wobei bei dem Verfahren im Verlauf eines Fluges des Flugzeugs:
    a) die Istwerte von besonderen Flugparametern bestimmt werden;
    b) aus diesen Istwerten der besonderen Flugparameter und aus Leistungen des Flugzeugs eine Ausweichflugbahn bestimmt wird;
    c) mithilfe der Ausweichflugbahn und des Profils zumindest des vor dem Flugzeug liegenden Geländes überprüft wird, ob für das Flugzeug die Gefahr einer Kollision mit dem Gelände besteht und
    d) im Falle der Gefahr einer Kollision ein entsprechendes Warnsignal abgegeben wird,
    dadurch gekennzeichnet, dass:
    - in einem vorgelagerten Schritt mindestens eine Datenbasis (Bi, B1, B2, Bn) mit Leistungen des Flugzeugs gebildet wird, wobei sich die Leistungen auf eine Steigung eines von dem Flugzeug in Abhängigkeit von besonderen Flugparametern fliegbaren Ausweichmanövers beziehen und zur Bildung dieser Datenbasis (Bi, B1, B2, Bn) eine Vielzahl von Werten, die jeweils für unterschiedliche Werte bezüglich der Flugparameter repräsentativ sind, für die Steigung bestimmt wird;
    - für mindestens einen Flugparameter zur Bildung der Datenbasis (Bi, B1, B2, Bn) ein vorgegebener Festwert verwendet wird und
    - in Schritt b) die Ausweichflugbahn mithilfe der Datenbank (Bi, B1, B2, Bn) bestimmt wird.
  2. Verfahren nach Anspruch 1,
    dadurch gekennzeichnet, dass die Flugparameter wenigstens einige der folgenden Parameter des Flugzeugs umfassen:
    - seine Masse,
    - seine Geschwindigkeit,
    - seine Höhe,
    - die Umgebungstemperatur,
    - seine Zentrierung,
    - die Position seines Hauptlandefahrwerks,
    - die aerodynamische Konfiguration,
    - die Aktivierung einer Klimaanlage,
    - die Aktivierung einer Enteisungsanlage und
    - ein möglicher Ausfall eines Motors.
  3. Verfahren nach Anspruch 1 oder 2,
    dadurch gekennzeichnet, dass als vorgegebener Festwert für einen Flugparameter der Wert dieses Flugparameters mit der ungünstigsten Auswirkung auf die Steigung des Flugzeugs verwendet wird.
  4. Verfahren nach Anspruch 2,
    dadurch gekennzeichnet, dass für die Geschwindigkeit ein vorgegebener Wert verwendet wird, der einer stabilen Mindestgeschwindigkeit entspricht, mit der das Flugzeug normalerweise bei einem Verfahren zur Geländeausweichung fliegt.
  5. Verfahren nach Anspruch 2,
    dadurch gekennzeichnet, dass für die Geschwindigkeit ein vorgegebener Wert verwendet wird, der einer Geschwindigkeit mit bester Steigung entspricht.
  6. Verfahren nach einem der vorhergehenden Ansprüche,
    dadurch gekennzeichnet, dass im Falle eines Ausfalls eines Motors, die Steigung des Flugzeugs von einer nominalen Steigung, die für einen Normalbetrieb aller Motoren des Flugzeugs repräsentativ ist und auf die ein von dem nominalen Ausfall abhängiger Abzug angewandt wird, abgeleitet wird.
  7. Verfahren nach Anspruch 6,
    dadurch gekennzeichnet, dass der Abzug mittels einer polynomischen Funktion der nominalen Steigung berechnet wird.
  8. Einrichtung zum Warnen vor und Vermeiden von Geländekollisionen für ein Flugzeug, wobei die Einrichtung (1) umfasst:
    - ein erstes Mittel (2), das zumindest das Profil des vor dem Flugzeug liegenden Geländes kennt,
    - ein Mittel (9), um im Verlauf einess Fluges des Flugzeugs die Istwerte von besonderen Flugparametern zu bestimmen,
    - ein zweites Mittel (3), um aus diesen Istwerten der Flugparameter eine Ausweichflugbahn zu bestimmen,
    - ein mit dem ersten und dem zweiten Mittel (2, 3) verbundenes drittes Mittel (4) zum Überprüfen, ob für das Flugzeug die Gefahr einer Kollision mit dem Gelände besteht und
    - ein viertes Mittel (7), um ein Warnsignal auszugeben, falls von dem dritten Mittel (4) die Gefahr einer Kollision detektiert wird,
    dadurch gekennzeichnet, dass sie außerdem mindestens eine Datenbasis (Bi, B1, B2, Bn) mit Leistungen des Flugzeugs umfasst, die auf eine Steigung eines von dem Flugzeug in Abhängigkeit von besonderen Flugparametern fliegbaren Ausweichmanövers bezogen sind, wobei die Datenbasis (Bi, B1, B2, Bn) eine Vielzahl von Werten für diese Steigung umfasst, die jeweils für unterschiedliche Werte bezüglich der Flugparameter repräsentativ sind, wobei für mindestens einen Flugparameter zur Bildung der Datenbasis (Bi, B1, B2, Bn) ein vorgegebener Festwert verwendet wird und dadurch, dass das zweite Mittel (3) derart ausgebildet ist, dass es die Ausweichflugbahn mithilfe der jeweils aus der Datenbasis (Bi, B1, B2, Bn) empfangenen Informationen bestimmt.
  9. Einrichtung nach Anspruch 8,
    dadurch gekennzeichnet, dass sie eine Vielzahl von Datenbasen (Bi, B1, B2, Bn) umfasst, die sich jeweils auf unterschiedliche Flugzeugkategorien beziehen und ein Auswahlmittel (13), um unter diesen Datenbasen (Bi, B1, B2, Bn) diejenige auszuwählen, die sich auf das Flugzeug bezieht, in dem die Einrichtung (1) montiert ist, wobei das zweite Mittel (3) Informationen der auf diese Weise gewählten Datenbasis (Bi, B1, B2, Bn) verwendet, um die Ausweichflugbahn zu bestimmen.
  10. Flugzeug, dadurch gekennzeichnet, dass es eine Einrichtung (1) wie die unter einem der Ansprüche 8 und 9 spezifizierte aufweist.
EP05817428A 2004-11-15 2005-11-10 Vermeidung von geländekollisionen von flugzeugen sowie alarmverfahren und -vorrichtung Not-in-force EP1812917B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0412067A FR2878060B1 (fr) 2004-11-15 2004-11-15 Procede et dispositif d'alerte et d'evitement de terrain pour un aeronef
PCT/FR2005/002803 WO2006051220A1 (fr) 2004-11-15 2005-11-10 Procede et dispositif d’alerte et d’evitement de terrain pour un aeronef

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Publication Number Publication Date
EP1812917A1 EP1812917A1 (de) 2007-08-01
EP1812917B1 true EP1812917B1 (de) 2008-09-17

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US (1) US8010288B2 (de)
EP (1) EP1812917B1 (de)
JP (1) JP4940143B2 (de)
CN (1) CN100481154C (de)
AT (1) ATE408876T1 (de)
BR (1) BRPI0516330A (de)
CA (1) CA2582358A1 (de)
DE (1) DE602005009859D1 (de)
FR (1) FR2878060B1 (de)
RU (1) RU2375757C2 (de)
WO (1) WO2006051220A1 (de)

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US10930164B2 (en) 2017-03-27 2021-02-23 Gulfstream Aerospace Corporation Aircraft flight envelope protection and recovery autopilot
US11580865B2 (en) 2017-03-27 2023-02-14 Gulfstream Aerospace Corporation Aircraft flight envelope protection and recovery autopilot

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EP1812917A1 (de) 2007-08-01
JP2008519729A (ja) 2008-06-12
CN101057270A (zh) 2007-10-17
RU2007122395A (ru) 2008-12-20
JP4940143B2 (ja) 2012-05-30
US20090076728A1 (en) 2009-03-19
DE602005009859D1 (de) 2008-10-30
BRPI0516330A (pt) 2008-09-02
FR2878060B1 (fr) 2010-11-05
CN100481154C (zh) 2009-04-22
ATE408876T1 (de) 2008-10-15
CA2582358A1 (fr) 2006-05-18
WO2006051220A1 (fr) 2006-05-18
FR2878060A1 (fr) 2006-05-19
US8010288B2 (en) 2011-08-30
RU2375757C2 (ru) 2009-12-10

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