JP2019155932A - 飛行制御システム - Google Patents
飛行制御システム Download PDFInfo
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- JP2019155932A JP2019155932A JP2018040340A JP2018040340A JP2019155932A JP 2019155932 A JP2019155932 A JP 2019155932A JP 2018040340 A JP2018040340 A JP 2018040340A JP 2018040340 A JP2018040340 A JP 2018040340A JP 2019155932 A JP2019155932 A JP 2019155932A
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 title claims abstract description 36
- 238000011156 evaluation Methods 0.000 claims abstract description 81
- 230000002265 prevention Effects 0.000 description 14
- 238000000034 method Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 4
- 230000007423 decrease Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000002485 combustion reaction Methods 0.000 description 2
- 238000012854 evaluation process Methods 0.000 description 2
- 230000001141 propulsive effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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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]
- G08G5/0017—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information
- G08G5/0021—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information located in the aircraft
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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]
- G08G5/003—Flight plan management
- G08G5/0039—Modification of a flight plan
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0047—Navigation or guidance aids for a single aircraft
- G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0073—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]
- G08G5/0073—Surveillance aids
- G08G5/0086—Surveillance aids for monitoring terrain
-
- 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
- G08G5/0091—Surveillance aids for monitoring atmospheric conditions
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/003—Flight plan management
- G08G5/0034—Assembly of a flight plan
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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)
- Automation & Control Theory (AREA)
- Life Sciences & Earth Sciences (AREA)
- Atmospheric Sciences (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Navigation (AREA)
Abstract
Description
図2は、無人機1の制御系を説明するための機能ブロック図である。無人機1は、飛行保持部12と、飛行状態センサ14と、飛行機構16と、中央制御部18とを含んで構成されている。
図3は、飛行制御処理の流れを示すフローチャートである。ここでは、所定時間(例えば0.5秒)経過毎の割込信号に応じて当該飛行制御処理が実行される。飛行制御処理では、仮想経路設定部20が複数の仮想経路を設定し(S200)、第1評価部22がエンベローププロテクションを評価し(S202)、第2評価部24がミッション達成度を評価し(S204)、経路決定部26が、エンベローププロテクションおよびミッション達成度の評価に基づいて経路を決定し(S206)、飛行制御部28が無人機1を飛行制御する(S208)。
無人機1は、予め設定された予定経路2に追従するように制御され、その制御結果として所定の経路を飛行する。ここでは、予定経路2に対し、実際に飛行している経路を現行経路と言う。
第1評価部22は、現行経路50および複数の仮想経路52、具体的には、現行経路50や仮想経路52の最先端部位(例えば5秒後の機体位置)それぞれにおけるエンベローププロテクションを評価する。エンベローププロテクションは、運動荷重倍数(航空機が飛行中に受ける空気力を水平定常飛行時の荷重(機体重量)で除算した値)、機体姿勢、機体速度等について予め設定された飛行態様の許容範囲を超過しないように自動的に航空機を制御する機能である。ここでは、エンベローププロテクションとして、失速防止(機体速度)と墜落防止(機体高度)の2つを例示して説明する。
第2評価部24は、現行経路50および複数の仮想経路52、具体的には、現行経路50や仮想経路52の最先端部位(例えば5秒後の機体位置)それぞれにおけるミッション達成度を評価する。ミッションとは、無人機1の安全飛行を確保しつつ、早期に達成すべき目的を言い、ミッション達成度は、その達成度合いを言う。ここでは、ミッション達成度として、予定経路2と、現行経路50や仮想経路52との偏差、具体的には、予定経路2と現行経路50や仮想経路52の最先端部位(例えば5秒後の機体位置)との距離を挙げて説明する。
経路決定部26は、エンベローププロテクションおよびミッション達成度の評価に基づいて現行経路50または複数の仮想経路52のうちいずれか1の経路を決定する。
飛行制御部28は、経路決定部26が決定した経路に基づきフィードバック制御により無人機1を飛行制御する。このとき、決定された経路は、次回の飛行制御処理における現行経路50となる。
10 飛行制御システム
20 仮想経路設定部
22 第1評価部
24 第2評価部
26 経路決定部
28 飛行制御部
Claims (3)
- 所定の契機で航空機の現行経路以外の複数の仮想経路を設定する仮想経路設定部と、
前記現行経路および前記複数の仮想経路それぞれにおけるエンベローププロテクションを評価する第1評価部と、
前記エンベローププロテクションの評価に基づいて前記現行経路および前記複数の仮想経路のうちいずれか1の経路を決定する経路決定部と、
決定された前記経路に基づいて前記航空機を飛行制御する飛行制御部と、
を備える飛行制御システム。 - 前記現行経路および前記複数の仮想経路におけるミッション達成度を評価する第2評価部を備え、
前記経路決定部は、前記エンベローププロテクションおよび前記ミッション達成度の評価に基づいて前記現行経路および前記複数の仮想経路のうちいずれか1の経路を決定する請求項1に記載の飛行制御システム。 - 前記経路決定部は、前記エンベローププロテクションの評価が最大となる経路を決定し、前記エンベローププロテクションの評価が複数の経路で等しい場合、前記ミッション達成度の評価が最大となる経路を決定する請求項2に記載の飛行制御システム。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018040340A JP6726222B2 (ja) | 2018-03-07 | 2018-03-07 | 飛行制御システム |
US16/240,125 US11157022B2 (en) | 2018-03-07 | 2019-01-04 | Flight control system |
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JP2018040340A JP6726222B2 (ja) | 2018-03-07 | 2018-03-07 | 飛行制御システム |
Publications (2)
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JP2019155932A true JP2019155932A (ja) | 2019-09-19 |
JP6726222B2 JP6726222B2 (ja) | 2020-07-22 |
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JP2018040340A Active JP6726222B2 (ja) | 2018-03-07 | 2018-03-07 | 飛行制御システム |
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US (1) | US11157022B2 (ja) |
JP (1) | JP6726222B2 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10598562B2 (en) | 2014-11-21 | 2020-03-24 | Picarro Inc. | Gas detection systems and methods using measurement position uncertainty representations |
Citations (5)
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US20150323930A1 (en) * | 2014-05-12 | 2015-11-12 | Unmanned Innovation, Inc. | Unmanned aerial vehicle authorization and geofence envelope determination |
WO2016116739A1 (en) * | 2015-01-20 | 2016-07-28 | Bae Systems Plc | Determination of vehicle capabilities |
US20170254664A1 (en) * | 2016-03-03 | 2017-09-07 | Northrop Grumman Systems Corporation | 4d temporal data structures for visualization of alternative mission plans over time |
JP2018097578A (ja) * | 2016-12-13 | 2018-06-21 | Kddi株式会社 | 飛行装置、飛行制御装置及び飛行制御方法 |
JP2018165870A (ja) * | 2017-03-28 | 2018-10-25 | 株式会社Subaru | 無人航空機の飛行制御装置、無人航空機の飛行制御方法、及び無人航空機の飛行制御プログラム |
Family Cites Families (9)
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JP2888271B2 (ja) | 1994-03-30 | 1999-05-10 | 日本電気株式会社 | 無人飛翔体の姿勢制御装置 |
US6493609B2 (en) * | 2001-04-27 | 2002-12-10 | Lockheed Martin Corporation | Automatic flight envelope protection for uninhabited air vehicles |
FR2853978B1 (fr) * | 2003-04-16 | 2006-02-03 | Eurocopter France | Procede et dispositif de securisation du vol d'un aeronef en conditions de vol aux instruments hors infrastructures de vol aux instruments |
FR3013466B1 (fr) * | 2013-11-15 | 2016-12-09 | Thales Sa | Procede de determination d'une trajectoire resultante d'un aeronef, dispositif et produit programme d'ordinateur associes |
US9334052B2 (en) * | 2014-05-20 | 2016-05-10 | Verizon Patent And Licensing Inc. | Unmanned aerial vehicle flight path determination, optimization, and management |
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WO2019078815A1 (en) * | 2017-10-16 | 2019-04-25 | Ford Global Technologies, Llc | DELIVERY OF AUTOSTOPPERS DRONES IN RELATION TO AUTONOMOUS AND CONNECTED VEHICLES |
US11248930B2 (en) * | 2018-03-02 | 2022-02-15 | International Business Machines Corporation | Microclimate wind forecasting |
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Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
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US20150323930A1 (en) * | 2014-05-12 | 2015-11-12 | Unmanned Innovation, Inc. | Unmanned aerial vehicle authorization and geofence envelope determination |
WO2016116739A1 (en) * | 2015-01-20 | 2016-07-28 | Bae Systems Plc | Determination of vehicle capabilities |
US20170254664A1 (en) * | 2016-03-03 | 2017-09-07 | Northrop Grumman Systems Corporation | 4d temporal data structures for visualization of alternative mission plans over time |
JP2018097578A (ja) * | 2016-12-13 | 2018-06-21 | Kddi株式会社 | 飛行装置、飛行制御装置及び飛行制御方法 |
JP2018165870A (ja) * | 2017-03-28 | 2018-10-25 | 株式会社Subaru | 無人航空機の飛行制御装置、無人航空機の飛行制御方法、及び無人航空機の飛行制御プログラム |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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US10598562B2 (en) | 2014-11-21 | 2020-03-24 | Picarro Inc. | Gas detection systems and methods using measurement position uncertainty representations |
Also Published As
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US11157022B2 (en) | 2021-10-26 |
US20190278301A1 (en) | 2019-09-12 |
JP6726222B2 (ja) | 2020-07-22 |
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