EP3857249A1 - Guidage d'un aéronef à l'aide de deux antennes présentant un angle d'ouverture différent - Google Patents
Guidage d'un aéronef à l'aide de deux antennes présentant un angle d'ouverture différentInfo
- Publication number
- EP3857249A1 EP3857249A1 EP19787163.5A EP19787163A EP3857249A1 EP 3857249 A1 EP3857249 A1 EP 3857249A1 EP 19787163 A EP19787163 A EP 19787163A EP 3857249 A1 EP3857249 A1 EP 3857249A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- antenna
- aircraft
- opening angle
- power
- difference
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 claims description 23
- 238000005259 measurement Methods 0.000 claims description 16
- 238000006073 displacement reaction Methods 0.000 claims description 15
- 230000000737 periodic effect Effects 0.000 claims description 3
- 238000011156 evaluation Methods 0.000 claims description 2
- 230000002123 temporal effect Effects 0.000 claims description 2
- 238000012937 correction Methods 0.000 description 12
- 238000004088 simulation Methods 0.000 description 7
- 238000004364 calculation method Methods 0.000 description 6
- 238000004422 calculation algorithm Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000001914 filtration Methods 0.000 description 4
- 230000003313 weakening effect Effects 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000012417 linear regression Methods 0.000 description 2
- 230000000873 masking effect Effects 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 240000006829 Ficus sundaica Species 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000001955 cumulated effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
- G01S3/14—Systems for determining direction or deviation from predetermined direction
- G01S3/28—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived simultaneously from receiving antennas or antenna systems having differently-oriented directivity characteristics
- G01S3/30—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived simultaneously from receiving antennas or antenna systems having differently-oriented directivity characteristics derived directly from separate directional systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
- G01S3/14—Systems for determining direction or deviation from predetermined direction
- G01S3/28—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived simultaneously from receiving antennas or antenna systems having differently-oriented directivity characteristics
- G01S3/32—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived simultaneously from receiving antennas or antenna systems having differently-oriented directivity characteristics derived from different combinations of signals from separate antennas, e.g. comparing sum with difference
- G01S3/34—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived simultaneously from receiving antennas or antenna systems having differently-oriented directivity characteristics derived from different combinations of signals from separate antennas, e.g. comparing sum with difference the separate antennas comprising one directional antenna and one non-directional antenna, e.g. combination of loop and open antennas producing a reversed cardioid directivity characteristic
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/0202—Control of position or course in two dimensions specially adapted to aircraft
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/02—Automatic approach or landing aids, i.e. systems in which flight data of incoming planes are processed to provide landing data
- G08G5/025—Navigation or guidance aids
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q25/00—Antennas or antenna systems providing at least two radiating patterns
- H01Q25/002—Antennas or antenna systems providing at least two radiating patterns providing at least two patterns of different beamwidth; Variable beamwidth antennas
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
- H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole
Definitions
- the invention relates to the field of aircraft guidance, and more particularly the estimation of the alignment of an aircraft with respect to a determined trajectory not requiring the use of an absolute positioning system by satellite.
- the guidance systems of existing aircraft, and in particular drones make it possible to carry out autonomous guidance of an aircraft along a predefined trajectory, corresponding for example to the route of an observation mission.
- the position of the aircraft is determined at regular intervals and compared to a path to follow. This position is generally determined using a receiver from an absolute satellite positioning system, such as GPS or Galileo systems.
- the aircraft computer is unable to determine the current position of the aircraft, either due to a failure of an aircraft component, such as a GPS receiver, or due to 'unavailability of the positioning system signal, for example in the event of interference to it.
- the computer cannot guide the aircraft so that it follows the predetermined trajectory.
- the aircraft may crash into an unknown position and be lost.
- the current position of the aircraft can be determined using another system on board by it, such as an inertial unit continuously measuring the linear and angular accelerations of the aircraft. Integration of the signals supplied by this inertial unit then makes it possible to determine the displacements of the aircraft and therefore its relative position relative to the last position supplied by the satellite positioning system.
- the uncertainty of the position thus determined can be high.
- the accumulation over time of the differences between the movement determined by integration and the actual movement of the aircraft indeed generates a drift of the position of the aircraft relative to its actual position. Such drift can reach several kilometers per hour of flight from the last position provided by the satellite positioning system.
- the distance meter is connected to a directional antenna of the ground station and is configured to continuously measure the direction in which the aircraft is located relative to a reference direction, for example north.
- a reference direction for example north.
- An objective of the invention is to propose an alternative solution to the use of a ground level gauge in order to allow the estimation of the position of an aircraft and its landing in a simple and effective manner, despite the unavailability of positioning by satellite and despite a possible drift from the current position of the aircraft.
- the invention proposes a system for guiding an aircraft comprising:
- the first opening angle is at least twice as large as the second opening angle
- an absolute value of a difference between the power of a signal received from the first antenna and the power of a signal received from the second antenna is at least equal to 10 dB.
- the first antenna is omnidirectional.
- the first antenna and the second antenna are coaxial.
- the first opening angle 3 ° and 5 ° is between and the second opening angle is between 0.5 ° and 1.5 °.
- the first antenna has a gain between 25 dB and 35 dB
- the second antenna has a gain between 35 dB and 50 dB.
- the first antenna and the second antenna are integral in movement, and the system further comprises means for moving the first antenna and the second antenna.
- the invention provides a method for autonomous guidance of an aircraft using a guidance system according to one of claims 1 to 6, said method comprising the following steps:
- the first antenna and the second antenna are coaxial during steps S1 to S3.
- step S5 the method furthermore the following steps, prior to step S5:
- the first antenna and the second antenna perform an angular scan in azimuth and / or in elevation according to a periodic pattern.
- Steps S6 and S7 are only implemented when the deviation determined in step S5, from the assumed position of the aircraft, is less than a determined threshold.
- the method further comprises, following step S7, a step of positioning the first antenna and the second antenna so as to substantially align their radio axis with a direction corresponding to the maximum of the deviations thus determined.
- the deflection angles are greater than or equal to the second opening angle and less than or equal to twice said second opening angle.
- step S7 the maximum of the deviations is evaluated by a temporal convolution method or from a polynomial approximation of degree 2 of the measurements obtained in steps S2 and S3 and associating a given deviation with each depointing angle .
- FIG. 1 schematically illustrates the emission diagrams of an example of the first antenna and of an example of a second coaxial antenna which can be used in a guidance system according to the invention.
- FIG. 2 schematically illustrates the emission diagrams of another example of the first antenna and of an example of a second coaxial antenna that can be used in a guidance system according to the invention.
- FIG. 3 schematically illustrates the emission diagrams of another example of the first antenna and of an example of a second coaxial antenna that can be used in a guidance system according to the invention.
- FIG. 4 illustrates an example of measurement of a difference in dB between the power of the signal received by a first antenna and the power of the signal received by a second antenna, coaxial, pointing to the same radio transmitter and which can be used in a system guide according to the invention, during a sinusoidal sweep (in degrees) around a pointing angle in designation, as well as a polynomial approximation of degree 2 of said measurements.
- FIGS. 6 to 8 represent the result of the simulation of the example given when the direction-finding algorithm is engaged, FIG. 6 illustrating the power of the signals received from the first antenna and from the second antenna, FIG. 7 representing the difference in powers between the said antennas in gross value (dRSSI) and in filtered value (dRSSMIt) and FIG. 8 representing the state of the direction finding algorithm (0 being the preparation phase after resetting the filtering of the power deviation, 1 being the phase filtering without correction calculation and 2 being the scanning and correction phase).
- dRSSI gross value
- dRSSMIt filtered value
- FIG. 9 very schematically illustrates an example of an aircraft guidance system according to an embodiment of the invention.
- FIG. 10 is a flowchart illustrating steps of an exemplary embodiment of a method for guiding an aircraft according to the invention.
- One embodiment of the invention relates to an autonomous guidance system 1 of an aircraft A comprising two antennas 10, 20 whose opening angle is chosen so as to allow, by a simple comparison of the power of their signals respective, to determine if the aircraft A is in the expected direction or if on the contrary it has deviated from this direction and to determine, if necessary, the direction in which it is actually by iterations.
- the guidance system 1 comprises a first antenna 10 having a first opening angle 01 to - 3 dB and a second antenna 20 having a second opening angle 02 to - 3 dB.
- the first opening angle 01 is at least twice as large as the second opening angle 02 and, within the second opening angle 02 of the second antenna 20, the absolute value of the difference (difference) between the power of a signal received from the first antenna 10 and the power of a signal received from the second antenna 20 is at least 10 dB.
- the first antenna 10 therefore has a large opening angle in comparison with the second antenna 20.
- the first opening angle 01 can be between 3 ° and 5 °, typically of the order of 4 °, while the second opening angle 02 can be between 0.5 ° and 1.5 °, typically of around 1 °.
- the first antenna 10 can also have a gain of between 25 dB and 35 dB, for example of the order of 30 dB, and the second antenna 20 has a gain of between 35 dB and 50 dB, for example of the order 40 dB.
- the guidance system 1 is based on the principle that an aircraft A is a radio transmitter so that, when a radio transmitter moves away from a receiving antenna, the strength of the signal measured by this antenna decreases.
- the weakening of the signal strength measured by this antenna may also be due to a plurality of factors including an increase in the distance between aircraft A and the antenna , a radio transmission problem, an antenna power fault, weather conditions, masking (presence of another radio transmitter between aircraft A which is guided and the antennas 10, 20), etc.
- This weakening of the signal therefore does not necessarily result from a misalignment of the aircraft A and the radio axis of the antenna (that is to say the axis of symmetry of the main lobe of said antenna).
- the difference between the power of the signals of two antennas 10, 20 pointing to the same radio transmitter remains constant, regardless of the distance between the radio transmitter and the two antennas 10, 20. Consequently, if the difference between the power of the signal measured by two given antennas 10, 20 is less than a given threshold or becomes weaker, this necessarily implies that the aircraft A is not aligned with the antennas 10, 20.
- the choice of an antenna 10 with a large aperture and of an antenna 20 with a small aperture makes it possible to obtain a power difference sufficient to detect a misalignment of the aircraft A, the difference between the gain of the two antennas 10, 20 being marked so that the measurement accuracy is sufficient to guide the aircraft A. In addition, it allows sufficient angular scanning to be carried out in the event that a weakening of the power difference is detected.
- Figure 1 schematically illustrates the emission diagrams of an example of the first antenna 10 and an example of a second antenna 20, which are coaxial.
- the radio transmitter is aligned with the axis X1, X2 of the antennas 10, 20 (aircraft A1), the difference in powers E1 is maximum.
- the radio transmitter is misaligned (aircraft A2), the difference in powers E2 between the two antennas 10, 20 is smaller.
- the first and second antenna 10, 20 are coaxial in order to maximize the overlap of their angular ranges of opening.
- the first and the second antenna 10, 20 may not be coaxial.
- the antennas 10, 20 are positioned so that the opening angle of the first antenna 10, which is large, overlaps the opening angle of the second antenna 20 (see Figure 2).
- the first antenna 10 which has a large opening angle 01, can be omnidirectional.
- the second antenna 20 on the other hand is directional and orientable (FIG. 3).
- the first antenna 10 and the second antenna 20 are integral in movement. By moving together, it will be understood here that the first and the second antenna 10, 20 perform the same movements, simultaneously.
- the first and second antenna 10, 20 can be fixed integrally together, using a built-in connection, or be separate from each other but moved synchronously and following the same movements.
- the guidance system 1 also comprises means 2 for moving the first and the second antenna 20.
- the first antenna 10 and the second antenna 20 are moved simultaneously, either by the same displacement means 2, or by two distinct but synchronized displacement means 2.
- the displacement means 2 may for example comprise positioners carrying antennas 10, 20, configured to receive pointing orders from a computer 6 (see below) and execute said orders.
- the guidance system 1 can also include positioning means 3 configured to determine a supposed position of the aircraft A.
- These means 3 can for example comprise an inertial unit on board the aircraft A and configured to integrate the movements of aircraft A (acceleration and angular speed) to estimate its orientation (roll, pitch and heading angles), its linear speed and its position.
- the inertial unit 3 comprises accelerometers for measuring the linear acceleration of the aircraft A in three orthogonal directions and gyrometers for measuring the three components of the angular speed vector (roll, pitch and lace).
- the inertial unit 3 also provides the attitude of the aircraft A (roll angles, pitch and heading).
- the positioning means 3 may comprise an absolute positioning system by satellite, such as the GPS or Galileo systems.
- the guidance system 1 comprises a system 4 for receiving the signals from the first antenna 10 and from the second antenna 20 and a data processing device 5, 6.
- the data processing device 5, 6 can be on board the aircraft A and / or in a ground unit and can comprise one or more communication interfaces 4 and one or more computers 5, 6.
- the ground unit and the aircraft A can communicate by radio and each comprise a communication interface 4 of the antenna type.
- the data processing device 5, 6 comprises an on-board computer 5, connected to the means for determining the supposed position of the aircraft A, and a computer on the ground 6.
- Each computer 5, 6 can comprise a processor or microprocessor, of x-86 or RISC type for example, a controller or microcontroller, a DSP, an integrated circuit such as an ASIC or programmable such as an FPGA, a combination of such elements or any other combination of components making it possible to implement the calculation steps of the guidance process.
- a processor or microprocessor of x-86 or RISC type for example, a controller or microcontroller, a DSP, an integrated circuit such as an ASIC or programmable such as an FPGA, a combination of such elements or any other combination of components making it possible to implement the calculation steps of the guidance process.
- the ground computer 6 can be configured to transmit pointing orders to the displacement means 2, such as positioners, from the positioning information communicated by the positioning means 3, such as an inertial unit, but also an angular pointing error corresponding to the position drift of the aircraft A, a scanning angle in order to create a depointing of the antennas 10, 20 and to seek the direction of the best signal corresponding to the direction of the aircraft A as well as a possible pointing angle correction calculated from the measurement of the power of the signals received by the antennas 10, 20 during the scanning.
- the displacement means 2 such as positioners
- the positioning means 3 such as an inertial unit
- the communication interfaces 4 can be any interface, analog or digital, allowing the computer (s) to exchange information with the other elements of the guidance system 1 such as the antennas 10, 20 , the displacement means 2 or even the positioning means 3.
- the interfaces of Communication can for example include an RS232 serial interface, a USB, Firewire, HDMI interface or an Ethernet type network interface.
- the determination of the difference in powers between the first antenna 10 and the second antenna 20 thus makes it possible to correct the drift, even pronounced, of the current position of the aircraft A determined from the signals of its inertial unit 3 (or of any other means of determining the assumed position of aircraft A) by determining whether the position of aircraft A actually corresponds to the assumed position, or if it is misaligned with respect to this assumed position
- the guidance of aircraft A can then be carried out according to the following steps, using the guidance system 1 described above.
- a supposed position of the aircraft A is determined.
- the assumed position of the aircraft A can be determined in a conventional manner by the inertial unit 3 on board the aircraft A.
- the assumed position of aircraft A can be determined by any means 3.
- the assumed position of aircraft A can be determined from the last known position of aircraft A, measured by an absolute positioning system by satellite, such as a 1 GPS or Galileo system.
- the first antenna 10 and / or the second antenna 20 are pointed at the supposedly thus determined position of the aircraft A (pointing in designation).
- the first antenna 10 and the second antenna 20 are moved so that their respective radio axes X1, X2, which are preferably coaxial, intersect the assumed position of the aircraft A.
- a second and a third step S2, S3, the power of the signals received by the first antenna 10 and by the second antenna 20 is measured simultaneously.
- the signal strength can in particular be measured in dBm.
- a fourth step S4 the difference between the power of the signal received by the first antenna 10 and the power of the signal received by the second antenna 20 is determined by the data processing device 5, 6, and in particular the floor computer 6.
- the computer 5 can send displacement orders to the displacement means 2, for example to positioners carrying the first antenna and the second antenna 20, so as to angularly move them (step S6) along a plurality of deflection angles and to point their radio axis X1, X2 to a position different from the position assumed during the preliminary step S0.
- step S6 the first and second antenna 10, 20 are angularly displaced in azimuth and / or in elevation.
- the deflection angle according to which the first and the second antenna 10, 20 are displaced is greater than or equal to the second opening angle 02 and less than or equal to twice said second opening angle 02.
- Steps S2 to S6 are then repeated until the difference in powers is maximum, or at least reaches a predefined threshold value corresponding to an admissible alignment between the radio axis X1, X2 of the antennas 10, 20 and l ' aircraft A.
- the pointing associated with the maximum power deviation then substantially indicates the direction of aircraft A.
- the first antenna 10 and the second antenna 20 can carry out a scanning according to a predefined pattern, the maximum power difference then being determined from the different power differences determined for each angle of deflection of the angular scan in order to deduce the direction of the aircraft A.
- the angular scanning is carried out according to a periodic pattern.
- a periodic pattern For example, there is illustrated in FIG. 4 an example of measurement of a difference between the power of the signal received by a first antenna 10 and the power of the signal received by a second antenna 20, coaxial and pointing on the same radio transmitter during a sinusoidal sweep around a pointing angle in designation.
- the scanning can follow a Lissajous curve in order to allow a good population of the ends of the angular zone scanned while ensuring a crossover over the main lobe of the signals of the first and of the second antenna 10, 20.
- the ground computer 6 (or all other processing device) can for example establish a polynomial approximation of degree 2 (parabolic regression) of the measurements in the sense of the least squares which connects the scanning angle (on the abscissa, corresponding to the angle between the direction of measurement during the scanning and the assumed position of the aircraft A determined during the preliminary step S0) away from the powers obtained in step S3.
- the least squares can possibly be weighted in order to take into account the degree of confidence associated with each measurement.
- the pointing correction angle is then obtained by determining the abscissa of the maximum of the degree 2 polynomial thus established (step S7).
- the correction can be limited to the maximum scanning amplitude and / or - the correction can be filtered over several scanning periods using a low-pass filter (for example a Kalman filter) whose constant time can for example be set to a quarter of the scanning period and / or
- a low-pass filter for example a Kalman filter
- the sweep can be started on a criterion of deviation of the filtered powers and / or
- the scanning can be ended on a convergence convergence criterion.
- the antennas 10, 20 are moved by the carrier positioners 2 (or any other suitable means of movement) so as to point to the actual position of the aircraft A thus identified.
- This first embodiment makes it possible to determine the angle of correction of the pointing.
- the presence of secondary lobes in the signals from the antennas 10, 20 is liable to raise the level of the signals measured at the edges of the main lobes and can produce correction calculations in the opposite direction in because of the regression calculation which generates convex and non-concave solutions. The maximum then becomes a minimum.
- the computer 6 can apply a linear regression and then select the maximum of this linear regression over the scanning interval. Furthermore, the scanning amplitude can be chosen as a function of the filtered value of the power deviation, so that the amplitude is all the greater the smaller the filtered value.
- the maximum of the difference in powers is determined by a time convolution method (step S7).
- this embodiment makes it possible to take account of the delay in the control of the displacement means 2 by introducing a delay time in azimuth and in elevation, which makes it possible to associate the difference in powers with the depointing actually applied to the antennas 10, 20.
- the gain of the antenna with greater gain behaves like a paraboloid of revolution.
- the gain of the antenna with the lowest gain is considered constant.
- ARSSI powers can then be modeled as a paraboloid of revolution by the following formula:
- ARSSI is the deviation of the powers measured in steps S2 and S3
- e Az and e EI are the angular errors in azimuth and elevation, respectively
- s Az and s E ⁇ are the scanning angles in azimuth and elevation, respectively
- Q is the - 3 dB half-angle of aperture of a dummy satellite dish whose gain profile corresponds to the difference between the gain profiles of the antennas 10, 20.
- the angular error e Az (in azimuth) and the angular error e (in elevation) are therefore proportional to the convolution product of the deviation of the ARSSI powers and the scanning pattern on the corresponding axis :
- step S6 can only be implemented when the difference in powers is less than a predetermined threshold.
- phase 2 A simulation was carried out with real data recorded during the flight of an aircraft A. During this flight, an elongation of 140 km was reached, the carrier was moving at 36 m / s following a straight path (phase 1) then orbital or spiral when approaching the ground station (phase 2).
- the first antenna 10 had a gain of 30 dB and a first opening angle 01 to - 3 dB of 0.9 °, while the second antenna 20 5 had a gain of 44 dB and a second opening angle 02 to - 3 dB of 4.0.
- the powers received on the two antennas 10, 20 have been artificially degraded by simulating a deflection angle.
- the power signal (RSSI) of each antenna has been corrected as follows:
- Oi is the opening angle at - 3 dB of antenna i (first antenna 10 or second antenna 20)
- 0i is the deflection angle of the antenna i (first antenna 10 or 15 second antenna 20) relative to the radio axis Xi (X1 or X2).
- the drift was simulated by a drift speed of 2 m / s normal to the pointing axis, which is a pessimistic case.
- the antenna drift angle was simulated by:
- DTLS VA is the distance between the antennas 10, 20 on the ground and the aerial vehicle.
- 25 tstart is the start time of the drift of the simulation (2000 s here)
- V drift is the drift speed in m / s (2 m / s here)
- the noise on the gain measurement was fixed at 3 dB and the model describing the variation of the gain around the maximum was a parabola.
- the mismatch was 0.8 °.
- 0 corresponds to the preparation phase after resetting the filtering of the power deviation (follows the exit of a scanning sequence)
- the sweep is carried out with a period of seven seconds so as to accumulate enough measurement points on a sweep to make an accurate correction calculation and be sure not to exceed the speed capabilities of the positioner.
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Variable-Direction Aerials And Aerial Arrays (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Details Of Aerials (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1801007A FR3086784B1 (fr) | 2018-09-27 | 2018-09-27 | Guidage d'un aeronef a l'aide de deux antennes presentant un angle d'ouverture different |
PCT/EP2019/076320 WO2020065074A1 (fr) | 2018-09-27 | 2019-09-27 | Guidage d'un aéronef à l'aide de deux antennes présentant un angle d'ouverture différent |
Publications (1)
Publication Number | Publication Date |
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EP3857249A1 true EP3857249A1 (fr) | 2021-08-04 |
Family
ID=67107471
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP19787163.5A Pending EP3857249A1 (fr) | 2018-09-27 | 2019-09-27 | Guidage d'un aéronef à l'aide de deux antennes présentant un angle d'ouverture différent |
Country Status (5)
Country | Link |
---|---|
EP (1) | EP3857249A1 (fr) |
CN (1) | CN113272671B (fr) |
FR (1) | FR3086784B1 (fr) |
IL (1) | IL281831A (fr) |
WO (1) | WO2020065074A1 (fr) |
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FR3019414B1 (fr) * | 2014-03-31 | 2017-09-08 | Sagem Defense Securite | Procede de transmission en vol de donnees de type boite noire |
CN104319483B (zh) * | 2014-10-16 | 2017-10-10 | 中国科学院深圳先进技术研究院 | 一种可调控的天线系统及天线的调控方法 |
FR3033924B1 (fr) * | 2015-03-16 | 2017-03-03 | Sagem Defense Securite | Procede d'assistance automatique a l'atterrissage d'un aeronef |
US10135126B2 (en) * | 2015-06-05 | 2018-11-20 | Viasat, Inc. | Methods and systems for mitigating interference with a nearby satellite |
CN105186102B (zh) * | 2015-09-15 | 2018-01-19 | 西安星通通信科技有限公司 | 基于数字波束跟踪的动中通天线系统及跟踪方法 |
EP3357232B1 (fr) * | 2016-02-29 | 2021-05-26 | Hewlett-Packard Development Company, L.P. | Utilisation d'antennes unidirectionnelles et omnidirectionnelles pour déterminer la présence d'une image d'objet dans un viseur de caméra |
US10211530B2 (en) * | 2016-07-01 | 2019-02-19 | Gogo Llc | Dynamic effective radiated power (ERP) adjustment |
-
2018
- 2018-09-27 FR FR1801007A patent/FR3086784B1/fr active Active
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2019
- 2019-09-27 CN CN201980074200.2A patent/CN113272671B/zh active Active
- 2019-09-27 EP EP19787163.5A patent/EP3857249A1/fr active Pending
- 2019-09-27 WO PCT/EP2019/076320 patent/WO2020065074A1/fr unknown
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2021
- 2021-03-25 IL IL281831A patent/IL281831A/en unknown
Also Published As
Publication number | Publication date |
---|---|
FR3086784B1 (fr) | 2020-09-25 |
CN113272671A (zh) | 2021-08-17 |
CN113272671B (zh) | 2023-12-22 |
FR3086784A1 (fr) | 2020-04-03 |
WO2020065074A1 (fr) | 2020-04-02 |
IL281831A (en) | 2021-05-31 |
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