EP2355069B1 - System zur Navigationshilfe einer Drohne - Google Patents

System zur Navigationshilfe einer Drohne Download PDF

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Publication number
EP2355069B1
EP2355069B1 EP11151952.6A EP11151952A EP2355069B1 EP 2355069 B1 EP2355069 B1 EP 2355069B1 EP 11151952 A EP11151952 A EP 11151952A EP 2355069 B1 EP2355069 B1 EP 2355069B1
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Prior art keywords
voice
cpdlc
flight
message
operator
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EP11151952.6A
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English (en)
French (fr)
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EP2355069A1 (de
Inventor
François Coulmeau
Nicolas Marty
Stéphane Gomez
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Thales SA
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Thales SA
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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
    • G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0004—Transmission of traffic-related information to or from an aircraft
    • G08G5/0013—Transmission of traffic-related information to or from an aircraft with a ground station

Definitions

  • the field of the invention relates to drones, and more specifically to a navigation aid system for a drone in non-segregated airspace.
  • drones are increasingly used for reconnaissance and attacking non-cooperative targets.
  • there are many applications for drone systems in the civil sphere (agricultural spreading, forest fire monitoring, Search & Rescue, event tracking, event monitoring).
  • the targets sought are often located in or near civilian areas.
  • the insertion of drones in these areas with regulated traffic is problematic because these machines do not have the full insertion capabilities.
  • the avionics systems performing flight management functions are massively located on the ground, the aircraft embarking only the bare minimum to navigate in the short term. Consequently, these machines are subjected to draconian procedures: several days' notice, escort aircraft, closing of civil traffic during a time slot.
  • the drone is used as a communication relay between the operator and the controller.
  • the operator communicates voice messages with the drone by means of an analog or digital transmission (VHF or VoIP, voice over IP), the drone comprises a means of converting digital voice messages into analog voice messages in order to transmit by means of an analog transmission of the VHF ("very high frequency”), HF ("High Frequency”) type.
  • VHF very high frequency
  • HF High Frequency
  • the objective of the invention is to reduce the drone management effort by the air traffic control services (ATC) and by the pilotage operator to improve the safety of the aircraft and its environment.
  • the invention is defined by the claims. More specifically, the invention relates to a navigation aid system for an aircraft capable of being remotely controlled by an operator. comprising data transmission means allowing the operator to communicate with an air traffic controller according to at least one dialogue mode and means for monitoring the flight parameters, in particular aircraft state parameters and navigation parameters .
  • the navigation aid system further comprises a means for detecting flight events, a means for generating a message corresponding to a flight event, a means for scheduling the message in a list of messages, means for summarizing the message in a dialogue mode.
  • a flight event is related to the state of the aircraft and / or the navigation of the aircraft.
  • a first mode of dialogue is of voice type and the means of synthesis of the message is able to generate the phraseology in voice corresponding to the message and a second mode of dialogue is of textual type and the means of synthesis of the message is able to generate the message according to a textual communication standard, in particular of the CPDLC type.
  • the data transmission means comprising a first communication means capable of transmitting voice messages and a second communication means capable of transmitting messages according to a textual communication standard, in particular of the CPDLC type.
  • the navigation aid system also comprises means for converting voice messages into text data and means for synthesizing text data into messages according to the textual communication standard.
  • it also comprises means for identifying the voice messages from the first communication means so as to select only the voice messages intended for the operator.
  • the detection function of a flight event is able to detect a flight event from data from a geolocation means, a flight parameter monitoring means, a flight management means, trajectory and a database of navigation information in a flight space.
  • it includes a flight control activation means in response to a text message.
  • it comprises a flight control activation means in response to a detected flight event.
  • a first advantage of the navigation aid system is the reduction of the management effort due to the automation of repetitive or low value-added navigation tasks.
  • a second advantage is the simplification of the training of drone operators by limiting the need for knowledge in phraseology.
  • a third advantage is the maintenance of the voice messaging capability even in case of loss of link between the ground operator and the drone systems.
  • a fourth advantage is the homogenization of the management of the drone through communication means in voice-type dialogue mode and CPDLC type, thus making it possible to adapt to any flight environment during the transition phase of the voice dialogue mode.
  • CPDLC dialog mode is the homogenization of the management of the drone through communication means in voice-type dialogue mode and CPDLC type, thus making it possible to adapt to any flight environment during the transition phase of the voice dialogue mode.
  • the navigation aid system of the drone as claimed and represented by the figure 1 comprises a first functional unit dedicated to the transmission of communication between the operator of the drone and the air controller responsible for monitoring the area crossed by the aircraft.
  • This first functional set is named in the figure PHRASEO.
  • the PHRASEO communications transmission assembly comprises a first device P1 for transmitting digital format data between the operator of the drone and the drone.
  • the device P1 transmission allows the operator to communicate with digital VOIP voice messages and also with messages of data or text type, including CPDLC communication standard.
  • the PHRASEO transmission assembly comprises a device for multiplexing voice communications and CPDLC communications to a P2 voice communication relay and a CPDLC communication relay P4 respectively.
  • the voice communication relay P2 is connected with a voice communication device P3 that can transmit analog messages on the frequency used by the air traffic controller.
  • the voice communication relay P2 implements an analog / digital conversion function so as to convert, in a first sense, an analog voice message received by the voice communication device P3 into a digital voice message that can be transmitted by the communication device.
  • P1 communication and, in the second direction, a digital voice message received by the transmission device P1 in an analog voice message can be transmitted by the voice communication device P3.
  • the CPDLC communication relay P4 is connected with a communication device P5 that can issue CPDLC messages as well as the associated standardized communication protocols.
  • the CPDLC communication relay P4 implements a CPDLC conversion function (extraction of the payload of the message from the ground operator according to the "private" communication protocol used between the ground operator and his Drone, encapsulation of this payload in the CPDLC protocol and CPDLC link management format between the Drone and the controller by the standard connection protocols).
  • the globally standardized protocols for civil aviation are publicly available and available from ICAO (International Civil Aviation Organization).
  • the functional means listed previously P1 to P5 allow the transmission assembly to have communication transmission capabilities between the operator and the voice or CPDLC type controller and analog or digital format for voice communications. These functional means can be arranged according to several distribution options. According to a first distribution option, the functional means P1 to P5 are embarked on board the aircraft. According to one second distribution option, the functional means P2 and P3 are arranged at the ground station of the operator. The different distribution options of the functional means P1 to P5 do not limit the scope of the claimed invention.
  • the devices and calculators capable of performing the previously enumerated functions are known to those skilled in the art.
  • the navigation aid system of the drone comprises a second functional unit dedicated to analyzing the context of the mission and the mission plan so as to automatically generate navigation messages for the operator and the air traffic controller.
  • This functional unit is particularly intended for the management of instructions to be executed at a non-immediate moment in the flight plan when a flight condition is fulfilled (for example when approaching an area under the control of 'another air authority).
  • This second functional set is named in the figure CONTEXT.
  • the CONTEXT functional unit comprises means for detecting flight events related to the state of the aircraft and the navigation of the aircraft.
  • the CONTEXT functional unit comprises a first means C1 for providing geolocation data of the aircraft. These geolocation data can be obtained for example from satellite positioning systems and inertial central system systems or any other system for obtaining location data of the aircraft.
  • the CONTEXT package includes a second means C2 for providing data relating to the mission plan of the aircraft, such as the route to be followed and the associated flight plan as well as any data related to the flight path.
  • the CONTEXT set comprises a third means C3 for providing data relating to the current state of the vehicle such as, for example, the anomalies data, the current configuration autonomy of the systems (active communication frequency, etc.) or more generally the life data of the drone flight systems.
  • the CONTEXT package comprises a fourth means C4 for providing data relating to the navigation in a flight space, such as, for example, the movement procedures, the communication procedures and the delineations of the flight spaces.
  • the data from the means C1 to C4 are transmitted to a computer C5 capable of detecting flight events from the set of data provided by C1 to C4.
  • the computer uses a flight event detection algorithm which takes as input parameter the data related to the navigation of the aircraft (aircraft trajectory parameter and the navigation data of an airspace). and the current state of the vehicle are compared with the geo-location and trajectory data.
  • These flight events are used to transmit messages representative of these events to the operator of the aircraft, for example the messages from C5 are event messages that have been detected on board (failures, levels of the gauges of the aircraft). fuel ...) allowing him to obtain indications on the current state of the aircraft.
  • These representative messages of events intended for the drone operator serve to facilitate decision-making for the pilot of the aircraft and the planning of the actions to be taken to interact with the other actors of the airspace.
  • These event messages can also be used to create a task list that is presented to the operator on his control console.
  • the event data is transmitted to the digital format data transmission device P1 between the drone operator and the drone.
  • these event messages may be an indication of passage around an aerodrome, the exit or arrival in a control zone and the frequency change associated with the control zone, the arrival in a prohibited zone.
  • the figure 2 illustrates the case where the flight plan of an aircraft plans to cross two airspaces controlled by different authorities and each communicating by means of a different communication frequency.
  • the controller of the first airspace communicates by voice on a frequency FQ1 while the controller of the second airspace communicates by voice on a frequency FQ2.
  • an information message indicating the change of frequency is then sent to the operator and entered into a list of tasks to be performed.
  • the air controller of the first airspace communicates in CPDLC dialogue mode and the air controller of the second airspace communicates in dialogue voice then a message requesting the change of mode of dialogue is sent to the operator.
  • the functional means of the CONTEXT package can be arranged according to several distribution options. According to a first distribution option, the functional means C1 to C5 are embarked on board the aircraft. According to additional distribution options, all or part of the functional means C2 to C5 are arranged at the ground station of the operator.
  • the different distribution options of the functional means C1 to C5 and the development of the associated architecture to be implemented are within the abilities of those skilled in the art and therefore do not limit the scope of the claimed invention.
  • the navigation aid system of the drone comprises a third functional unit dedicated to the development and management of messages intended for the air traffic controller.
  • This third functional set is named MESSAGE in the figure.
  • the MESSAGE functional unit comprises a first means M1 for producing a message corresponding to a flight event transmitted by the computer C5.
  • the context set transmits to the MESSAGE set the detected flight events.
  • the means M1 generates the content of a message to be transmitted to the air traffic controller.
  • the contents of elaborate messages are inserted into a message list and a priority order is assigned to each message.
  • the MESSAGE set comprises a second means M2 for scheduling the message contents in the message list.
  • the set MESSAGE comprises at least a third means M3 for synthesizing the content of the message in a first dialog mode and preferably comprises a fourth means M4 for synthesizing the content of the message in a second dialog mode.
  • the means M3 is a function implemented by a computer that can generate a voice message from the content of a message produced by the means M1.
  • the function develops voice phraseology for an air traffic controller.
  • the voice message is transmitted to the voice communication device P3, of the transmission set PHRASEO, which can transmit analogue voice messages on the frequency used by the air traffic controller.
  • the means M4 is a function implemented by a computer that can generate a CPDLC message from the content of a message produced by the means M1.
  • the function generates the CPDLC text message for an air traffic controller.
  • the CPDLC message is transmitted to the communication device P5, of the transmission set PHRASEO, which can issue CPDLC messages.
  • the messages from M3 and M4 are messages intended for ATC and therefore correspond either to ATC requests (level change for example) or to standardized self-information, that is to say messages communication requirements for ATC.
  • the PHRASEO transmission set comprises means for converting P6 voice messages into text data and means P7 for synthesizing text data into messages according to the CPDLC text communication standard.
  • the conversion means P6 is in data connection on the one hand with the P2 voice communication relay and on the other hand with the text data synthesis means P7.
  • the text data synthesis means is also connected to the communication device P1.
  • the conversion means P6 can also be in direct connection with the communication device P1 so as to directly transmit the raw text data from the conversion to the operator console. In this way, the message sent to the operator is not in the CPDLC communication format.
  • the conversion means P6 implements a first filter function of the voice data coming from the P2 voice communication relay.
  • This filtering function analyzes all the voice messages sent by the air controller so as to detect the identifier of the aircraft receiving the message to transmit only the messages intended for the drone.
  • This filtering function makes it possible not to overload the ground operator with messages that are not intended for him. In addition, this filtering reduces the data bandwidth used for communication between the drone and the ground operator.
  • the conversion means P6 implements a second function for voice recognition of the voice messages originating from the transmission relay P2.
  • voice messages from the operator and the ATC controller can be converted to text data.
  • the transmission of messages in text format rather than voice format has the advantage of reducing the number of data to be transmitted and thus reduces the bandwidth required.
  • the voice-text conversion function can be implemented by a computer supporting voice recognition software.
  • the CPDLC synthesis means P7 implements a first function of synthesis of the CPDLC messages corresponding to the text data resulting from the conversion P6.
  • the operator receives the data from the ATC controller, when communicating by voicemail, in CPDLC format messages.
  • This has the advantage that the operator has to manage a single CPDLC messaging interface regardless of the dialogue mode used by the ATC controller (s). Whether the latter communicates by voicemail or CPDLC messaging, the operator receives the messages in CPDLC format.
  • the CPDLC synthesis means P7 implements a second CPDLC message synthesis function corresponding to a request from the air traffic controller.
  • the drone is capable of analyzing an ATC request, collating it and transmitting to the drone operator the CPDLC response command corresponding to the request of the air traffic controller. In this way, the risk of poor order resulting from a misunderstanding of the ATC request is reduced to zero. In addition it secures the voice command of the drone to the extent that the air controller sees what has been understood by the operator of the drone.
  • This more sophisticated variant of the navigation aid system comprising the conversion means P6 and the CPDLC synthesis means P7 ensures a flight autonomy of the drone when the communication link with the flight operator is lost.
  • the navigation aid system may transform the voice command into a CPDLC command (via the voice recognition function hosted in P6), analyze and execute the CPDLC command, determine the corresponding standardized CPDLC response to the CPDLC command, and to inform the air controller by voice (by transforming the standardized reception CPDLC response into analog voice via the means P1, P2 and P3).
  • these are immediate-action commands ("level up xxx”, “take cap yyy”, “perform a live on the zzz point").
  • the immediate effect commands can be processed directly between the functional means P7 and the communication device P5.
  • the navigation aid system may transform the voice command into a CPDLC command, analyze and execute the command when the trigger condition of the action is detected, and inform the air traffic controller by voice (by transforming the standardized reception CPDLC response into analog voice via the means P1, P2 and P3).
  • the navigation aid system has the advantage of subtracting a flight control task from the flight operator, to ensure that the instruction inserted in the flight plan corresponds to the instruction requested by the flight operator.
  • ATC and ensure the flight autonomy of the aircraft in case of loss of connection with the operator.
  • the functional means P6 and P7 can be arranged according to several distribution options. According to a first distribution option, the functional means P6 and P7 are embarked on board the aircraft. According to a second distribution option where the set of voice communication means P2 and P3 are on the ground, the functional means P6 and P7 are also arranged at the ground station of the operator.
  • the different distribution options of the functional means P1 to P7 do not limit the scope of the claimed invention.
  • the devices and calculators capable of performing the previously enumerated functions are known to those skilled in the art.
  • the navigation aid system is intended particularly for ground or onboard systems for unmanned aerial vehicles on board drone type.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)

Claims (8)

  1. System zum Unterstützen der Navigation eines Luftfahrzeugs, das von einem Bediener ferngesteuert werden kann, das Folgendes umfasst:
    - Datenübertragungsmittel (P1-P5), die es dem Bediener gestatten, einen Dialog mit einem Fluglotsen zu führen, die Folgendes umfassen:
    * ein erstes Gerät (P1), konfiguriert zum Übertragen von digitalen Daten zwischen dem Bediener und dem Luftfahrzeug, wobei die Daten Sprachkommunikationen oder Standardtextkommunikationen entsprechen und jeweils zu einem Sprachkommunikationsrelais (P2) und einem CPDLC-Kommunikationsrelais (P4) über ein Multiplexiergerät gesendet werden;
    * ein Sprachkommunikationsrelais (P2), konfiguriert zum Betreiben einer Analog/Digital-Konvertierungsfunktion; und
    * ein Sprachkommunikationsgerät (P3), gekoppelt mit dem Sprachkommunikationsrelais (P2) und konfiguriert zum Empfangen und Senden von analogen Sprachnachrichten auf einer von dem Fluglotsen benutzten Frequenz, um einen Dialogmodus des Sprachtyps zwischen dem Bediener und dem Lotsen zu ermöglichen;
    * ein CPDLC-Kommunikationsrelais (P4), konfiguriert zum Betreiben einer Konvertierungsfunktion zum Erzeugen von Standardtextnachrichten;
    * ein CPDLC-Kommunikationsgerät (P5), gekoppelt mit dem CPDLC-Kommunikationsrelais (P4) und konfiguriert zum Empfangen und Senden der Standardtextnachrichten gemäß einer Übertragung des CPDLC-Typs zu dem Lotsen, um einen Dialogmodus des CPDLC-Typs zwischen dem Bediener und dem Lotsen zuzulassen,
    wobei das System ferner Mittel zum Überwachen von Flugparametern (C1-C4) umfasst, insbesondere von Parametern mit Bezug auf den Status des Luftfahrzeugs und von Navigationsparametern, die Folgendes umfassen:
    * Mittel zum Erkennen von Flugereignissen (C5);
    * Mittel zum Erstellen einer Nachricht (M1) entsprechend einem Flugereignis;
    * Mittel zum Einordnen (M2) der Nachricht in eine Nachrichtenliste;
    * ein erstes Synthesemittel (M3) zum Erzeugen der Sprachphraseologie entsprechend der Nachricht in einem Dialogmodus des Sprachtyps, wobei die Nachricht zum Senden zu einem Fluglotsen über das Sprachkommunikationsgerät (P3) bestimmt ist;
    * ein zweites Synthesemittel (M4) zum Erzeugen einer Nachricht gemäß einem Textkommunikationsstandard des CPDLC-Typs in einem Dialogmodus des Texttyps, wobei die Nachricht zum Senden zu einem Fluglotsen über das CPDLC-Kommunikationsgerät (P5) bestimmt ist.
  2. System nach Anspruch 1, dadurch gekennzeichnet, dass es ferner ein Mittel (P6) zum Konvertieren von Sprachnachrichten in Textdaten und Mittel (P7) zum Synthetisieren der Textdaten in eine Nachricht gemäß dem Textkommunikationsstandard umfasst.
  3. System nach Anspruch 2, dadurch gekennzeichnet, dass es auch ein Mittel (P6) zum Identifizieren von vom Sprachkommunikationsgerät kommenden Sprachnachrichten umfasst, um nur für den Bediener bestimmte Sprachnachrichten auszuwählen.
  4. System nach Anspruch 1, dadurch gekennzeichnet, dass die Funktion zum Erkennen eines Flugereignisses so ausgelegt ist, dass sie ein Flugereignis anhand von Daten erkennt, die von Geoortungsmitteln (C1), Flugparameterüberwachungsmitteln (C3), Flugbahnmanagementmitteln (C2) und einer Navigationsinformationsdatenbank (C4) in einem Flugraum kommen.
  5. System nach Anspruch 1, dadurch gekennzeichnet, dass es ein Mittel (P7) zum Aktivieren eines Flugbefehls als Reaktion auf eine Textnachricht umfasst.
  6. System nach Anspruch 1, dadurch gekennzeichnet, dass es ein Mittel (C5) zum Aktivieren eines Flugbefehls als Reaktion auf ein erkanntes Flugereignis umfasst.
  7. System nach Anspruch 1, dadurch gekennzeichnet, dass ein Flugereignis mit dem Status des Luftfahrzeugs assoziiert ist.
  8. System nach Anspruch 1, dadurch gekennzeichnet, dass ein Flugereignis mit der Navigation des Luftfahrzeugs assoziiert ist.
EP11151952.6A 2010-02-02 2011-01-25 System zur Navigationshilfe einer Drohne Active EP2355069B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1000402A FR2955959B1 (fr) 2010-02-02 2010-02-02 Systeme d'aide a la navigation pour un drone

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EP2355069A1 EP2355069A1 (de) 2011-08-10
EP2355069B1 true EP2355069B1 (de) 2017-07-26

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Publication number Publication date
FR2955959B1 (fr) 2012-09-21
FR2955959A1 (fr) 2011-08-05
US20110257813A1 (en) 2011-10-20
EP2355069A1 (de) 2011-08-10
US8751061B2 (en) 2014-06-10

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