JP3413777B2 - Landing support sensor device and landing support sensor device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION The present invention relates to an aircraft capable of vertical takeoff and landing.
The present invention relates to a sensor device used for detecting relative information (relative position, relative speed) between a ship and an aircraft in a landing support device for promptly and safely guiding and landing the aircraft on a narrow flight deck of the ship. The present invention is directed to a crude oil drilling rig that rocks under strong winds.
It can also be used to detect the relative information on or heliport on the high-rise building or automatic landing gear ground helicopter <br/> port of.

[0002]

2. Description of the Related Art Conventionally, a device called a microwave landing gear (MLS) has been used as an automatic landing gear for vertical take-off and landing gears and an automatic landing gear for ships. As shown in FIG. 6, this device scans a sharp fan beam in the angle-measuring direction from the azimuth antenna and elevation antenna on the ground at high speed and reciprocally scans, and two beams are obtained when the beam passes the receiving point. The approach azimuth angle and the descent angle of the airframe at the reception point are detected by measuring the time interval of the pulse of.

[0003]

The conventional microwave landing gear (MLS) is a device for landing on a runway, and it controls the approach direction and approach inclination angle to the runway well, and is suitable for the runway. It is a device for landing at a point.

On the other hand, the landing of a helicopter or the like on a ship is carried out on a very narrow start / stop deck. Further, in the case of a helicopter, in order to prevent the overturning of the airframe after the landing due to the motion of the ship, a cylindrical shape at the bottom of the airframe is used. It is necessary to put the restraint device (also called the main probe) of the above into the square frame-shaped restraint device (also called the bare trap) on the deck . for that reason,
In order to automate landing guidance, it is necessary to know with high accuracy the relative position and relative speed between the deck and the aircraft body, as well as the approach direction and approach inclination angle, but this cannot be achieved with conventional systems. There is. The invention is a heliport and navigation
It is an object of the present invention to provide a landing support sensor device and a landing support sensor device that can accurately determine the relative position and relative speed with respect to an aircraft .

[0005]

[Means for Solving the Problems] Landing support system according to the present invention.
The sensor device attaches an aircraft capable of vertical takeoff and landing to the heliport.
In landing gear, the heliport is a laser
Sensor, a processor and a data transmitter,
Aircraft, corner cube reflector, data receiving
Device, arithmetic processing unit, display unit and airframe motion sensor
The heliport laser sensor is equipped with a laser
Aim the line at the corner cube reflector of the above aircraft
And transmits the reflected light from this reflector.
The laser sensor position and reflector
Information about the position of the
Output.

[0006]

The heliport arithmetic processing device is
The reference coordinate system based on the signal from the laser sensor
Landing reference point on the helipad side and reflector on the aircraft side
While calculating the relative distance and relative speed between
This calculation result is used as the data transmission device and the data reception device.
Output to the above-mentioned arithmetic processing unit on the aircraft side via a communication device.
It

The arithmetic processing unit on the aircraft side is
Signal input to the receiver and the input from the motion sensor above.
Heliport to the reference coordinate system based on the applied signal
Side landing reference point and aircraft side reference point
And the relative speed are calculated, and the calculation result is displayed on the display device.
It is characterized by outputting.

The landing assistance sensor device according to the present invention is a vertical device.
A device for landing a takeoff / landing aircraft on a helipad on board.
The helicopter on the ship side is a laser sensor
Service, ship motion sensor, arithmetic processing unit, data transmission unit
And a restraint device for restraining the aircraft.
Corner cube reflector, data receiver, arithmetic
Processor, display, airframe motion sensor, autopilot
And another restraint device corresponding to the above restraint device.
It

The heliport laser sensor is a laser sensor.
It has the type radar and a gimbal mechanism with an automatic tracking device,
The laser radar uses a laser beam to coat the aircraft.
While sending to the Na Cube reflector
By receiving the reflected light from this reflector,
Information about the position of the laser sensor and the position of the above reflector.
A signal indicating the information is output to the arithmetic processing unit on the side of the ship.

The processor on the ship side is the laser type.
Based on the signal from the radar,
The relative distance and phase between the sensor and the reflector
Compute the velocity vs. the motion sensor of the ship
Based on the signal, the laser sensor for the reference coordinate system and
Calculate the relative distance and relative velocity with the restraint system on the ship side
In addition, the relative distance obtained by the above calculation is used as the reference
Ship side restraints and aircraft side reflectors for the coordinate system
Calculate the relative distance and relative velocity between
The result is output to the data transmission device on the ship side.

[0012]

[0013] The aircraft side of arithmetic processing unit, the hull
Signal from the data transmission device of the
Which receives, calculates the relative distance and the relative speed between the constraining device of the reflector and the aircraft-side with respect to the reference coordinate system based on a signal from the upset sensor of the aircraft, and
Luo, and calculates the relative distance and the relative speed between the restraint system restraint device and aircraft side hull relative to the reference coordinate system relative distance obtained by the above operation, on the result of the calculation
Serial Sukunakutomoizu of the display device or autopilot of the aircraft
It is characterized by outputting to either one .

[0014]

The landing assistance sensor device according to the present invention is a vertical
A device for landing a takeoff / landing aircraft on a helipad on board.
The helicopter on the ship side is a laser sensor
Service, ship motion sensor, arithmetic processing unit and data transmission unit
The above-mentioned aircraft is equipped with a corner cube reflector.
Data receiving device, arithmetic processing device, display device, fuselage
It is equipped with a motion sensor and an autopilot.

The heliport laser sensor is a laser sensor.
It has the type radar and a gimbal mechanism with an automatic tracking device,
The laser radar uses a laser beam to coat the aircraft.
While sending to the Na Cube reflector
By receiving the reflected light from this reflector,
Information about the position of the laser sensor and the position of the above reflector.
A signal indicating the information is output to the arithmetic processing unit on the side of the ship.

The processor on the ship side is the laser type.
Based on the signal from the radar,
The relative distance and phase between the sensor and the reflector
Compute the velocity vs. the motion sensor of the ship
Based on the signal, the laser sensor for the reference coordinate system and
Calculate the relative distance and relative speed to a specific point on the ship side
In addition, the relative distance obtained by the above calculation is used as the reference
A specific point on the ship side with respect to the coordinate system and a reflector on the aircraft side
Calculate the relative distance and relative velocity between
The result is output to the data transmission device on the ship side.

The processor on the side of the aircraft is the side of the ship.
Signal from the data transmission device of the
While receiving the signal from the motion sensor of the above aircraft
Based on the reference coordinate system the reflector and the aircraft
The relative distance and speed to and from a particular part of the aircraft
Then, based on the relative distance obtained by the above calculation,
Specific location on the ship side and specific location on the aircraft side with respect to the quasi-coordinate system
Calculate the relative distance and relative velocity between
The result is less display or autopilot of the above aircraft
Both are characterized by outputting to either one.

[0019]

The term "heliport" as used herein includes not only so-called heliports for helicopters but also take-off and landing fields for vertical take-off and landing aircraft, and means any one on the ground, on board, or on deck.

The landing reference point on the heliport side and the reference point on the airframe side are points that represent respective positions when the heliport and the airframe aim at a specific positional relationship during landing. In the examples described below, each hugging device itself is used as the reference point.

[0022]

[Action] aviation a laser beam by a shipboard laser sensor
Hit the airframe of the machine and measure the distance and azimuth to a point on the machine . At that time, in order to obtain the measurement data up to the same location of the aircraft, the corner cube riff that efficiently reflects the laser beam in that direction regardless of the incident direction of the light.
The reflector is attached to the airframe and the reflected light from the reflector is used to measure the distance and azimuth to the reflector. Re
Furekuta, so as not to not be measured is in the shadow of the body, and a plurality of attachment to a suitable location on the machine body, so get each distinct, using one measurement possible in those reflector And always be able to select stable measurement data.

Further, if necessary, a motion sensor of the ship (addition
Information from the speedometer and gyro (pitch angle, roll angle,
The ship neck magnetic bearing, etc.), upset sensor of the aircraft (accelerometer, Ja
By using the information (pitch angle, roll angle, heading magnetic direction, etc. ) from Iro) , the relative information (relative distance and relative velocity) between the specific location on the ship and the specific location on the aircraft with respect to the reference coordinate system is calculated. Detect and display the results on the aircraft display
Or, output to at least one of the autopilots .

[0024]

Embodiments of the present invention will be described below with reference to FIGS. First, the laser radar 1 attached to the gimbal mechanism 2 of the ship A and the vertical takeoff and landing like a helicopter
Corner Cues attached to possible aircraft B fuselage
The reflector 8 is used to measure the distance R and the azimuth angle from the laser sensor 24 including the laser radar 1 to the reflector 8 .

The gimbal mechanism 2 has a laser radar 1
An automatic tracking device is attached so that the reflector 8 can always be tracked. The automatic tracking can be realized by , for example, applying an infrared marker near the reflector 8 of the machine body, attaching an infrared automatic tracking device to the gimbal mechanism 2, and causing the infrared automatic tracking device to track the infrared marker.

The corner cube reflector 8, regardless of the incident direction of the light, a prism for reflecting the light in that direction, i.e., there at constant deviation prism deviation angle 180 °
As shown in FIG. 5, it has a tetrahedron shape defined by one apex angle of the cube and three adjacent vertices. Incident light and reflected light enter and leave the surface of the equilateral triangle.

The measurement data R and azimuth data (elevation angle theta, azimuth angle [psi) is input to the arithmetic processing unit 4 of the ship's side. Further, by shaking sensor (accelerometers and gyros) 3 ship A mounted on board A, the attitude angle of the ship A (pitch angle .theta.S, roll angle .PHI.S, yoke angle Pusaiesu) and ships <br/> neck magnetic bearing ΨSM is sent to the processor 4 on the ship side. The arithmetic processing unit 4 uses these data to perform the calculation described later.
Perform (1) (2) (3) (4). And shipboard specific location or restraint device 21 obtained by the arithmetic processing unit 4 of the hull, the relative information and bow magnetic bearing of the reflector 8 of the aircraft, the aircraft side through the data transmitting antenna 28 from the data transmitting apparatus 5 of the hull Is sent to the data receiving device 6 and is input to the machine side arithmetic processing device 7. Furthermore, by the motion sensor (accelerometer and gyro) 10 of the aircraft mounted on the aircraft B ,
Aircraft attitude angle (pitch angle θH, roll angle ΦH, yoke angle Ψ
H) and the machine neck magnetic bearing ΨHM is inputted to the vehicle body-side computing device 7. The arithmetic processing unit 7 uses these data to perform later-described calculations (6) (7) (8) (9) (10). As described above, the device of the present invention outputs the relative information between the specific location on the ship and the specific location on the airframe.

Then, the relative information is used to display the information on the display device 9 in the cockpit of the aircraft B to support the pilot's operation. Furthermore, by inputting relative information into the autopilot 11, the departure and arrival deck (helipo
To guide the aircraft B to H and land.
The calculation of the relative information between the ship A and the aircraft B is performed as follows. As shown in FIG. 3 or 4, P0; position of laser sensor PR; position of corner cube reflector PB; center position of ship restraint device (bare trap) PM; restraint device on main body (main Center position of probe) PS; Position of specific location on ship side PA; Information required for automatic landing guidance when it is located on specific location of aircraft side
Is the center position of the restraint device (bare trap) 21 on the ship side
And the position of the restraint device (main probe) 22 on the fuselage side
Relative information between, that is, the vector <PB PM> and
Information about the rate of change over time, or a specific part on the ship side
Information between the position of the
That is, the vector <PS PA> and its rate of change over time.
Information.

[0029]

However, both the ship and the body sway, and the sway of the ship is represented by the motion coordinate system fixed to the ship (hereinafter referred to as the S system), and the motion of the body is fixed to the motion coordinate system (hereinafter referred to as the H system). Is represented by the vector <PB PM
> Or vector <PS PA>, and information about their rate of change over time cannot be easily determined.

Therefore, with the position of the laser sensor mounted on the ship, that is, P0 as the origin, the X axis is the traveling direction of the ship, and XY
Introducing a reference coordinate system (I system) in which the plane is a horizontal plane, the coordinates of the ship and airframe represented in the motion coordinate system (S system and H system) are represented in the reference coordinate system (I system) by arithmetic processing. The information about the vector <PB PM> and its rate of change is obtained by coordinate transformation into. The details are shown below. The vector <PB PM> is obtained by combining the coordinate vectors as shown in FIG.

[0032]

[Equation 1] Can be asked as And the vector <PO PR
>, <PO PB>, <PR PM>, <PB PM> in the reference coordinate system (I system) can be obtained as follows. (1) Relative position of ship (laser sensor) and airframe (reflector) <PO PR> As shown in FIG. 3, the laser sensor position is the origin, and the reference coordinate system (I System) or X axis; the direction of travel of the ship. Y-axis; starboard direction of the ship. Z-axis; direction perpendicular to X-axis and Y-axis (right-handed system) XY plane; horizontal plane. Based on

When the distance from the sensor position to the reflector position measured by the laser sensor 24 is R, the elevation angle from the Z axis direction is θ, and the azimuth angle from the X axis is ψ, the laser sensor position PO To reflector position P
The vector <PO PR> to R is in the standard coordinate system (I system)

[0034]

[Equation 2] Becomes (2) Ship side information <PO PB> First, the motion coordinate system (S system) fixed to the ship, that is, the X axis, with the laser sensor position on the ship as the origin; the bow direction in the plane of symmetry of the ship. Y-axis; perpendicular to the plane of symmetry (positive starboard direction). Z-axis; vertical to X-axis and Y-axis (right-handed system). Think based on.

From the sensor position P O seen in the motion coordinate system (S system) fixed to the ship, the hug device (bare trap) PB on the ship side
To the vector <PO PB> = (xB, yB, zB)
And The pitch angle of the ship obtained from the gyro of the ship is θS
, And the roll angle is φS and the yaw angle is φS, the coordinate transformation matrix TS from the S system to the I system is

[0036]

[Equation 3] Becomes Next, using this matrix TS, when the vector <PO PB> in the I system is obtained,

[0037]

[Equation 4] Becomes Therefore, the vector <PBPR> from the point PB to the point PR in the I system is calculated from Fig. 4 and the above-mentioned examination.

[0038]

[Equation 5] Becomes This relative position information and the data of the bow magnetic direction ψ S are transmitted to the airframe by radio waves. The following processing is performed on the aircraft side. (3) Information on the aircraft side <PR PM> First, the motion coordinate system (H system) fixed to the aircraft with the origin of the body center of gravity as the origin, that is, the X axis; the bow direction in the plane of symmetry of the aircraft. Y-axis; perpendicular to the plane of symmetry (starboard direction is positive). Z axis; perpendicular to the X and Y axes (right-handed). Think based on. Motion coordinate system (H system) fixed to the aircraft
Let <PR PM> = (xM, yM, zM) be the vector from the reflector position PR seen in step 1 to the hugging device PM on the fuselage side. ΘH is the pitch angle of the airframe obtained from the gyro of the airframe.
, And the roll angle is φH and the heading is ψHM, the coordinate transformation matrix TH from H system to I system is

[0039]

[Equation 6] Becomes Next, using this matrix TH, when the vector <PR PM> in the I system is obtained,

[0040]

[Equation 7] Becomes (4) Relative position between the ship-side hugging device (bear trap) and the fuselage-side hugging device (main probe) <PB PM> From the ship-side hugging device (bear trap) as seen in I system Vector to the hugging device (main probe) on the side <PB
PM> is from the equation (1),

[0041]

[Equation 8] Becomes

Therefore, X between the hugging device on the ship side (bare trap) and the hugging device on the body side (main probe)
When the directional distance is XD, the Y-direction distance is YD, and the altitude is ZD, XD, YD, and ZD represent the components of <PB PM> in the I system. Therefore,

[0043]

[Equation 9] Can be asked as

[0044]

Since the present invention is constructed as described above, it has the following effects.

According to the present invention, even when the heliport or the airframe is greatly shaken, the relative position and relative speed between the specific position on the heliport (for example, the center position of the restraint device) and the specific position on the airframe (for example, the restraint device). Can be accurately determined. Therefore, the aircraft can be safely landed and landed , the landing and landing can be automated, and the landing and landing safety at night or in stormy weather can be measured.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of an embodiment of the present invention.

FIG. 2 is a block diagram of an embodiment of the present invention.

FIG. 3 is a diagram showing the relationship between the device of the present invention and the ship tying and holding device.

FIG. 4 is a diagram showing a place to be measured by the device of the present invention.

FIG. 5 is an explanatory diagram of a corner cube reflector.

FIG. 6 is an explanatory view of a conventional device.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Laser radar, 2 ... Gimbal mechanism, 3 ... Ship motion sensor (accelerometer and gyro), 4 ... Ship side processing unit, 5 ... Data transmitter, 6 ... Data receiver, 7 ... Aircraft side operation Processing device, 8 ... Corner cube reflector, 9 ... Cockpit display device, 10 ... Aircraft motion sensor (accelerometer and gyro), 11 ... Autopilot device, 21
... Shipping device on the ship side or landing reference point on the heliport side, 2
2 ... Aircraft-side hugging device or airframe-side reference point, 24 ... Laser sensor (including gimbal mechanism), PO ... Laser sensor position, PR ... Corner cube reflector position, PB ... Ship-side hugging The center position of the device or the position of the landing reference point on the heliport side, PS ... the position of a specific point on the ship side,
PM: Position of the hugging device on the machine side, PA: Position of a specific part on the machine side.

Front page continued (72) Inventor Shigenobu Kokubo 10 Oemachi, Minato-ku, Nagoya, Aichi Mitsubishi Heavy Industries, Ltd. Nagoya Aerospace Systems Works (56) Reference JP-A-4-85196 (JP, A) JP-A 61-285198 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) B64D 45/04

Claims (3)

(57) [Claims] 1. A landing assistance sensor device to land on the heliport a vertical takeoff and landing possible aircraft, the heliport, laser sensor, processor Oyo
With fine data transmission apparatus, the aircraft is equipped with a corner cube reflector, the data receiving apparatus, the processing unit, the upset sensor of the display device and the aircraft, the heliport
The laser sensor of, along with the laser beam transmits toward the corner cube reflector of the aircraft, this
By receiving the reflected light from the reflector, on the information about the positions of the reflector of the laser <br/> The sensor
Output to the arithmetic processing unit of the serial heliport, the arithmetic processing apparatus of the heliport is based on the signal from the laser sensor, the relative distance between the reflector heliport side landing reference point and the aircraft-side with respect to the reference coordinate system And the relative speed are calculated, and the result of this calculation
The via the data transmitting apparatus and the data receiving apparatus outputs to the arithmetic processing unit of the aircraft side, the arithmetic processing apparatus of the aircraft side, the data reception apparatus
An input signal, based on the input signals from the upset sensor, calculates a relative distance and relative velocity between the reference point of landing the reference point and the aircraft side heliport side with respect to the reference coordinate system, the calculation result A landing assistance sense device which outputs to the above display device. 2. An aircraft capable of vertical takeoff and landing is installed on a helipo onboard a ship.
In Chakusen support sensor device for Chakusen to over bets, heliport the hull, the laser sensors, motion sensors ship, processor, data transmission apparatus and aircraft contracture
The aircraft includes a restraint device for bundling , and the aircraft includes a corner cube reflector , a data receiving device , an arithmetic processing device , a display device , a motion sensor of an airframe , an autopilot device, and the restraint device.
The other helicopter laser sensor has a laser radar and a gimbal mechanism with an automatic tracking device , and the laser radar transmits a laser beam to a corner cube of the aircraft. While transmitting to the reflector, this reflector
By receiving the reflected light from the data, a signal <br/> indicating the information on the position and the position of the reflector of the laser sensor outputs to the arithmetic processing unit of the hull, the arithmetic processing unit of the ship's side, the and said laser sensor with respect to the reference coordinate system based on <br/> signal from the laser radar
Calculate the relative distance and relative velocity with the above reflector
To together, it calculates the relative distance and the relative speed between the constraining device of the laser sensor and the ship's side with respect to the reference coordinate system based on a signal from the upset sensor of the ship, further,
And calculates the relative distance and the relative speed between the reflector restraint system and the aircraft side hull relative to the reference coordinate system relative distance obtained by the above operation, the ship the result of the calculation
Output to the data transmission device on the ship side, and the arithmetic processing unit on the aircraft side transmits the data on the ship side.
When the signal from the device is received via the data receiving device,
Moni, calculates the relative distance and the relative speed between the constraining device of the reflector and the aircraft-side with respect to the reference coordinate system based on a signal from the upset sensor of the body, further, the Starring
Oyo relative distance between the restraint system restraint device and aircraft side hull relative to the reference coordinate system obtained relative distance by calculation
And calculates the fine relative speed, Chakusen support sensor device and outputting the operation result to at least one of the display device or the autopilot of the aircraft. 3. An aircraft capable of vertical takeoff and landing is installed on a helipo onboard a ship.
In the landing support sensor device for landing on the boat, the heliport on the side of the ship is equipped with a laser sensor and a motion sensor of the ship.
Sensor, a processor and a data transmitter,
Aircraft, corner cube reflector, data receiving
Device, arithmetic processing unit, display unit, body motion sensor and
The heliport laser sensor is equipped with a laser radar
With a gimbal mechanism with an automatic tracking device, the laser type
Radar uses a laser beam to turn the aircraft corner cube
・ This reflector is transmitted to the reflector and
By receiving the reflected light from the laser
Signal showing information about the position of the reflector and the position of the reflector
To the arithmetic processing unit on the side of the ship, the arithmetic processing unit on the side of the ship from the laser radar
Based on the signal, the laser sensor for the reference coordinate system and
Calculate the relative distance and relative velocity with the above reflector
Based on the signal from the motion sensor of the above ship
Specific箇of the laser sensor and ship side against the reference coordinate system
Calculate the relative distance and relative velocity to and from
From the relative distance obtained by the above calculation, to the reference coordinate system
Between a specific spot on the ship side and a reflector on the aircraft side
The distance and relative speed are calculated, and the calculation result is
Output to the data transmission device on the side of the aircraft, and the arithmetic processing unit on the side of the aircraft transmits the data on the side of the ship.
When the signal from the device is received via the data receiving device,
Based on the signal from the motion sensor of the above aircraft, the reference seat
Identification of the reflector and aircraft fuselage for the frame
Calculate the relative distance to the location and the relative speed, and then
From the relative distance obtained by the above calculation to the reference coordinate system
The phase between the specific point on the ship side and the specific point on the aircraft side
Calculate the distance and relative speed, and then
At least one of an aircraft display device and an autopilot device
A device for assisting ship landing, characterized by outputting to one side
Place