JP2005274521A - Flight support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a flight support device capable of ensuring safety in low flight or night flight. <P>SOLUTION: In this flight support device for supporting safe flight by use of a quasi zenith satellite 1b, for example, a precise position measuring circuit 4 measures an own machine position in real-time base based on predetermined information obtained through the satellite 1b, a map data reading circuit 6 reads map data corresponding to the own machine position from a map database 7, a data collation circuit 5 compares the own machine position with the map data to determine a probable collision, and outputs the determination result, the own machine position and the map data. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a flight support device that supports safe flight using the aircraft's own position information of highly-accurately positioned aircraft, and flight for ensuring safety when performing low altitude flight, night flight, etc. The present invention relates to a support device.

  In general, low-flying aircraft fly with a visual flight method, and confirm by checking the topography etc. visually while checking the position of the aircraft along the planned flight path while looking at the map. A method called “geographic navigation” is adopted.

  On the other hand, for aircraft with navigation support devices, use the navigation device, flight instrument, radar device, etc. to check the position, attitude angle, flight direction, flight altitude, and distance to obstacles ahead. On the other hand, he is flying in a relatively low sky with the pilot's control. In addition, there are those that calculate the exact flight path on the map by comparing and comparing the flight data obtained from such a device with the map database prepared in advance, and avoiding terrain such as obstacles ahead Yes (see, for example, Patent Document 1).

JP-A-9-101364 (2nd and 6th pages, FIG. 3)

  However, since the flight data in the above prior art is fragmentary information from flight instruments etc., the pilot has to operate while thinking in the head, and it requires considerable skill to operate was there.

  Further, the conventional inertial navigation device has a problem that the position measurement accuracy is insufficient for use in a mountainous area or the like. In other words, with conventional navigation systems, if the aircraft flying in a mountainous area becomes difficult to see the topography due to the effects of nighttime, fog, sudden weather changes, etc., there is a possibility that the position of the aircraft will be lost. There was a problem that there was.

  The present invention has been made in view of the above, and an object of the present invention is to obtain a flight support apparatus capable of ensuring safety in low altitude flight or night flight even in a mountainous area or the like. .

  In order to solve the above-described problems and achieve the object, a flight support apparatus according to the present invention is a flight support apparatus that supports a safe flight using a quasi-zenith satellite, for example, via a quasi-zenith satellite. The own position measuring means (corresponding to the high-precision positioning circuit 4 of the embodiment described later) for measuring the own position in real time based on the predetermined information obtained, and the map database (corresponding to the map database 7) A map data reading means (corresponding to the map data reading circuit 6) that reads map data corresponding to the machine position is compared with the own machine position and the map data to determine the possibility of collision, and the determination result, And data collating means (corresponding to the data collating circuit 5) for outputting its own position and map data.

  According to the present invention, the position of the aircraft is measured with high accuracy and in real time by using the quasi-zenith satellite. Then, based on the position of the aircraft obtained with high accuracy, the flight path and map screen display, flight control, voice warning, and the like are performed.

  According to the present invention, since the position of the aircraft can be measured with high accuracy and in real time by using the quasi-zenith satellite, the position of the aircraft can be continuously measured (corrected) without interruption, and the flight path can be determined. It is possible to calculate with high accuracy. In addition, for example, by displaying this flight route on a map superimposed on a map, safe flight of the aircraft can be supported.

  Hereinafter, embodiments of a flight support apparatus according to the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited to the embodiments. In addition, the flight support apparatus according to the present invention can be mounted on all flying objects (including unmanned vehicles) such as airplanes and helicopters.

  FIG. 1 is a diagram showing the configuration of a flight support apparatus according to the present invention. This flight support apparatus receives a positioning signal from four or more GPS satellites 1a and measures its own position. 2, a high-accuracy receiver 3 for receiving satellite radio waves from the quasi-zenith satellite 1b, a high-accuracy positioning circuit 4, a data collating circuit 5, a map data reading circuit 6, a map database 7, and a flight path calculation A signal processing unit 12 having a circuit 8, an image processing circuit 9, and a display 10.

  In the quasi-zenith satellite system, three quasi-zenith satellites 1b travel around the earth in one day through a predetermined orbit, and at least one of the three quasi-zenith satellites 1b is always above the sky (zenith) in Japan. It is a regional limited satellite system in the vicinity. In addition, if the quasi-zenith satellite 1b is switched every 8 hours, an elevation angle of 60 degrees or more is always secured, and the user always has a good mobile communication service (car phone service with little interruption of the communication line by a building or the like). Mobile phone service, simple positioning system other than GPS, etc.). Specifically, since the quasi-zenith satellite 1b always exists within 20 degrees from the zenith when viewed from the main areas of Japan, for example, the bank angle of the airplane can be set by simply pointing the airplane antenna toward the zenith. Even if it changes, it is possible to always perform good communication, and further, since satellite tracking becomes unnecessary, the communication device can be simplified.

  Here, the operation of the flight support apparatus configured as described above will be described with reference to the drawings. First, the GPS receiver 2 that has received positioning signals from four or more GPS satellites 1a via the receiving antenna individually measures the distance to each GPS satellite, and from these measurement results, three-dimensional Find your own position. In addition, the high-accuracy receiver 3 that has received the satellite radio wave (correction information) from the quasi-zenith satellite 1b via the reception antenna performs a predetermined reception process. The predetermined reception process refers to a process for outputting correction information described later, for example, in the case of DGPS. Thereafter, the high-accuracy positioning circuit 4 corrects the error of the own device position obtained by the GPS receiver 2 based on the correction information from the high-accuracy receiver 3, and calculates the highly accurate own device position. The high-precision positioning here is assumed to be high-precision positioning such as DGPS (Differential GPS), for example. DGPS is a technique for improving accuracy by correcting errors in GPS measurement results using radio waves transmitted from a reference station whose position is known. Specifically, a reference station (not shown) whose position is known performs single positioning, and the difference between the measured value (pseudo distance) and the calculated value (actual distance) is used as correction information for the quasi-zenith satellite 1b. To send through. And the said flight assistance apparatus correct | amends the own position measured by the positioning signal sent from each GPS satellite based on the sent correction information.

  Next, the high-accuracy own device position calculated by the high-accuracy positioning circuit 4 is input to the map data reading circuit 6, and the map data reading circuit 6 reads map data corresponding to the own device position from the map database 7. . Corresponding to the self position means map data in an arbitrary range centering on the self position. In addition, the said arbitrary range shows the range which an own machine can reach within predetermined time. That is, the map data of the front where the aircraft is flying is important for reading, but the map data to be read can be set because it is not important for the back. The data collating circuit 5 compares the own position calculated by the high-accuracy positioning circuit 4 with the map data read by the map data reading circuit 6, and for example, there is a risk of collision. It is determined whether or not there is, and the determination result, its own position and map data are output.

  Here, an example of the processing of the data collating circuit 5 which is a characteristic configuration of the present invention will be specifically described with reference to FIGS. FIG. 2 is a diagram illustrating an example of data collation processing by the data collation circuit 5. FIG. 3 is a diagram showing an overview of the data matching process shown in FIG.

First, the data collating circuit 5 first calculates its own moving speed vector. The data collating circuit 5 is input with its own position from the high precision positioning circuit 4 at a predetermined rate. The predetermined rate may be arbitrarily determined by design. Here, the own machine position between two points in the movement direction of the own machine (for example, the previous own machine position P ₋₁ (X ₋₁ , Y ₋₁ , Z ₋₁ ), the current own machine position P ₀ ( X ₀ , Y ₀ , Z ₀ )) is calculated from its own moving speed vector V (V _x , V _y , V _z ) (FIG. 2, step S 1). The moving speed vector V can be calculated by dividing the difference between the current own position P ₀ and the previous own position P ₋₁ by the time it has moved from the current P ₋₁ to P ₀ . In addition, it is good also as raising the precision of a moving speed vector using the several own position until now.

Next, the data collating circuit 5 uses the velocity vector V (V _x , V _y , V _z ) calculated above and the current own position P ₀ (X ₀ , Y ₀ , Z ₀ ), for example, The own position P _t (X _t , Y _t ) in the XY coordinates that arrive after t seconds is calculated (step S2). Here, for example, “P _t (X _t , Y _t ) = V (V _x , V _y ) × t + P ₀ (X ₀ , Y ₀ )” is calculated. The time t is an arbitrary setting, and here, for example, a time sufficient for the pilot to take an avoidance operation is assumed.

Next, the data collating circuit 5 reads the ground altitude Z _n at the own position P _t (X _t , Y _t ) in the XY coordinates calculated above from the map data (step S3). Here, the own apparatus position P _t (X _t, Y _t) in the XY coordinate is not limited to the ground altitude Z _n of a point corresponding to, for example, ship position P _t in the XY coordinate (X _t, Y _t) A plurality of ground altitudes in the range of the traveling direction ± α ° may be read from the map data. The value of ± α ° may be set within a range that can be reached during the own aircraft time t.

Next, the data collating circuit 5 uses the speed vector V (V _x , V _y , V _z ) and the current own altitude Z ₀ to calculate the own altitude Z _t after t seconds (step S4). ). Here, for example, “Z _t = V _z × t + Z ₀ ” is calculated.

Then, the data collating circuit 5 performs a predetermined threshold determination on the own altitude Z _t after t seconds, and determines whether there is a risk of collision (step S5). For example, if the own altitude Z _t after t seconds is lower than the value obtained by adding the safety clearance altitude β to the ground altitude Z _n read out above, that is, if “Z _t <Z _n + β”, there is judged that there is a possibility of collision with the mountain shown in Fig. 3, on the other hand, if the own apparatus altitude Z _t after t seconds is equal to or greater than the value obtained by adding the safety clearance altitude β to the surface altitude Z _n to read in, That is, when “Z _t ≧ Z _n + β”, it is determined that there is no collision. Note that the safety clearance altitude β is an altitude that is set so that the aircraft can safely pass over the mountains and the like, and may be set arbitrarily, or may be set according to the aeronautical law or the like.

  Thereafter, the data collating circuit 5 repeatedly executes the processes of steps S1 to S5, and continuously outputs the determination result and the corresponding map data as the data collating result.

  Subsequently, the flight path calculation circuit 8 that has received the determination result, the own position and the map data obtained by the data collation process generates flight path data based on the determination result, the own position and the map data. FIG. 4 is a diagram showing an example of flight path data, where x indicates the position of the aircraft and ◯ indicates a point at which altitude is read from the map data. Here, a point of ○ is selected based on the position of the own device, and the altitude of the selected point is read from the map data. Then, for example, by performing the same determination process as in step S5 shown in FIG. 2 above, flight path data connecting points having no possibility of collision is generated. Of course, the flight path may be selected to be the shortest, or may be set so as to sew between the mountains, but those flight policies may be set in advance.

  Next, the image processing circuit 9 performs image processing based on the flight path data, the own aircraft position, and the map data generated by the flight path calculation circuit 8, and the display unit 10 graphically displays the processing result.

  As described above, according to the present embodiment, since the position of the aircraft can be measured with high accuracy and in real time by using the quasi-zenith satellite, the position of the aircraft is continuously measured (corrected) without interruption. In addition, the flight path can be calculated with high accuracy. In addition, by superimposing this flight path on a map and displaying it on the screen as navigation information, it is possible to support safe flight of an aircraft (particularly a low-flying aircraft) regardless of the skill level of the pilot.

  In the present embodiment, the data collating circuit 5 compares and collates the own position calculated by the high precision positioning circuit 4 and the map data read by the map data reading circuit 6. However, the present invention is not limited to this. For example, as shown in FIG. 5, in addition to the various data, the data collating circuit 5a further includes a navigation device 21, a flight instrument 22, a ranging device 23 (a radar device, a laser device). , Radio altimeter, etc.) may be used to perform comparison and collation with higher accuracy using at least one of information obtained from the information. FIG. 5 is a diagram illustrating a configuration of a signal processing unit 11 a that is a modification of the signal processing unit 11. For example, if speed information can be obtained from a navigation device or a flight instrument, the real-time performance of the comparison and verification process can be improved. That is, the current speed information can be obtained from the flight instrument in real time without calculating the own moving speed vector based on the self position. In addition, if the attitude is taken into account, for example, the direction of the turn can be known, so that the moving speed vector obtained from the position of the aircraft can be corrected based on the vector of the turn direction. However, since similar data can be obtained for navigation devices and flight instruments, which data is to be used is determined adaptively according to the required accuracy and usage conditions. Further, in the data collating circuit 5a, in addition to the determination result, the own position and the map data, information obtained from the navigation device 21 (speed, height, direction, attitude, etc.), information obtained from the flight instrument 22 (speed) , Height, direction, posture, etc.) and information (distance, position, etc.) obtained from the distance measuring device 23 can be output.

  In the present embodiment, the flight path calculation circuit 8 calculates the flight path based on the determination result, the own aircraft position, and the map data. However, the present invention is not limited to this. For example, the data of FIG. By combining at least one of information obtained from the navigation device 21, information obtained from the flight instrument 22, and information obtained from the distance measuring device 23 in combination with the matching circuit 5a, a more appropriate flight route is calculated. It is good to do.

  In the present embodiment, the image processing circuit 9 performs the image processing based on the flight path data calculated by the flight path calculation circuit 8, the position of the own aircraft, and the map data. For example, in combination with the signal processing unit 11 shown in FIG. 1 or the signal processing unit 11a shown in FIG. 5, the flight control device is based on the flight path data obtained by the flight path calculation unit 8 as shown in FIG. 31 may perform flight control. FIG. 6 is a diagram illustrating a configuration of a signal processing unit 12 a that is a modification of the signal processing unit 12. In this case, the flight control device 31 can operate its own engine output, rudder, and the like. For example, when there is a possibility of collision, the altitude change, the direction change by the rudder operation, the engine Avoid obstacles by reducing the output speed.

  In the present embodiment, the flight path calculation circuit 8 of the signal processing unit 12 is not provided, and the image processing circuit 9 generates an image based on its own position and map data based on information from the data data matching circuit 5. Processing is performed, and the display 10 displays the processing result in a graphic form, and the flight path may be left to the pilot's intention.

  In the present embodiment, the flight path is not calculated as described above, and further, image processing is not performed. For example, a warning device (lamp, etc.) or / and an alarm device (buzzer, etc.) Only the process of notifying the pilot of the danger may be performed based on the result.

  In the present embodiment, the case where the quasi-zenith satellite is used has been described. However, the present invention is not limited to this. For example, a position where good communication is always possible by simply pointing the antenna in the zenith direction. The same effect can be obtained with satellites other than the quasi-zenith satellite. In the present embodiment, the position of the own apparatus is measured using a GPS satellite. However, the present invention is not limited to this, and the position of the own apparatus may be measured by a method other than GPS.

  As described above, the flight support apparatus according to the present invention is useful as a flight support apparatus that performs high-precision positioning using a quasi-zenith satellite, and in particular, flight support for ensuring safety in low-flying flights and night-time flights. Suitable as a device.

It is a figure which shows the structure of the flight assistance apparatus concerning this invention. It is a figure which shows an example of a data collation process. It is a figure which shows the outline | summary of a data collation process. It is a figure which shows an example of flight route data. It is a figure which shows the structure of the signal processing part 11a which is a modification of the signal processing part 11. FIG. It is a figure which shows the structure of the signal processing part 12a which is a modification of the signal processing part 12. FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1a GPS satellite 1b Quasi-zenith satellite 2 GPS receiver 3 High precision receiver 4 High precision positioning circuit 5 Data collation circuit 6 Map data reading circuit 7 Map database 8 Flight path calculation circuit 9 Image processing circuit 10 Display 11, 11a, 12 , 12a Signal processing unit 21 Navigation device 22 Flight instrument 23 Ranging device 31 Flight control device

Claims (5)

In a flight support device that supports safe flight using a quasi-zenith satellite,
Own position measurement means for measuring the own position in real time based on predetermined information obtained via the quasi-zenith satellite;
Map data reading means for reading map data corresponding to the position of the device from a map database;
Data collation means for determining the possibility of collision by comparing and collating the own machine position and the map data, and outputting the judgment result, the own machine position and map data;
A flight support apparatus comprising:   The data collating means further adds at least one of information obtained from a navigation device, a flight instrument, and a distance measuring device, and performs a comparative collation with higher accuracy. The determination result, the own aircraft position, The flight support apparatus according to claim 1, wherein in addition to the map data, information obtained from a navigation device, information obtained from a flight instrument, and information obtained from a distance measuring device are output. Further, a flight path calculation means for calculating a flight path based on the determination result, the own aircraft position and the map data;
Image processing means for performing image processing based on the flight path, the position of the aircraft and the map data, and displaying the processing result in graphic form;
The flight support apparatus according to claim 1, further comprising: Further, a flight path calculation means for calculating a flight path based on the determination result, the own aircraft position and the map data;
Flight control means for performing flight control based on the flight path;
The flight support apparatus according to claim 1, further comprising: The own position measuring means receives correction information by DGPS (Differential GPS) as predetermined information obtained via the quasi-zenith satellite, and is obtained by using a known GPS (Global Positioning System) receiver. The flight support apparatus according to claim 1, wherein the position error is corrected based on the correction information, and the position of the aircraft is calculated with higher accuracy.

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