EP3091525A1 - Procédé et dispositif pour un aéronef permettant de gérer des collisions potentielles dans le trafic aérien - Google Patents

Procédé et dispositif pour un aéronef permettant de gérer des collisions potentielles dans le trafic aérien Download PDF

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Publication number
EP3091525A1
EP3091525A1 EP15001337.3A EP15001337A EP3091525A1 EP 3091525 A1 EP3091525 A1 EP 3091525A1 EP 15001337 A EP15001337 A EP 15001337A EP 3091525 A1 EP3091525 A1 EP 3091525A1
Authority
EP
European Patent Office
Prior art keywords
cooperative
sensor
avoid
intruders
ccas
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.)
Withdrawn
Application number
EP15001337.3A
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German (de)
English (en)
Inventor
Jörg Meyer
Winfried Lohmiller
Joy Jonatan Bousquet
Peter Feil
Dietmar Klarer
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 Defence and Space GmbH
Original Assignee
Airbus Defence and Space GmbH
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 Defence and Space GmbH filed Critical Airbus Defence and Space GmbH
Priority to EP15001337.3A priority Critical patent/EP3091525A1/fr
Publication of EP3091525A1 publication Critical patent/EP3091525A1/fr
Withdrawn legal-status Critical Current

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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]
    • G08G5/0004—Transmission of traffic-related information to or from an aircraft
    • G08G5/0008—Transmission of traffic-related information to or from an aircraft with other aircraft
    • 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
    • G08G5/0078—Surveillance aids for monitoring traffic from the aircraft
    • 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

Definitions

  • the invention relates to methods for an aircraft for handling potential collisions in air traffic, devices for an aircraft for handling potential collisions in air traffic and an aircraft comprising such device.
  • EP 1 798 572 A discloses a traffic alert and collision avoidance system (TCAS) system on a host aircraft that includes a processor, a transmitter, and a receiver.
  • the transmitter generates an interrogation signal based upon surveillance alerts, such as approaching aircraft and threat potentials, produced by surveillance radar.
  • the surveillance radar transmits TCAS transmitter interrogation signals and receives replies at a receiving device.
  • a target aircraft includes a surveillance system that receives the interrogation signal at a transmitter receiving device and, when interrogated, generates a standard transponder reply signal via a transmitter.
  • TCAS II The second generation of the TCAS system (the so-called TCAS II system), which is used in the majority of commercial aviation aircraft offers the pilot direct, vocalized instructions to avoid danger, known as a resolution advisory.
  • TCAS II systems coordinate their resolution advisories before issuing commands to the pilots of the aircrafts involved.
  • resolution advisories consist either of the command to keep level or of vertical avoid maneuvers, so that e.g. if one aircraft is instructed to descend, the other will typically be told to climb - maximizing the separation between the two aircraft.
  • CCAS cooperative collision avoid system
  • Cooperative sensors are sensors that acquire data only through cooperation with dedicated other sensors. They are usually transponder-based (TCAS, TCAS II, in particular with a Mode S or a Mode C transponder) but may alternatively use other emissions and squitter messages like ADS-B.
  • TCAS transponder-based
  • TCAS II TCAS II, in particular with a Mode S or a Mode C transponder
  • ADS-B ADS-B
  • Cooperative intruder means an intruder able to cooperate with the cooperative sensor of the own aircraft. They are equipped e.g. with a TCAS (TCAS II or earlier generation), in particular with a Mode S or a Mode C transponder, ADS-B, or alternatively using other emissions and squitter messages like ADS-B.
  • TCAS TCAS II or earlier generation
  • ADS-B Mode S or a Mode C transponder
  • non-cooperative intruder means an intruder that does not cooperate with a cooperative sensor of the own aircraft (e.g. having no - or faulty, or only inactivated - transponder, TCAS, ADS-B, etc).
  • intruder may be understood as unmanned or manned aircraft, drone, object or the like.
  • Non-cooperative sensors are autonomous in terms of data acquisition and for this purpose do not rely on a cooperation with dedicated other sensors or services.
  • Non-cooperative sensors may be active or passive sensors, e.g. active or passive radio detection and ranging (RADAR) sensors, weather radar sensors, electro-optical sensors, laser range finder, laser detection and ranging (LADAR) sensors, acoustic sensors or infrared sensors.
  • RADAR radio detection and ranging
  • weather radar sensors e.g. active or passive radio detection and ranging (RADAR) sensors, weather radar sensors, electro-optical sensors, laser range finder, laser detection and ranging (LADAR) sensors, acoustic sensors or infrared sensors.
  • LADAR laser detection and ranging
  • the known CCAS systems can, however, be further improved in view of avoiding collisions with both cooperative as well as non-cooperative intruders with high reliability.
  • a method for an aircraft for handling potential collisions in air traffic comprises the following steps, not necessarily in this order:
  • an improved method for an aircraft for handling potential collisions in air traffic is provided, which is in particular improved in view of avoiding collisions with a non-cooperative intruder.
  • This is achieved as the second data of the second sensor is acquired independently of the existence of any activated cooperative sensor, squitter messages or service on board of the intruder.
  • the second sensor is able to detect intruders that are not equipped with a transponder, TCAS, ADS-B etc.
  • the generated avoid maneuver is very flexible with respect to the direction of the avoid maneuvers, however any provided resolution advisory of a CCAS is considered in generating the avoidance maneuvers.
  • the method for handling potential collisions is also suitable for avoiding collisions with e.g. an obstacle on ground (including take-off, landing, taxi) or during formation flight.
  • TCAS monitors the airspace around an aircraft for other aircrafts equipped with cooperative sensors, e.g. active transponders and warns the pilot of the presence of other transponder-equipped aircrafts which may present a threat of mid-air collision.
  • TCAS may be based on secondary surveillance radar transponder signals and may operate independently of ground-based equipment to provide advice to the pilot on potential conflicting aircrafts.
  • TCAS may involve communication between all aircrafts equipped with appropriate transponders, provided the transponders are enabled and set up properly.
  • Each TCAS-equipped aircraft may interrogate all other aircrafts in a determined range about their position and all other aircrafts may reply to other interrogations. This interrogation-and-response cycle may occur several times per second.
  • TCAS builds a three dimensional map of aircrafts in the airspace, comprising e.g. their range from interrogation and response round trip time, altitude as reported by the interrogated aircraft, and bearing by a directional antenna from the response. By extrapolating current range and altitude differences to anticipated future values, TCAS may determine if a potential collision threat exists. Then, after identifying potential collisions, a vertical avoidance maneuver restricted to changes in altitude and modification of climb/sink rates between the two (or more) conflicting aircrafts may be automatically negotiated.
  • the CCAS within the meaning of the invention could also be a so-called ACAS which means A ircraft C ollision A voidance S ystem and is a type of ground collision avoidance technology based on ADS-B messages.
  • the non-cooperative (autonomous) second sensor of step b) is able to detect cooperative as well as non-cooperative intruders.
  • the second sensor is an active sensor, a passive sensor, an active or passive radio detection and ranging (RADAR) sensor, a weather radar sensor, an electro-optical sensor, a laser range finder, a laser detection and ranging (LADAR) sensor, an acoustic sensor, an ultra-sound sensor or an infrared sensor.
  • the second data are configured to be used to detect an incorrect position of the obstacle in the first data and/or to detect an incorrect resolution advisory based on the first data.
  • the non-cooperative second sensor is a forward looking Sense & Avoid radar sensor, which observes a forward flight sector (e.g. ⁇ 110° Azimuth, ⁇ 15° Elevation) and provides radar tracks of detected objects.
  • the Sense & Avoid radar may detect aircrafts as well as bigger birds/swarms and also objects on the ground.
  • the Sense & Avoid radar can also provide intruder tracks in bad weather conditions, where visibility would be insufficient for a human pilot.
  • the method according to the invention can be used in both piloted and unmanned aircraft.
  • One example for an unmanned aircraft is a so-called RPA (remotely piloted aircraft) where a human controller in a ground station that is connected via data-link controls the aircraft.
  • RPA remote piloted aircraft
  • the human controller can (during the time when the data-link connection is still available) select whether he enables or disables automatic manerises during loss of link phases.
  • First and second data from the cooperative and non-cooperative sensors as well as the CCAS data are brought to the attention of a human controller (the pilot of a manned aircraft or the human controller in the ground station of a remotely controlled aircraft) who might manually override the execution of the generated collision avoid maneuver.
  • the human controller may stop or inhibit an execution of the resolution advisory provided by the CCAS or the avoid maneuver.
  • the human operator always has the final authority over the execution of an avoid command.
  • the warning function may further bring the vertical or horizontal resolution advisory from the cooperative collision avoidance system and the avoid maneuver to the attention of a human controller who might manually override the execution of the fused avoid maneuvers in order to follow the vertical or horizontal resolution advisory or the avoid maneuvers.
  • a FLARM system an electronic device to selectively alert pilots to potential collisions between aircraft that is optimized for the specific needs of small aircraft such as gliders and/or else
  • this additional information can be fused with the first and second data and thus can be taken into account for the automatic generation of the avoid maneuver.
  • Additional support functions may be available onboard or in the ground station to assist the pilot in monitoring the automatic avoid function and to confirm or dismiss the suggested measures for conflict resolution:
  • any resolution advisory or avoid maneuver may be performed automatically, in case of unmanned aircraft or in case a control channel to the aircraft is temporarily not available.
  • the device comprises:
  • the device may further comprise additional sensors.
  • the additional sensors may be FLARM or ADS-B based sensors.
  • the device may comprise means for feeding the data acquired by these sensors into the avoid unit.
  • the device may further comprise a warning function in order to alert the human controller in case of any inconsistencies between the sensor data of cooperative and non-cooperative sensors.
  • Figure 1 shows schematically and exemplarily an embodiment of an aircraft 1 comprising a device 2 for handling potential collisions in air traffic.
  • the device 2 may comprise a aforementioned avoid unit.
  • the aircraft 1 is a piloted aircraft.
  • the method according to the invention can also be applied for unmanned aircraft that are connected via a data link to a ground station.
  • the device 2 for handling potential collisions comprises a cooperative collision avoidance systems CCAS (shown in Fig. 2 ) with a, e.g. transponder-based, cooperative first sensor and a non-cooperative second sensor, the latter being configured to detect the position both cooperative and non-cooperative obstacles. Both sensors will be explained in further detail with reference to Fig. 2 .
  • CCAS cooperative collision avoidance systems
  • the aircraft 1 comprises a camera, here a forward looking camera 3, which observes a forward flight sector and provides a video stream to a pilot (or to a RPA operator in the ground control station in case of an unmanned aircraft).
  • the aircraft 1 further comprises an output unit 4 to output one of the options provided by the device for handling potential collisions.
  • the output unit 4 is here a display unit configured to overlay the first and second data.
  • the aircraft 1 further comprises a drive unit 5, for example a flight control computer or an auto-pilot to execute one of the options provided by the device for handling potential collisions.
  • FIG. 2 shows schematically and exemplarily an embodiment of the device 10 for handling potential collisions.
  • the device 2 for handling potential collisions comprises a CCAS 20, e.g. a TCAS II.
  • the CCAS 20 is provided with a cooperative first sensor 21 to detect a position of a cooperative obstacle (e.g. having a transponder, ADS-B or TCAS on board).
  • the CCAS 20 provides a resolution advisory to avoid a collision with the obstacle.
  • the first sensor may be a transponder based sensor or be based on ADS-B.
  • the CCAS 20 may comprise a computer unit, antennas and a cockpit presentation (not shown).
  • the computer unit may perform airspace surveillance, intruder tracking, its own aircraft altitude tracking, threat detection, resolution advisory maneuver determination and selection, generation of advisories and/or the like.
  • the computer unit may use pressure altitude, radar altitude and discrete aircraft status inputs from its own aircraft to control collision avoidance logic parameters that determine a protection volume around the aircraft 1.
  • the antennas may comprise a directional antenna mounted on top of the aircraft 1 and either an omnidirectional or another directional antenna mounted on the bottom of the aircraft 1.
  • the cockpit presentation may be an interface with the pilot provided by one or more traffic and resolution advisory displays.
  • the device 2 for handling potential collisions further comprises a non-cooperative second sensor 22 configured to detect the position of cooperative as well as non-cooperative obstacles.
  • the second sensor 22 may be an active sensor, a passive sensor, an active or passive radio detection and ranging (RADAR) sensor, a weather radar sensor, an electro-optical sensor, a laser range finder, a laser detection and ranging (LADAR) sensor, an acoustic sensor, an infrared sensor and/or the like.
  • the first sensor 21 is transponder or ADS-B based, the second sensor 22 is not.
  • the device 2 for handling potential collisions may further comprise at least one other sensor 23, as e.g. a video camera, a pilot's monitoring, an ADS-B based system, a FLARM based system and/or else.
  • at least one other sensor 23 e.g. a video camera, a pilot's monitoring, an ADS-B based system, a FLARM based system and/or else.
  • the device further comprises a suggestion unit 24 configured to provide options for handling potential collisions in air traffic.
  • the suggestion unit is connected with the CCAS 20, the first, second and (optionally) other sensors.
  • FIG. 3 shows a detailed example for a device for handling potential collisions, in this example on board of a RPA which is controlled by a pilot in a ground station. It comprises a CCAS, in this embodiment a so-called TCAS 11 system or an ACAS-X or an ACAS-Xubased CCAS provides its resolution advisory to an auto pilot or flight control computer of the aircraft.
  • a transponder-based or ADS-B based first sensor provides its intruder tracks to an avoid-fusion unit.
  • the second sensor of this embodiment is a Sense&Avoid radar sensor.
  • the sensor data of the second non-cooperative sensor are provided to a avoid unit.
  • sensor data of additional sensors like ADS-B or FLARM are provided to the avoid unit.
  • a avoid maneuver is generated based on the sensor data of the non-cooperative intruders and/or the vertical resolution advisory based on co-operative intruders. Based on the generated avoid maneuver the avoid unit generates automatic avoid commands (in order to perform avoid maneuvers) that are routed to the auto pilot or flight control computer.
  • a so-called D&A safety monitor a consistency check between CCAS sensor data and radar data of the second sensor can be automatically performed. This is of particular importance if the link to the ground station is not available. The D&A safety monitor may inhibit the resolution advisory provided by CCAS if sensor data are inconsistent.
  • the different options provided by the CCAS, the avoid unit and the D&S safety monitor to the auto pilot/flight control computer may only be executed after they had been made aware to and confirmed by the human controller of the RPA in the ground station, or when the data link to the ground station of RPA is lost.
  • various support functions in order to monitor CCAS and the automatic avoid function are provided for the human controller in the ground station.
  • the situational awareness of the human controller is increased by the following support functions:
  • the human controller is able to dismiss any suggested resolution advisory or avoid maneuver by inhibiting a resolution advisory of the CCAS or by inhibiting an automatic avoid command of the avoid unit and in addition may provide any manual avoid commands.
  • the aircraft is a remotely piloted aircraft.
  • the method according to the invention can also be applied to manned aircraft where the support functions explained above are provided directly on board of the aircraft.
  • any resolution advisory or avoid maneuver may be performed automatically, in case of unmanned aircraft or in case a control channel to an unmanned aircraft is temporarily not available.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Traffic Control Systems (AREA)
  • Radar Systems Or Details Thereof (AREA)
EP15001337.3A 2015-05-06 2015-05-06 Procédé et dispositif pour un aéronef permettant de gérer des collisions potentielles dans le trafic aérien Withdrawn EP3091525A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP15001337.3A EP3091525A1 (fr) 2015-05-06 2015-05-06 Procédé et dispositif pour un aéronef permettant de gérer des collisions potentielles dans le trafic aérien

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Application Number Priority Date Filing Date Title
EP15001337.3A EP3091525A1 (fr) 2015-05-06 2015-05-06 Procédé et dispositif pour un aéronef permettant de gérer des collisions potentielles dans le trafic aérien

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EP3091525A1 true EP3091525A1 (fr) 2016-11-09

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3975156A1 (fr) 2020-09-25 2022-03-30 RUAG Schweiz AG Procédé pour obtenir une image aérienne reconnue d'un espace d'observation entourant un véhicule aérien automatisé
CN115394125A (zh) * 2022-08-24 2022-11-25 陕西凌云电器集团有限公司 基于ads-b的飞行器空中防撞方法

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6208284B1 (en) * 1998-06-16 2001-03-27 Rockwell Science Center, Inc. Radar augmented TCAS
EP1798572A1 (fr) 2005-12-17 2007-06-20 Honeywell International Inc. Dispositifs et procédés d'anti-collision aérienne (TCAS)
EP2113789A2 (fr) * 2008-05-01 2009-11-04 Honeywell International Inc. Systèmes de réduction de traitement de cibles radar et procédés pour l'utilisation de sources de surveillance coopératives
US20100039310A1 (en) * 2007-05-02 2010-02-18 Smith Mark D Systems and methods for air traffic surveillance
EP2235711A1 (fr) * 2008-01-23 2010-10-06 Aviation Communication & Surveillance Systems, LLC Systèmes et procédés anticollision à capteurs multiples
FR2947639A1 (fr) * 2009-07-03 2011-01-07 Airbus Operations Sas Procede et dispositif pour detecter des aeronefs circulant dans un espace aerien environnant un avion
EP2466569A1 (fr) * 2010-12-14 2012-06-20 The Boeing Company Manoeuvres pour éviter la perte de séparation

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6208284B1 (en) * 1998-06-16 2001-03-27 Rockwell Science Center, Inc. Radar augmented TCAS
EP1798572A1 (fr) 2005-12-17 2007-06-20 Honeywell International Inc. Dispositifs et procédés d'anti-collision aérienne (TCAS)
US20100039310A1 (en) * 2007-05-02 2010-02-18 Smith Mark D Systems and methods for air traffic surveillance
EP2235711A1 (fr) * 2008-01-23 2010-10-06 Aviation Communication & Surveillance Systems, LLC Systèmes et procédés anticollision à capteurs multiples
EP2113789A2 (fr) * 2008-05-01 2009-11-04 Honeywell International Inc. Systèmes de réduction de traitement de cibles radar et procédés pour l'utilisation de sources de surveillance coopératives
FR2947639A1 (fr) * 2009-07-03 2011-01-07 Airbus Operations Sas Procede et dispositif pour detecter des aeronefs circulant dans un espace aerien environnant un avion
EP2466569A1 (fr) * 2010-12-14 2012-06-20 The Boeing Company Manoeuvres pour éviter la perte de séparation

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3975156A1 (fr) 2020-09-25 2022-03-30 RUAG Schweiz AG Procédé pour obtenir une image aérienne reconnue d'un espace d'observation entourant un véhicule aérien automatisé
WO2022063519A1 (fr) 2020-09-25 2022-03-31 Ruag Ag Procédé pour obtenir une situation aérienne générale d'un espace d'observation entourant un véhicule aérien automatisé
CN115394125A (zh) * 2022-08-24 2022-11-25 陕西凌云电器集团有限公司 基于ads-b的飞行器空中防撞方法

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