JP3644495B2 - Method and apparatus for displaying position of other aircraft in aircraft - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an aircraft position display method in an aircraft for allowing an aircraft pilot to visually recognize the relative position of the aircraft, and an aircraft position display apparatus that implements the method.
[0002]
[Prior art]
Conventionally, as a method of notifying the pilot of an aircraft of the position of the other aircraft, the relative distance to the other aircraft is detected by a radar or the like mounted on the aircraft, and on the plane display of the normal instrument panel of the cockpit based on the distance information, A device that displays the position of another device on radiation centering on the device is known.
[0003]
[Problems to be solved by the invention]
However, in the conventional method for displaying the position of another device described above, even if the relative distance to the other device can be grasped, the displayed position of the other device is not affected by the change in the posture of the own device or the posture of the pilot's head. Since it is not compatible, it takes time to point the nose of the aircraft toward the other aircraft.
[0004]
In particular, the time required for the pointing operation in which the nose of the aircraft is directed to another aircraft is critical for an aircraft capable of PSM (Post Stall Maneuver). In other words, an aircraft capable of PSM can fly even if the angle of attack is much larger than that of a normal aircraft, for example, even if the angle between the velocity vector direction and the aircraft axis direction is close to 90 °, and this motion characteristic. It is possible to point quickly.
[0005]
However, in an aircraft capable of PSM, for example, when shifting from a substantially horizontal flight state where the angle of attack is small to a high angle of attack movement state, the other aircraft that the pilot had been able to visually confirm in front of the aircraft would be underneath the aircraft. When moving to a high angle-of-attack movement state, the pilot usually often looks away from the instrument panel, so the position of the other aircraft may be lost for a moment. In this case, the position of the other device is then confirmed from the flat display with the line of sight normally directed to the instrument panel, but the position of the other device displayed on the flat display is the Since it does not cope with the change in the posture of the pilot's head, the movement to the next pointing is hindered and the performance of the aircraft cannot be fully exhibited.
[0006]
Accordingly, a first object of the present invention made in view of the above point is an aircraft capable of grasping the position direction of the other aircraft in response to the attitude change of the own aircraft and the attitude change of the pilot and performing the pointing operation smoothly. Another object is to provide a position display method.
[0007]
Furthermore, a second object of the present invention is to provide an other device position display device that is appropriately configured so that the other device position display method described above can be implemented easily and inexpensively.
[0008]
[Means for Solving the Problems]
The invention of the aircraft position display method according to claim 1, which achieves the first object, detects the attitude angle of the aircraft, detects the relative position of the aircraft with respect to the aircraft, and detects these positions. Based on the attitude angle information and the relative position information, the other machine position information viewed from the own machine axis coordinate system is used as an arrow symbol with an arrowhead with the tip in the other machine position direction. It is characterized in that the arrow is tapered when positioned on the side, and the arrow is tapered when the other machine is positioned on the rear side of the own machine .
[0009]
According to the first aspect of the present invention, the position information of the other machine viewed from the machine axis coordinate system of the own machine corresponds to the attitude change of the own machine as an arrow symbol with an arrowhead pointing toward the other machine position. appears, moreover, in Yagara of tapered when other machine is located in front of the own device, when the other unit is located on the rear side of the own device is displayed in Yagara the flared Runode, the arrow symbol By visually recognizing, it is possible to grasp the position and direction of other aircraft in any flight state, and it is possible to perform a pointing operation smoothly, and whether or not a PSM capable aircraft should shift to a high angle of attack flight state. Judgment can be made quickly .
[0010]
According to a second aspect of the present invention, in the aircraft position display method of the aircraft according to the first aspect, the arrow symbol is projected and displayed by being superimposed on the outside by a head-up display so that the pilot can be seen with the pilot facing forward. It is characterized by doing.
[0011]
According to the invention of claim 2, the pilot can usually visually recognize the arrow symbol indicating the position information of the other device projected and displayed by the head-up display in a state of facing the front without looking down at the instrument panel. In addition, since the arrow symbol displayed by the head-up display is displayed superimposed on the outside world, the visual field is not hindered. Therefore, it is possible to grasp the position and direction of other aircraft without increasing the pilot's workload, especially in the PSM capable aircraft, from the normal flight state to the high angle of attack flight state, and from the high angle of attack flight state The transition to the pointing operation can be performed quickly, and the performance can be sufficiently exhibited.
[0012]
The invention of the aircraft position display method in the aircraft according to claim 3 detects the attitude angle of the pilot's head, detects the relative position of the other aircraft with respect to the aircraft, and detects the detected attitude angle information and relative position. Based on the information, when the other aircraft is located on the front side of the own aircraft, the other aircraft position information viewed from the coordinate system of the pilot's head as an arrow symbol with a arrowhead pointing toward the other aircraft position When the above-mentioned arrowhead is tapered, and the other aircraft is located behind the aircraft, the arrowhead is made thicker, and the projected image is superimposed on the outside by the helmet-mounted display mounted on the helmet worn by the pilot. Features.
[0013]
According to the invention of claim 3, the pilot's head coordinate system, that is, the position information of the other aircraft viewed from the pilot's eye point is used as an arrow symbol with an arrowhead pointing in the direction of the other aircraft. In response to a change in posture, the helmet-mounted display is projected and displayed superimposed on the outside world , and when the other machine is located on the front side of the own machine, it has a tapered arrow and the other machine is on the rear side of the own machine. when position is displayed in Yagara the flared Runode, pilots in every flight condition, without changing at all sight and unimpeded vision can always view the arrow symbol. Therefore, it is possible to determine the position and direction of other aircraft without increasing the pilot workload at all, so it is possible to quickly determine whether or not to shift to a high-attack flight state , particularly in an aircraft capable of PSM. It can be performed and the performance can be sufficiently exhibited.
[0014]
According to a fourth aspect of the present invention, in the aircraft position display method of the aircraft according to any one of the first to third aspects, when the other aircraft is located beside the aircraft, the arrow symbol is set to have a uniform width and the arrow symbol is displayed. It is characterized by displaying .
[0015]
According to the invention of claim 4, when the other machine is located beside the own machine, the width of the arrow is displayed as a uniform arrow symbol. Positioning can be easily grasped, and a pointing operation can be performed smoothly.
[0016]
According to a fifth aspect of the present invention, in the aircraft position display method of the aircraft according to any one of the first to fourth aspects, the relative position information includes relative distance information with respect to the other aircraft, and the relative distance information is based on the relative distance information. The display color of the arrow symbol is changed.
[0017]
According to the invention of claim 5, for example, the display color of the arrow symbol can be changed according to the detected relative distance information. It becomes possible to make such a determination quickly.
[0018]
Further, the invention of the aircraft position display device for an aircraft according to claim 6 which achieves the second object described above is characterized in that the attitude angle detection means for detecting the attitude angle of the aircraft and the relative position of the other aircraft with respect to the aircraft. Based on the attitude angle information and relative position information detected by the other machine position search means to be detected and the attitude angle detection means and the other machine position search means, the other machine position information viewed from the machine body axis coordinate system of the own machine is obtained. The other machine itself uses the calculation means for calculating, the display means for displaying the position information of the other machine , and the other machine position information calculated by the calculation means as an arrow symbol with a head pointing in the direction of the other machine position. Display control means for controlling the display so that the arrow is tapered when positioned on the front side of the machine, and the arrow pattern is tapered when the other machine is positioned on the rear side of the own machine. It is characterized by having.
[0019]
According to the invention of claim 6, the attitude angle detection means and the other apparatus position search means can each use, for example, an own apparatus attitude angle meter and an other apparatus position search radar that are usually mounted on an aircraft, and the calculation means also It is possible to calculate the position information of other aircraft viewed from the aircraft's body axis coordinate system using a computer normally installed on an aircraft, and when a head-up display is provided, this can be used as a display means. Since the other machine position information calculated by the calculation means can be used as an arrow symbol with an arrow with the tip in the other machine position direction, the arrow pattern is tapered when the other machine is located on the front side of the own machine. in, and the Yagara when other equipment is located on the rear side of the own device to the club-shaped, only by adding a display control means for projecting the display by a head-up display, it is carried out simply and inexpensively It can become.
[0020]
According to a seventh aspect of the present invention, there is provided an aircraft position display device for an aircraft, which is mounted on a helmet worn by a pilot and includes a helmet mounted display for projecting and displaying the position information of the other aircraft on the outside, and the helmet. Attitude detected by the attitude angle detecting means for detecting the attitude angle of the pilot's head, the other apparatus position searching means for detecting the relative position of the other apparatus with respect to the own apparatus, and the attitude angle detecting means and the other apparatus position searching means. Based on the angle information and the relative position information, the calculation means for calculating the other machine position information viewed from the pilot's head coordinate system, and the other machine position information from the calculation means is directed toward the other machine position. and as an arrow symbol with Yagara, when other device is located in front of the own apparatus tapering the Yagara, when other equipment is located on the rear side of the own apparatus and the Yagara the club-shaped, the Hell It characterized by having a display control means for controlling so as to project displayed by Tsu preparative mounted display.
[0021]
According to the invention of claim 7, since the other machine position search means and the calculation means can each use, for example, an other machine position search radar and a computer that are normally mounted on an aircraft, With the helmet mounted display that displays the position information as an arrow symbol superimposed on the outside world, just by adding the attitude angle detection means for detecting the attitude angle of the helmet and the display control means of the helmet mounted display, It becomes possible to carry out easily and inexpensively.
[0022]
DETAILED DESCRIPTION OF THE INVENTION
DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of an aircraft position display method and apparatus in an aircraft according to the present invention will be described below with reference to the drawings.
[0023]
(First embodiment)
1 and 2 show a first embodiment of another apparatus position display device. FIG. 1 shows a block diagram, and FIG. 2 shows a flowchart of processing in the symbol display command calculation computer shown in FIG. ing. This other machine position display device includes an other machine position search radar 1 as an other machine position search means mounted on an aircraft (own machine), an own machine attitude angle meter 2 as an attitude angle detection means, and a symbol as a calculation means. A display command calculation computer 3 and a head-up display (HUD) that projects and displays the position information of the other machine as an arrow symbol 8 above the normal instrument panel 4 of the cockpit so that the pilot can be visually recognized with the front facing. ) 5 and a HUD display control unit 6 as display control means.
[0024]
The other-device position search radar 1 is configured to detect a relative altitude, a relative azimuth, and a relative distance representing the relative position of the other device 7 with respect to the own device, and the detected relative position information is supplied to the symbol display command calculation computer 3. . The own attitude angle meter 2 is configured to detect a pitch angle, a roll angle, and an azimuth angle representing the attitude angle of the own apparatus, and supplies the detected attitude angle information to the symbol display command calculation computer 3.
[0025]
As shown in the flowchart in FIG. 2, the symbol display command calculation computer 3 takes in the relative position information from the other-apparatus position search radar 1 and the attitude angle information from the own apparatus attitude angle meter 2 in a predetermined cycle (step S1). In each cycle, first, based on the relative position information and the attitude angle information, the relative angle between the own machine and the other machine 7 in the machine axis coordinate system of the own machine is calculated (step S2). Next, the posture angle of the symbol in the coordinate system of HUD 5 is calculated based on the calculated relative angle (step S3). Also, a symbol display color setting process is performed according to the relative distance to the other device 7 (step S4), and a symbol display command including information on the symbol attitude angle calculated in step S3 and the symbol display color set in step S4 is issued. It outputs to the HUD display control unit 6 (step S5).
[0026]
The HUD display control unit 6 generates a video signal of the arrow symbol 8 based on the symbol display command from the symbol display command calculation computer 3 and supplies the video signal to the HUD 5 so that it can be viewed from the body axis coordinate system of its own machine. The other machine position information is projected and displayed at a predetermined position as an arrow symbol 8 of a display color corresponding to the relative distance from the other machine 7 with the arrow tip directed in the other machine position direction. Then, when the other equipment is located on the front side, tapered, to Yagara of uniform width when positioned horizontally, to vary the arrow symbol 8 flared when located on the rear side.
[0027]
According to the other-device position display device configured in this way, the other-device position information viewed from the aircraft axis coordinate system of the own device can be visually recognized with the pilot facing the front by the HUD 5, and an arrow symbol at a predetermined position. Since it is projected and displayed as 8 on the outside world, the pilot can surely grasp the position of the other aircraft.
[0028]
Further, since the pilot can easily determine the direction of the other aircraft 7 based on the direction of the tip of the arrow symbol 8 projected by the HUD 5 and the shape of the arrow pattern , especially in an aircraft capable of PSM, the pilot is highly welcomed from the normal flight state. The transition to the corner flight state and the transition from the high angle-of-attack flight state to the pointing operation can be performed quickly, and the performance can be sufficiently exerted, and the display color of the arrow symbol 8 is relative to the other aircraft 7. Since the distance can be easily grasped, it is possible to easily determine whether or not to shift to the high angle-of-attack flight state particularly in an aircraft capable of PSM.
[0029]
Furthermore, by projecting and displaying the arrow symbol 8 superimposed on the outside by the HUD 5, the pilot can obtain the position information of the other aircraft without dropping the line of sight to the normal instrument panel 4, thereby increasing the pilot's workload. Without being able to maneuver the aircraft.
[0030]
In addition, the other aircraft position search radar 1 and the own aircraft attitude goniometer 2 can use what is normally mounted on the aircraft, the symbol display command calculation computer 3 can also use the computer normally mounted on the aircraft, When the HUD is already provided for displaying the flight altitude and speed, it can be used, and can be configured easily and inexpensively.
[0031]
(Second Embodiment)
FIGS. 3 and 4 show a second embodiment of the other apparatus position display device. FIG. 3 is a block diagram, and FIG. 4 is a flowchart of processing in the symbol display command calculation computer shown in FIG. ing. In this other machine position display device, a helmet mounted display (HMD) 12 is mounted on a helmet 11 worn by a pilot, and the other machine position information as seen from the pilot's head coordinate system, that is, the pilot's eye point. When the other machine is located on the front side of the own machine, the arrowhead is tapered, and the other machine is located on the rear side of the own machine. and the Yagara to flared, projected and displayed superimposed on the outside world in the display color corresponding to the relative distance between the other device.
[0032]
For this reason, in the present embodiment, the other aircraft position search radar 14 is mounted on the aircraft (own aircraft) to detect the relative altitude, relative azimuth, and relative distance representing the relative position of the other aircraft 7 with respect to the own aircraft, and the detection. The relative position information is supplied to the symbol display command calculation computer 15. The helmet 11 is provided with a head motion sensor 16 and a head motion tracker 17 is provided at an appropriate position in the cockpit. The outputs of the head motion sensor 16 and the head motion tracker 17 are supplied to the head motion processing unit 18 respectively. Then, the pitch angle, roll angle, and azimuth angle representing the pilot's head posture angle are detected, and the detected head posture angle information is supplied to the symbol display command calculation computer 15.
[0033]
As shown in the flowchart of FIG. 4, the symbol display command calculation computer 15 takes in the relative position information from the other-device position search radar 14 and the head posture angle information from the head motion processing unit 18 at a predetermined cycle (step S11). In each cycle, first, the relative angle between the pilot eye point and the other device 7 as seen from the pilot head coordinate system is calculated based on the relative position information and the head posture angle information (step S12). Next, the posture angle of the symbol in the coordinate system of the HMD 12 is calculated based on the calculated relative angle (step S13).
[0034]
Also, a symbol display color setting process is performed according to the relative distance to the other device 7 (step S14), and a symbol display command including information on the symbol attitude angle calculated in step S13 and the symbol display color set in step S14 is issued. The data is output to the symbol display control unit 19 (step S15).
[0035]
The symbol display control unit 19 generates a video signal of the arrow symbol 8 based on the symbol display command from the symbol display command calculation computer 15, supplies the video signal to the HMD 12 via the video signal input / output unit 20, and pilots The other machine position information viewed from the head coordinate system of the other machine as an arrow symbol 13 with an arrowhead with the tip in the other machine position direction, when the other machine is located on the front side of the own machine, the arrowhead is tapered, etc. when the machine is positioned on the rear side of the own apparatus and the Yagara the flared, superimposed on the outside world in the display color corresponding to the relative distance between the other device 7, it projected and displayed in a predetermined position.
[0036]
According to the other device position display device configured as described above, the arrow symbol 13 representing the other device position information is superimposed on the outside by the HMD 12 and is projected and displayed at a predetermined position. You can always know the machine position. Therefore, it is possible to perform a pointing operation in which the aircraft is steered while looking at the arrow symbol 13 and the nose direction is directed to the other aircraft without increasing the pilot workload.
[0037]
Further, since the other-device position search radar 14 can be used that is normally mounted on an aircraft, and the symbol display command calculation computer 15 can also use a computer that is normally mounted on an aircraft, it can be configured simply and inexpensively. .
[0038]
Note that the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the invention. For example, in the first embodiment, the arrow symbol 8 representing the position information of the other machine viewed from the machine axis coordinate system of the own machine is displayed by the HUD 5, but the flat display of the normal instrument panel 4 instead of the HUD 5 Can be displayed in the same manner. Even in this case, since the arrow symbol 8 is displayed corresponding to the change in the attitude of the own aircraft, by visually recognizing the arrow symbol 8, the position and direction of the other aircraft can be grasped in any flight state, and pointing operation Can be done smoothly.
[0039]
【The invention's effect】
According to the aircraft position display method using the aircraft according to the present invention described above, the pointing position can be smoothly performed because the position of the other aircraft can be grasped in response to the change in the attitude of the aircraft or the attitude of the pilot. Especially in an aircraft capable of PSM, the performance can be sufficiently exhibited.
[0040]
In addition, according to the other apparatus position display device by the aircraft of the present invention, equipment normally mounted on the aircraft can be used, so that it is simple and inexpensive.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of a first embodiment of another apparatus position display device in an aircraft of the present invention.
FIG. 2 is a flowchart for explaining processing in a symbol display command calculation computer shown in FIG. 1;
FIG. 3 is a block diagram showing a configuration of a second embodiment of the other apparatus position display device in the aircraft of the present invention.
FIG. 4 is a flowchart for explaining processing in a symbol display command calculation computer shown in FIG. 3;
[Explanation of symbols]
1 Other machine position search radar 2 Own attitude angle meter 3 Symbol display command calculation computer 4 Normal instrument panel 5 Head-up display (HUD)
6 HUD display control unit 7 Other machine 8 Arrow symbol 11 Helmet 12 Helmet mounted display (HMD)
13 Arrow symbol 14 Other machine position search radar 15 Symbol display command calculation computer 16 Head motion sensor 17 Head motion tracker 18 Head motion processing unit 19 Symbol display control unit 20 Video signal input / output unit

Claims (7)

Detects the attitude angle of the own machine, detects the relative position of the other machine relative to the own machine, and based on the detected attitude angle information and relative position information, the other machine position information viewed from the machine body axis coordinate system of the own machine When the other machine is located on the front side of the own machine, the arrow is tapered, and the other machine is located on the rear side of the own machine. An aircraft position display method in an aircraft, wherein the arrowhead is displayed with a thick tip .   The method of claim 1, wherein the arrow symbol is projected and displayed by being superimposed on the outside by a head-up display so that the pilot can be visually recognized in a state of facing the front. While detecting the attitude angle of the pilot's head, the relative position of the other machine relative to the own machine is detected, and the other machine viewed from the coordinate system of the pilot's head based on the detected attitude angle information and relative position information The position information is an arrow symbol with a arrowhead with the tip in the direction of the other device. When the other device is located on the front side of the own device, the arrow is tapered and the other device is located on the rear side of the own device. The other apparatus position display method in an aircraft, characterized in that the arrowhead is thickened and projected and displayed superimposed on the outside by a helmet-mounted display mounted on a helmet worn by a pilot. 4. The aircraft position display method according to claim 1, wherein when the other aircraft is positioned beside the aircraft, the arrow symbol is displayed with the arrowhead having a uniform width . 5. The position of the other aircraft in the aircraft according to claim 1, wherein the relative position information includes information on a relative distance to the other aircraft, and the display color of the arrow symbol is changed based on the relative distance information. Display method. Attitude angle detection means for detecting the attitude angle of the own machine;
Other machine position search means for detecting the relative position of the other machine with respect to the own machine;
Based on the attitude angle information and the relative position information detected by the attitude angle detection means and the other machine position search means, respectively, a calculation means for calculating other machine position information viewed from the machine body axis coordinate system of the own machine;
Display means for displaying other device position information;
The other machine position information calculated by the above calculation means is used as an arrow symbol with an arrowhead with the tip in the other machine position direction.When the other machine is located on the front side of the own machine, the arrowhead is tapered, And a display control means for controlling the display so as to make the arrowhead thick and display it by the display means when located on the rear side of the aircraft. Helmet mounted display that is mounted on the helmet worn by the pilot and displays the other machine position information superimposed on the outside world,
Posture angle detection means for detecting the posture angle of the pilot's head via the helmet;
Other machine position search means for detecting the relative position of the other machine with respect to the own machine;
A calculation means for calculating other machine position information viewed from the coordinate system of the pilot's head based on the attitude angle information and the relative position information detected by the attitude angle detection means and the other machine position search means,
The other machine position information from the calculation means is used as an arrow symbol with a arrowhead with the tip in the other machine position direction . When the other machine is located on the front side of the own machine, the arrow is tapered and the other machine An aircraft position display device for an aircraft, comprising: a display control means for controlling the arrowhead to be thick when positioned on the rear side of the aircraft and projecting and displaying the projected image by the helmet-mounted display.

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