JP2002031542A - Navigation monitoring device and navigation monitoring method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve safety of navigation. SOLUTION: Three-dimensional reference coordinate system map data carrying geography around an air route area or an air space area are stored in a numerical value map database part 11, while position data in a reference coordinate system of the air route area or the air space area are stored in an air route/space area database part 12, and navigation data related to the present position and its altitude of an aircraft measured by another system are inputted to a navigation data inputting part 13. In a display/alarm processing part 14, the inputted navigation data are compared and collated with the map data stored in the numerical value map database part 11, and on the basis of the comparison and collation result, a flying position of the aircraft on the map is calculated, and then, the flying position is compared and collated with the air route/space area positional data stored in the air route/space area database part 12 for calculating a deviation between the flying position and the air route/space area.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a navigation monitoring device and a navigation monitoring method for safely navigating an aircraft such as an aircraft in an air zone or airspace.

[0002]

2. Description of the Related Art Generally, in an aircraft, it is essential to check an airway or airspace in order to safely navigate a predetermined airway or airspace.

[0003] For this reason, the pilot confirms the air route zone or air space using a printed material such as a paper map, or converts the paper map into a numerical map and displays it on a digital map display device or the like to check the air route zone or air space. I do.

[0004] However, in the former case, it is very inconvenient to look at the paper map in order to check the air route zone or the airspace. In the latter case, the display content of the digital map display device is two-dimensional data, and when a vehicle deviates from an airway zone or airspace, or approaches an airway zone or airspace, vigilance at a three-dimensional level including altitude is provided. Cannot be performed.

[0005]

As described above, effective means for confirming an airway zone or airspace at a three-dimensional level has not yet been realized in checking an airway zone or airspace. Had not been.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a navigation monitor capable of confirming an airway or airspace in three dimensions while reducing the work required for a pilot, thereby improving navigation safety. An apparatus and a navigation monitoring method are provided.

[0007]

A navigation monitoring device according to the present invention is a navigation monitoring device mounted on an air vehicle to monitor a predetermined airway zone or airspace, and includes map information of a three-dimensional reference coordinate system. Map information storage means for storing the position and altitude of the airway zone or airspace in the reference coordinate system, and airline position storage means for storing position information indicating the altitude, and input of the vehicle position information relating to the current position and altitude of the airplane The vehicle position input means to be compared with the vehicle position information obtained by the vehicle position input means and the map information stored in the map information storage means are compared and collated. The above flight position is calculated, the flight position is compared with the position information of the air zone or airspace stored in the air route position storage means, and based on the result of the comparison, the flight position and the air route zone are also determined. Ku is obtained by so and a calculating means for calculating a deviation between the airspace.

In the above configuration, if the flight position is deviated from the air route zone or the airspace based on the calculation result by the calculation means, the alarm information notifying means is further provided for notifying the deviation to the outside as alarm information. And a display control means for displaying the flight position and the position of the airway zone or airspace on the display.

According to this configuration, the map information of the three-dimensional reference coordinate system on which the terrain such as the mountain area or the flat land near the air zone or the airspace is placed, and the position information of the air zone or the air zone in the reference coordinate system are displayed. GPS (Glo
When the vehicle position information on the current position of the vehicle is input by a navigation system such as (bal Positioning System),
The vehicle position information and the map information are compared and collated, and based on the comparison and collation result, the flight position of the aircraft on the map is calculated, and the flight position is compared with the position of the air zone or airspace. Thus, the deviation between the flight position and the airline zone or airspace is calculated. Here, if there is a deviation between the flight position and the airway zone or airspace, the pilot is notified as an alarm, or the flight position and the position of the airway zone or airspace are displayed on the display.

[0010] Therefore, the pilot can recognize whether or not the flying object has deviated from the air zone or the airspace based on the warning or the display content of the display. Can be prevented and the safety of navigation can be improved.

In the above configuration, the display control means superimposes a symbol indicating an air route or an airspace, a symbol indicating a flying object, a terrain on a map and other symbols on a display, In addition, on the display screen of the display, a symbol indicating an air route zone or an airspace, a symbol indicating a flying object, a terrain on a map, and other symbols are displayed with display attributes different from each other. As this display attribute, it is conceivable to change the attribute by at least one of color, blinking, concealment, line, box, and font.

According to this structure, the symbol indicating the air route or airspace, the symbol indicating the flying object, the terrain on the map, and other symbols are simultaneously displayed on the same display device. It is possible to check the flight status of the flying object on the same display screen without preparing a separate paper map or seeing multiple indicators displaying different symbols, thus reducing pilot work. In addition, since the symbol indicating the air zone or airspace, the symbol indicating the flying object, and the terrain and other symbols on the map are displayed with display attributes different from each other, the pilot can:
The flight status of the flying object can be confirmed on an easy-to-read display screen.

Further, in the above configuration, the display attribute changing function is provided when a plurality of air routes or airspaces intersect.
It is characterized by displaying different display attributes for each sea route zone or airspace, or changing the display attributes of intersections.
By doing so, the visibility can be improved, so that the pilot can be notified that there is an intersection in the air route zone, and the pilot can be alerted.

Further, in the above configuration, when there are a plurality of air routes or air spaces, the display control means selectively selects at least one of the plurality of air routes or air spaces according to the altitude of the flying object. The information is displayed on a display. In this way, when there is an intersection where a plurality of air routes intersect, it is possible to easily identify the air route based on the altitude of the intersection and to contribute to improving safety.

[0015]

Embodiments of the present invention will be described below in detail with reference to the drawings.

FIG. 1 is a block diagram showing a configuration of an embodiment of a navigation monitoring apparatus according to the present invention.

This navigation monitoring device is installed, for example, in the cockpit of an aircraft, and includes a digital map database unit 11, an air route / airspace database unit 12, and a navigation data input unit 13.
, A display / alarm processing unit 14, a display 15, a display control unit 16, and an alarm output unit 17.

The numerical map database unit 11 stores map data of a three-dimensional reference coordinate system near an air route or an airspace to be navigated by an aircraft equipped with the apparatus. The airline zone / airspace database unit 12 stores position data indicating the position and altitude of the airline zone or airspace in the reference coordinate system. The navigation data input unit 13 is, for example, G
Navigation data indicating the position and altitude of the own aircraft is input through the interface with other equipment by the PS.

The display / alarm processing unit 14 compares and compares the navigation data obtained by the navigation data input unit 13 with the map data stored in the digital map database unit 11 and, based on the comparison and comparison result, maps the aircraft. The flight position above is calculated, and the flight position and the air route zone / airspace database unit 12 are calculated.
Is compared with the position data of the air route zone or the airspace stored in the storage device, and a deviation between the flight position and the air route zone or the airspace is calculated based on the comparison and matching result.

The display control unit 16 includes a display / alarm processing unit 14.
The flight position and the position of the air route zone or the airspace on the numerical map calculated by the above are displayed on the display unit 15. In this case, as shown in FIG. 2, the indicator 15 shows a symbol indicating an air route or airspace, a symbol indicating an aircraft in flight,
The symbol indicating the intersection is superimposed on the terrain on the map and other symbols such as the city area and the road, and is displayed on the display screen with different display attributes for each symbol.

The alarm output unit 17 includes a display / alarm processing unit 14
If the flight position deviates from the air route zone or the airspace based on the calculation result, the deviation is reported to the outside as a warning. As this alarm, a display on the display 15,
Some are by voice or vibration.

Next, a display example of the flight position and the position of the air route zone or the airspace on the digital map in the above configuration will be described with reference to FIGS. Here,
As a display method to display information such as terrain, symbols, lines, altitude shadows etc. under the air route zone by displaying it on the digital map, there are transparent display by color blending and line segments. An example in which a boundary line of an airline zone is displayed will be described. (Transparent display by color blending) Before the implementation, if the airway zone and the terrain and other symbols have the same color as shown in FIG. And other symbols are difficult to distinguish. Therefore, in the present invention, the display control unit 16 controls
As shown in (b), the color of the pixel is replaced with a different color at regular intervals so as to express a translucent feeling on the display screen of the display 15.

(In the case where the boundary line of the airline zone is displayed by a line segment) Before execution, if the boundary line of the airline zone is mixed with, for example, an elevation line as shown in FIG. On the display screen, it is difficult to distinguish the air zone from the terrain and other symbols. Therefore, in the present invention, as shown in FIG. 4B, the display control unit 16 displays the boundary line by two lines in order to determine the outside and inside of the air zone, and displays the boundary line. Different weights (fonts), different colors,
The determination is made on the display screen of the display unit 15 according to different types (solid line, broken line, etc.).

(Display without Color) Here, the display control unit 16 performs color-coding for each predetermined altitude range on the display screen. In this case, before the implementation, for example, if the air zone and the terrain have the same altitude range, the same color (FIG. 5A)
3A), and it becomes difficult to distinguish the airway zone from the terrain and other symbols on the display screen of the display 15 as in FIG. Therefore, in the present invention, as shown in FIG. 5B, the display control unit 16 removes the color of the airway zone and displays it in gray with altitude shading, as shown in FIG. And can be identified.

In the above-described example, an example has been described in which the air route zone is distinguished from the terrain and other symbols on the display screen and displayed. However, even when two or more air route zones intersect, this is also possible. The invention can be applied. FIG. 6 shows a display example when two or more air routes intersect.

That is, in the example of FIG.
, The display attribute of the area that is the intersection of the air zone on the display screen of the display 15 is changed and emphasized, and the visibility is improved, so that the pilot is notified that there is the intersection of the air zone and calls attention. be able to.

Further, in the present invention, in order to clearly show the route of the own aircraft with respect to the intersecting air route zone, the display color is displayed in a different color with respect to other routes, so that the visibility of the air route zone is improved. Can be improved. Furthermore, the display is prioritized according to the flight altitude of the intersecting air route, and when passing through the air route at a low altitude, an overlay display is performed on the air route passing at a high altitude. As a result, it is possible to easily identify the airline zone based on the altitude of the intersection, which can be used to improve safety.

As described above, according to the above embodiment,
The map data of the three-dimensional reference coordinate system on which the terrain such as the mountain area or the flat land near the air zone or the air space is stored is stored in the numerical map database unit 11, and the position data of the air zone or the air space in the reference coordinate system is stored. Is stored in the air route zone / airspace database unit 12, and when navigation data relating to the current position and altitude of an aircraft equipped with the own device is input to the navigation data input unit 13 by a navigation system such as GPS, a display / alarm is issued. The processing unit 14 compares and compares the navigation data with the map data stored in the digital map database unit 11, calculates a flight position of the aircraft on the map based on the comparison and matching result, and calculates the flight position and the aviation position. The flight position and the air route zone are compared by comparing and comparing the position data of the air route zone or the air zone stored in the road zone / air zone database unit 12. Properly the deviation between the airspace is calculated.
Here, if there is a deviation between the flight position and the air route zone or airspace, the pilot is notified as a warning by the alarm output unit 17 or the flight position and the position of the air route zone or airspace are displayed by the display control unit 16. In addition to being displayed on the display 15, an alarm display by a message or an alarm display by a change in display attribute is performed.

[0029] For this reason, the pilot operates the alarm and display 1
5, it is possible to recognize whether or not the aircraft deviates from the air zone or airspace based on the display contents, thereby preventing the risk of near-miss in the air zone or deviation from the airspace,
Navigational safety can be improved.

In the above embodiment, one display 1
Since the symbol indicating the air zone or airspace, the symbol indicating the aircraft, the terrain on the map and other symbols are displayed on the display screen 5 in a superimposed manner, the pilot prepares a paper map separately. In addition, the flight status of the aircraft can be checked on the same display screen without looking at a plurality of indicators displaying different symbols, thereby reducing the work of the pilot. In addition, since the symbol indicating the air route or airspace, the symbol indicating the aircraft, the terrain on the map, and other symbols are displayed with different display attributes, the pilot can view the flight status of the aircraft on an easy-to-read display screen. Be able to confirm.

In the above-described embodiment, when a plurality of air routes or airspaces intersect, the display control unit 16 displays different display attributes for each seaway zone or airspace, or changes the display attribute of the intersection. I am trying to do it. For this reason, by improving visibility, the pilot can be informed of the intersection of the airway zones, and can be alerted.

When a plurality of air routes or airspaces are present, the display control unit 16 selectively displays at least one of the plurality of airways or airspaces on the display 15 according to the altitude of the aircraft. It is displayed. Therefore, if there is an intersection where multiple air routes intersect,
Airline zones can be easily identified based on the altitude of the intersection, which can be used to improve safety.

In the above embodiment, the display control unit 16
Has described an example in which a symbol indicating an air route zone or airspace, a symbol indicating an aircraft, and terrain and other symbols on a map are changed by color, line, font, etc. A display method of displaying only the band and hiding the terrain and other symbols may be used.

As another embodiment of the present invention, an interface with an instrument landing device for an airfield runway is also considered, and a glide slope signal or the like emitted from the runway is reflected on a three-dimensional map display image. Also, it is possible to check whether the vehicle is out of the approach angle and approach course, and contribute to improving safety during landing. In this case, ILS (InstrumentLan
ding System: Instrument landing guidance system).

In addition, the configuration, display method, alarm notification method, and the like of the navigation monitoring device can be variously modified without departing from the gist of the present invention.

[0036]

As described in detail above, according to the present invention,
It is possible to provide a navigation monitoring device and a navigation monitoring method capable of confirming an air route zone or airspace in three dimensions while reducing the work for the pilot, thereby improving navigation safety. .

[Brief description of the drawings]

FIG. 1 is a block diagram showing the configuration of an embodiment of a navigation monitoring device according to the present invention.

FIG. 2 is a diagram showing a display example of a flight position and an air route zone on a map by a display control unit shown in FIG. 1;

FIG. 3 is a diagram showing an example of transparent display by a display control unit shown in FIG. 1;

FIG. 4 is a diagram showing a display example of line segments by the display control unit shown in FIG. 1;

FIG. 5 is a diagram showing an example of a display without color by the display control unit shown in FIG. 1;

FIG. 6 is a diagram showing a display example in a case where air zones intersect by the display control unit shown in FIG. 1;

[Description of Signs] 11 Numerical Map Database Unit, 12 Airline Zone / Airspace Database Unit, 13 Navigation Data Input Unit, 14 Display / Alarm Processing Unit, 15 Display Unit, 16 Display Control Unit, 17 Display Unit Alarm output section.

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Katsumi Yoneda 1 Komagi Toshiba-cho, Saiwai-ku, Kawasaki-shi, Kanagawa F-term (reference) 2F029 AA05 AB07 AC03 AC14 AC18 5H180 AA26 FF05 FF22 LL07 LL08

Claims (18)

[Claims] 1. A navigation monitoring device mounted on an air vehicle to monitor a predetermined air zone or airspace, comprising: map information storage means for storing map information of a three-dimensional reference coordinate system; Or, airway position storage means for storing position information indicating the position and altitude of the airspace in the reference coordinate system; flying object position input means for inputting flying object position information relating to the current position and altitude of the flying object; The flying object position information obtained by the body position input means is compared with the map information stored in the map information storage means, and the flight position of the flying body on the map is calculated based on the comparison and matching result. Then, the flight position and the air route or airspace position information stored in the air route position storage means are compared and collated, and based on the comparison result, the flight position and the air route zone are compared. Navigation monitoring apparatus characterized in that it comprises a calculating means for calculating a deviation between the airspace. 2. Based on a calculation result by the calculation means,
2. The navigation monitoring device according to claim 1, further comprising an alarm information notifying unit that, when the flight position deviates from the air zone or the airspace, notifies the outside of the deviation as alarm information. 3. The apparatus according to claim 2, further comprising a display, and display control means for displaying, on said display, a flight position calculated by said calculation means and a position of said airway zone or airspace. Item 6. The navigation monitor according to Item 1. 4. The display control means superimposes a symbol indicating the air route zone or airspace, a symbol indicating the flying object, a terrain on a map, and another symbol on the display. The navigation monitoring device according to claim 3, wherein: 5. The display control means includes: a symbol indicating the air route zone or air space on a display screen of the display;
The navigation monitoring device according to claim 3 or 4, further comprising a display attribute changing function of displaying a symbol indicating the flying object, a terrain on a map, and another symbol with display attributes different from each other. 6. The navigation monitor according to claim 5, wherein, when a plurality of air routes or air spaces intersect, the display attribute changing function displays different display attributes for each of the sea routes or air spaces. apparatus. 7. The navigation monitoring device according to claim 5, wherein the display attribute changing function changes a display attribute of an intersection when a plurality of air routes or airspaces intersect. 8. The display attribute changing function changes an attribute by at least one of a color, blinking, concealing, line, box, and font on a display screen of the display device. The navigation monitor according to any one of claims 5 to 7. 9. When there are a plurality of airways or airspaces, the display control means selectively selects at least one of the plurality of airways or airspaces according to the altitude of the flying object. The navigation monitor according to claim 1, wherein the navigation monitor displays the information on a display. 10. A navigation monitoring method for monitoring a predetermined airway zone or airspace on an air vehicle, comprising: storing map information of a three-dimensional reference coordinate system; Storing position information indicating the position and altitude in the system, inputting vehicle position information relating to the current position and altitude of the aircraft, and comparing and comparing the input aircraft position information with the stored map information; A flight position on the map of the flying object is calculated based on the comparison and collation result, and the flight position is compared with the stored position information of the air route zone or airspace, and the comparison and collation result is calculated. Calculating a deviation between the flight position and the air route zone or the airspace based on the navigation. 11. The navigation monitoring method according to claim 10, wherein when the flight position deviates from the air zone or the airspace, the deviation is notified to outside as alarm information. 12. When a display is provided, the calculated flight position and the position of the air route zone or the airspace are displayed on the display.
Navigation monitoring method described. 13. The display device, comprising: a symbol indicating the air zone or airspace; a symbol indicating the flying object;
13. The navigation monitoring method according to claim 12, wherein the terrain and other symbols on the map are displayed in a superimposed manner. 14. A display screen of the display device, wherein a symbol indicating the air route zone or airspace, a symbol indicating the flying object, a terrain on a map, and another symbol are displayed with display attributes different from each other. 14. The navigation monitoring method according to claim 12, wherein: 15. The navigation according to claim 12, wherein when a plurality of air routes or air spaces intersect on the display screen of the display device, display is performed with display attributes different from each other for each route zone or air space. Monitoring method. 16. The navigation monitoring method according to claim 12, wherein a display attribute of the intersection is changed when a plurality of air routes or airspaces intersect on the display screen of the display. 17. Color, blinking, and blinking on the display screen of the display unit.
17. The navigation monitoring method according to claim 14, wherein the attribute is changed by at least one of a concealed line, a line, a surrounding line, and a font. 18. When there are a plurality of air routes or air spaces on the display screen of the display, at least one of the plurality of air routes or air spaces is selectively selected according to the altitude of the flying object. 13. The navigation monitoring method according to claim 12, wherein the information is displayed on the display.