JPH11345399A - Landing guide system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a landing guide system reduced in the number of equipments on the ground without impairing safety, and low in cost. SOLUTION: A reference station 1 having a function as a GPS receiver is provided at a previously known position on the ground and position measurement data are transmitted to an aircraft 4 with a radio line 5. On-aircraft device having a GPS receiving function is provided in the aircraft 4 and the position of itself is obtained by it. Besides, index spots A1 and A2 whose precise positions are recognized are set on the axis of a runway RWY. Then, the absolute coordinate of the aircraft 4 is obtained based on the GPS measurement positions of the reference station 1 and the aircraft 4 and a reference station installation position, a guide course to be followed by the aircraft 4 originally is calculated by the coordinate and positional information of the index spots A1 and A2, the deviation between the flying route of the aircraft 4 and the guide route is obtained and it is displayed on a display unit.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a landing guidance system used for safely landing an aircraft such as an aircraft on a runway.

[0002]

2. Description of the Related Art Conventionally, various facilities are provided at airports in various places in order to support landing of aircraft such as passenger aircraft. These facilities include, for example, ASR (Airport
Surveillance Radar: Airport Surveillance Radar, ILS (Inst
rument Landing System: Instrument landing guidance system), V
OR (Very high frequency Omnidirectional Radio Ra
nge: Ultra high frequency omnidirectional radio beacon), PAR (Precision)
Approach Radar (precise measurement approach radar), etc., all of which are large-scale and complex systems with an emphasis on ground facilities.

[0003] By the way, it is considered that commuter aviation connecting local cities, municipalities, and the like will be developed by small aircraft and helicopters in the future. As a result, local governments are beginning to build small airports on which to build.

However, the current airport facilities are very large as described above, and the operation costs are enormous. Therefore, such facilities cannot be provided in a small airport. So, without compromising safety,
Development of a low-cost landing guidance system that has reduced the need to rely on ground equipment is awaited.

[0005]

As described above, the conventional landing guidance system requires a large amount of ground equipment, so that hardware and personnel costs are enormous. Therefore, it is a factor that hinders the realization of future commuter aviation, and the development of a low-cost landing guidance system is awaited.

[0006] The present invention has been made in view of the above circumstances,
It is an object of the present invention to provide a low-cost landing guidance system that does not impair safety and has reduced parts that rely on ground equipment.

[0007]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention provides a method for guiding a flying object, such as an aircraft, on a central axis of a runway, which is a landing point, for example, by using a GPS.
(Global Positioning System) and other positioning systems that use positioning satellites. And, around the runway, a ground device installed at a position measured in advance in a three-dimensional reference coordinate system, and an on-board device mounted on the flying object, the ground device, Ground-side position measurement means for measuring the installation position of the own device by a position measurement system, and transmission means for sending measurement position information measured by the ground-side position measurement means to a landing approach area around the runway. Storage means for storing, in the onboard device, position information of first and second points previously measured on the central axis of the runway in the reference coordinate system and installation position information of the ground device; A flying object position measuring means for measuring the current position of the flying object by the position measuring system; and a measurement position information of the ground device transmitted from the transmitting device of the ground device when the vehicle enters the landing approach area. Receiving means for receiving the position information of the ground equipment obtained by the receiving means and the installation position information of the ground equipment stored in the storage means. The current position of the flying object in the reference coordinate system is calculated by correcting the measurement position of the flying object by the measuring means, and the first position stored in the storage means is calculated.
And calculating means for calculating a guidance route to be followed by the aircraft in the reference coordinate system based on the position information of the second point, and calculating a deviation between the guidance route and a current position of the aircraft. It is prepared for.

With this configuration, the position of the ground-side device is measured by the ground-side position measuring means based on the position measuring system, and the measured position information is transmitted by the transmitting means.
Within the landing approach area around the runway (eg by broadcast)
Sent out.

On the other hand, on the flying object side, the first and second points on the center axis of the runway (for example, located at both ends) and the installation position information of the ground apparatus in the reference coordinate system are stored in the storage means in advance. Have been. In addition, by the flying object position measurement means,
The current position of the flying object is measured based on the position measurement system. When the flying object enters the landing approach area, the receiving unit receives the measured position information of the ground device.

[0010] The calculation means compares and compares the received measurement position information of the ground equipment with the installation position information of the ground equipment stored in the storage means. By correcting the measurement position of the flying object by the means, the current position of the flying object in the reference coordinate system is calculated.

The calculation means calculates a guidance route to be followed by the flying object in the reference coordinate system based on the position information of the first and second points stored in the storage means. A deviation between the guidance route and the calculated current position (in the reference coordinate system) of the flying object is calculated.

By adopting such means, it is sufficient to install, for example, a GPS receiver and a radio transmitter on the ground side. As a result, ground equipment can be greatly simplified. Although the GPS originally contains an error, the position of the ground-side device is accurately obtained in advance, and the position of the flying object in the three-dimensional coordinate system is evaluated based on the accuracy. It is possible to determine the position. For this reason, the accuracy required for the flying object to land can be sufficiently satisfied, and safety is not impaired.

According to still another aspect of the present invention, a position storage means for storing the installation position information of the own device in the reference coordinate system in the ground device, and a ground position for measuring the installation position of the own device by the position measurement system The measuring unit compares and compares the measured position information measured by the ground-side position measuring unit with the installation position information of the ground device stored in the position storage unit, and based on the result, the position measuring system Correction data calculating means for calculating correction data for correcting the position measurement data to the position data in the reference coordinate system; and the correction data measured by the correction data calculating means, the landing approach area around the runway. Transmitting means for transmitting the position information to the on-board device, the position information of the first and second points on the central axis of the runway measured in advance in the reference coordinate system. Destination storage means for storing, the vehicle position measurement means for measuring the current position of the aircraft by the position measurement system, receiving means for receiving the correction data when approaching the landing approach area, The current position of the flying object in the reference coordinate system is calculated by correcting the measurement position of the flying object by the flying object position measurement means based on the correction data obtained by the receiving means, and A guidance route to be followed by the flying object in the reference coordinate system is calculated based on the position information of the first and second points stored in the storage unit, and the guidance route and the current position of the flying object are calculated. And a calculating means for calculating the deviation.

With this arrangement, the ground equipment calculates the correction data for displaying the position information measured by the position measurement system in the position coordinates in the reference coordinate system, and notifies the flying object of the correction data. Become like In the flying object, the correction data is received by the receiving means.

[0015] The calculation means corrects the measurement position of the flying object by the flying object position measurement means based on the received correction data, and calculates the current position of the flying object in the reference coordinate system. . In addition, the guidance means, based on the position information of the first and second points stored in the destination storage means, by the calculation means, the guidance route to be followed by the flying object in the reference coordinate system, A deviation from the current position of the flying object is calculated. Even in this case, it is possible to obtain the own position in the three-dimensional reference coordinates on the flying object side, and it is possible to obtain the same effect as described above.

[0016]

Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 shows a configuration of a landing guidance system according to the present embodiment. In the present embodiment, as a position measurement system using positioning satellites, GPS
Take up.

In the system of this embodiment, the runway RW
On the extension of the center line of Y, a reference station 1 as a ground device is installed. A GPS signal 3 transmitted from a GPS satellite 2 as a positioning satellite is received by the reference station 1 and the approaching aircraft 4. The reference station 1 receives the received GP
Based on the S signal, the installation position of the own station is measured, and this data is transmitted to the aircraft 4 via, for example, a VHF band wireless line 5. This wireless line 5 is designed to support aircraft arriving from the runway RWY from any direction.
It is formed by emitting non-directional radio waves in the horizontal direction (AZ). Although only one GPS satellite is displayed in FIG. 1, a plurality of GPS satellites are used in a normal use mode.

FIG. 2 shows the configuration of the reference station 1. That is, the reference station 1 includes a coordinate calculation device 12 having a GPS antenna 11 and a coordinate transmitter 14 having a transmission antenna 13.
Based on the S signal 3, the coordinates of the installation position of the own station are obtained by the coordinate calculation device 12, and this data is given to the coordinate transmitter 14 and transmitted from the transmission antenna 13.

FIG. 3 shows the configuration of an onboard device (reference numeral 6) mounted on the aircraft 4. That is, the on-board device 6
Is a coordinate calculation device 62 having a GPS antenna 61,
A coordinate receiver 64 having a receiving antenna 63, a computer 65, a display control unit 66, and a general display 67 are provided.

The coordinate calculation unit 62 receives and analyzes a GPS signal coming from the GPS satellite 2 via the GPS antenna 61, and measures the momentary coordinates of the aircraft 4. The coordinate receiver 64 receives the coordinate data of the reference station 1 arriving via the wireless line 5 via the receiving antenna 63.

The computer 65 includes first and second index points indicated by A1 and A2 in FIG.
Is stored in the storage unit 65a in advance. These pieces of position information are input in advance by the pilot of the aircraft 4 before departure. The index points A1 and A2 are set at both ends of the runway RWY on the center axis of the runway RWY.

The computer 65 calculates the airport entry route of the aircraft 4 based on the position coordinate data of the aircraft 4 and the position coordinate data of the reference station 1 sent from the coordinate calculation device 62 and the coordinate receiver 64, and Information indicating the deviation between the flight route and the original approach route is displayed on the general display 67 via the display control unit 66.

FIG. 4 shows a display example on the general display 67. In FIG. 4A, reference numerals 7 and 8 denote horizontal and vertical reference lines, respectively, which are drawn crosswise at the center of the screen of the general display 67. Alternatively, it may be written in advance on the screen.

Here, the computer 65 includes A1 in FIG.
The precise position information of the first and second index points indicated by A and A2 is stored in advance, and the first index point A1 is always at the center of the screen (cross point of the reference line) under the control of the display control unit 66. Is controlled as follows. In addition, A on the ground
1. It is not necessary to arrange any object at the point corresponding to A2. The display position of the index point A2 is calculated by the computer 65, and a point (symbol) is displayed at a corresponding position on the screen. Further, a symbol indicating the runway RWY is displayed with the line connecting A1 and A2 as an axis.

The computer 65 calculates an original guidance route to be followed by the aircraft 4 when approaching, based on the precise position information of the first and second index points A1 and A2. The computer 65 obtains the precise position of the aircraft 4 based on the DGPS principle based on the position coordinate data of the aircraft 4 and the position coordinate data of the reference station 1 sent from the coordinate calculation device 62 and the coordinate receiver 64, For example, an airport entry route of the aircraft 4 is calculated based on accumulated data for 10 seconds. Then, based on the route information, the deviation of the approach route of the aircraft 4 from the guidance route is obtained. This deviation is a component related to the deviation of the angle in the altitude direction (ΔEL: FIG.
(Shown in (b)) and a component (ΔAZ) relating to the deviation of the angle in the horizontal direction.

Then, the computer 65 controls the display control unit 66 so that ΔEL and ΔEL are displayed as shown in FIG.
The horizontal cursor 9 and the vertical cursor 10 are drawn at positions corresponding to the size of AZ.

On the basis of this display image, the vertical cursor 10 coincides with the vertical reference line 8 at a position where the horizontal cursor 9 shows a predetermined descent angle (for example, 3 degrees) with respect to the horizontal reference line 7. In addition, the pilot controls the aircraft 4
And the axis of the runway RWY coincide with each other, and it is possible to perform a descent along a regular descent angle. Note that the descent angle does not indicate the nose direction but the direction of the velocity vector. The state of the guidance in the horizontal direction at this time is shown in FIG.

Using an appropriate coordinate system (XY), the runway R
The predetermined position of the WY axis is (X2, Y2), and the aircraft 4
If the position coordinates of [X1, Y1] are X2-X1, Y
Maneuvering the aircraft 4 to reduce the value of 2-Y1 is equivalent to making the vertical reference line 8 coincide with the vertical cursor 10, and in this way, the aircraft 4 is moved to the runway RWY.
Can be guided on the axis.

As described above, in the present embodiment, the reference station 1 having a function as a GPS receiver is installed at a known position on the ground, and the position measurement data is transmitted to the aircraft 4 via the radio line 5.
Send to In the aircraft 4, an on-board device having a GPS receiving function is provided in the own aircraft, and thereby the position of the own aircraft is obtained.
In addition, index points A1 and A2 whose precise positions are known are set on the axis of the runway RWY. Then, the absolute coordinates of the aircraft 4 are obtained based on the GPS measurement positions of the reference station 1 and the aircraft 4, and the reference station installation positions, and the absolute coordinates of the reference point A1,
The guidance route that the aircraft 4 should originally follow is calculated based on the position information of A2, the deviation between the flight route of the aircraft 4 and this guidance route is obtained, and this is displayed on the display.

As described above, high-precision position measurement can be performed only by providing a GPS receiver and a transmitter for transmitting the positioning information on the ground side. Guidance can be performed. By the way, using the above system, within a few meters in the vertical direction,
It is possible to obtain an accuracy within several tens cm in the lateral direction. For this reason, it is possible to safely land even in a case where visibility is poor due to fog or rain or at night, so that it is not necessary to provide facilities such as guide lights on the runway. This also
Capital investment can be reduced.

The present invention is not limited to the above embodiment. For example, in the above-described embodiment, the reference station 1 obtains the precise position of the own station, and transfers this to the aircraft 4. Instead, the data received from the GPS satellites 2 may be directly transferred to the aircraft 4 by the reference station 1 and the position of the reference station 1 may be calculated on the aircraft 4 side. In this case, the ground equipment can be further simplified.

In the above embodiment, the symbol indicating the index point A2 (on the other side of the runway RWY) may not be able to be displayed on the general display 67 depending on the approach angle of the aircraft 4, which is not preferable. In such a case,
The cross points of the reference lines 7 and 8 may be offset from the center of the screen, and a symbol indicating the index point A1 may be displayed at the offset point. By doing so, the space on the screen can be spared, and both the symbols A1 and A2 can be displayed.

In the above embodiment, the error information is displayed only. However, in an aircraft equipped with an autopilot, the error information may be fed back to the autopilot. In this way, a more advanced automatic landing system could be constructed. In addition, various modifications can be made without departing from the spirit of the present invention.

[0034]

As described above in detail, according to the present invention, the position is measured by the position measuring system on the ground side and on the flying object side, and the measured position on the ground apparatus side is notified to the flying object. Then, the measurement position data of the position measurement system is corrected based on the position information at the reference coordinates of the ground device stored in advance on the flying object side, and the landing guidance of the flying object is performed based on this. That is, it is only necessary to install, for example, a GPS receiver and a transmitter for transmitting the measured position data on the ground side, so that the ground equipment does not need to be large. In addition, since the precise position of the aircraft in the reference coordinate system can be obtained on the flying object side, safety is not impaired. From these facts, it is possible to provide a low-cost landing guidance system with a reduced number of parts relying on ground equipment without impairing safety.

[Brief description of the drawings]

FIG. 1 is a diagram showing a configuration of a landing guidance system according to an embodiment of the present invention.

FIG. 2 is a diagram showing a configuration of a reference station 1 according to the embodiment of the present invention.

FIG. 3 is a diagram showing a configuration of an on-board device 6 according to the embodiment of the present invention.

FIG. 4 is an exemplary view showing a display example on a general display 67 according to the embodiment of the present invention.

FIG. 5 is a diagram showing a state where the aircraft 4 approaches the runway RWY in the embodiment of the present invention.

[Explanation of symbols]

 RWY ... runway 1 ... base station 2 ... GPS satellite 3 ... GPS signal 4 ... aircraft 5 ... wireless line 11 ... GPS antenna 12 ... coordinate calculation device 13 ... transmission antenna 14 ... coordinate transmitter 6 ... onboard device 61 ... GPS antenna 62 ... Coordinate calculation device 63 ... Reception antenna 64 ... Coordinate transmitter 65 ... Computer 65a ... Storage unit 66 ... Display control unit 67 ... General display 7 ... Horizontal reference line 8 ... Vertical reference line A1 ... First index point A2 ... Second index point 9 ... Horizontal Casa 10 ... Vertical Casa

Claims (7)

[Claims] 1. A landing guidance system for guiding a flying object on a center axis of a runway, which is a landing point, using a position measurement system using a positioning satellite. A ground device installed at a point whose position is measured in the reference coordinate system, and an onboard device mounted on the flying object, wherein the ground device measures an installation position of the own device by the position measurement system. Ground-side position measuring means, and transmitting means for sending the measured position information measured by the ground-side position measuring means to a landing approach area around the runway, wherein the onboard device comprises: Storage means for storing the position information of the first and second points and the installation position information of the ground equipment, which have been measured in advance in the reference coordinate system on the central axis of the aircraft, and the position measurement system Current A flying object position measuring means for measuring the position, a receiving means for receiving measurement position information of the ground equipment transmitted from a transmitting means of the ground equipment when the vehicle enters the landing approach area, The obtained measurement position information of the ground device is compared with the installation position information of the ground device stored in the storage means, and based on the result, the measurement position of the flying object by the flying object position measurement means is determined. By correcting,
A current position of the flying object in the reference coordinate system is calculated, and the flying object in the reference coordinate system traces based on the position information of the first and second points stored in the storage unit. A landing guidance system, comprising: calculation means for calculating a guidance route to be calculated, and calculating a deviation between the guidance route and a current position of the flying object. 2. A landing guidance system for guiding a flying object on a central axis of a runway, which is a landing point, using a position measurement system using a positioning satellite. A ground device installed at a point whose position is measured in the reference coordinate system, and an onboard device mounted on the flying object, wherein the ground device has its own device installed position information in the reference coordinate system. Position measurement means for measuring the installation position of the own device by the position measurement system, measurement position information measured by the ground position measurement means, and stored in the position storage means The position information of the ground device is compared and collated, and correction data for correcting position measurement data by the position measurement system to position data in the reference coordinate system is calculated based on the comparison result. Positive data calculation means; and transmission means for transmitting the correction data measured by the correction data calculation means to a landing approach area around the runway, wherein the onboard device includes a center axis of the runway. Above, destination storage means for storing position information of the first and second points previously measured in the reference coordinate system, and flying object position measurement for measuring the current position of the flying object by the position measurement system Means, receiving means for receiving the correction data when the vehicle enters the landing approach area, based on the correction data obtained by the receiving means, the measurement position of the flying object by the flying object position measurement means To calculate the current position of the flying object in the reference coordinate system, and based on the position information of the first and second points stored in the destination storage means, Landing guidance system characterized in that it comprises the aircraft is guided route calculates to follow, and a calculating means for calculating a deviation between the guidance route and a current position of the aircraft in. 3. The on-board device further comprises: a visual indicator; and display control means for displaying a deviation between the guidance route and the flight route on the visual indicator. Or the landing guidance system according to 2. 4. The display control means includes: a horizontal and vertical reference line crossing at a predetermined position on the visual display; and a height of the guidance route and the flight route with respect to the horizontal reference line. A horizontal cursor displayed at a position corresponding to the amount of angular deviation in the direction; and a position corresponding to the amount of angular deviation in the azimuth direction between the guidance route and the flight route with respect to the vertical reference line. The landing guidance system according to claim 3, wherein the displayed vertical cursor is displayed. 5. The display control unit according to claim 4, wherein the display unit further displays a symbol indicating the first and second points and a symbol indicating the runway on the display. Landing guidance system. 6. The landing according to claim 5, wherein the display control means displays a symbol indicating the first point and a point at which the horizontal and vertical reference lines cross each other in a superimposed manner. Guidance system. 7. The display control unit according to claim 1, wherein a point at which the horizontal and vertical reference lines cross is offset according to a display position of a symbol indicating the first and second points. 7. The landing guidance system according to 6.