WO2006083408A1 - Procede et appareil pour eviter aux aeronefs a voilure fixe et rotative les lignes electriques ou les fils-pieges.. - Google Patents

Procede et appareil pour eviter aux aeronefs a voilure fixe et rotative les lignes electriques ou les fils-pieges.. Download PDF

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Publication number
WO2006083408A1
WO2006083408A1 PCT/US2005/045643 US2005045643W WO2006083408A1 WO 2006083408 A1 WO2006083408 A1 WO 2006083408A1 US 2005045643 W US2005045643 W US 2005045643W WO 2006083408 A1 WO2006083408 A1 WO 2006083408A1
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Prior art keywords
field
obstacle
wire
sensors
sensing
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PCT/US2005/045643
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English (en)
Inventor
Eugene S. Rubin
Paul A. Zank
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Bae Systems Information And Electronic Systems Integration Inc.
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Priority claimed from US11/104,125 external-priority patent/US7286912B2/en
Application filed by Bae Systems Information And Electronic Systems Integration Inc. filed Critical Bae Systems Information And Electronic Systems Integration Inc.
Publication of WO2006083408A1 publication Critical patent/WO2006083408A1/fr

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Classifications

    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
    • G01C5/005—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels altimeters for 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

Definitions

  • This invention relates to aircraft safety and to two different modes of avoiding obstacles using the same hardware, and more particularly to a method and apparatus for warning pilots of wires, power lines or other obstacles in the flight path.
  • Wires present particular risks to helicopters because helicopters often are flown at low altitudes and at off-airport sites for takeoff, landing, and other purposes.
  • Some of the types of wires that pilots may encounter are power transmission lines, guy wires used to support other objects, such as towers and communication cables. When crossing rivers and valleys, power transmission lines can be as high as several hundred feet above ground level (AGL).
  • Guy wires that support towers may be almost invisible to pilots, even if the general location of the wires is known. Pilots' ability to see wires is affected by dirty windscreens, light conditions, the obscuring effects of terrain and changes in visual perspective that occur during climb and descent. In addition, accurately judging distance from unmarked wires is nearly impossible.
  • NTSB National Transportation Safety Board
  • Wires are difficult to see, partly because of the way the human eye functions and partly because of the effects of some backgrounds and light angles in camouflaging wires.
  • the eye starts to lose its visual acuity at three degrees off-center. Unless one is looking straight at a wire, one is unlikely to see it. Obviously, night operations are severely limited.
  • wires in the sunlight and changing sunlight patterns can obscure wires. Wires also may be difficult to see because as they age, their color often changes. For example, copper wires oxidize with age, acquiring a greenish color that makes them difficult to distinguish from grass and trees in the background. The exact location of specific wires may change throughout the day because of fluctuating ambient temperatures, which may cause wires to sag or to tighten within several hours. Also, sagging wires may be blown by wind. In addition, optical illusions involving wires are common.
  • Spherical markers sometimes are used to mark power lines, communications lines, and guy wires at airports or helicopter approach areas and at locations where wires cross rivers and canyons. These markers often are orange, but in some instances, others colors are used because they may be more visible, depending on the surrounding terrain. Some spherical markers used on electrical power lines are designed to glow as a result of the power line's electrical field. Other spherical markers are patterned for improved visibility or equipped with flashing lights.
  • Safe Flight Instrument Corp.' s Powerline Detection System sense the electromagnetic field generated by live electrical power lines and emits an audible alert through the aircraft's audio system, a clicking sound that increases in frequency as the aircraft is flown nearer to a live electric power line, i.e., a line carrying electric current.
  • the system then illuminates a red warning light in the cockpit.
  • the warnings are provided regardless of whether the helicopter is approaching the power line from above, below, or at an oblique angle.
  • the system does not alert pilots to where the wires are and does not work with wires that are not live.
  • the Hellas helicopter laser radar system developed by Domier, a subsidiary of the European Aeronautic Defense and Space Co., uses eye-safe laser radar to scan the environment for wires and other flight obstacles and provides optical signals and acoustic signals to warn pilots about their presence.
  • laser systems often miss the presence of wires.
  • the system is capable of delivering the warnings
  • its database lacks the required information, which generally has not been available from utilities and other organizations that control wires.
  • low-flying fixed and rotary wing aircraft detect and avoid electrical power lines and/or trip wires by continuously measuring and monitoring differential static electric fields. This is done without producing emissions that could be detected by an adversary.
  • Measuring dE/dt using a two-axis differential dE/dt sensor mounted on the aircraft provides a reliable indication not only of the existence of wires but also the direction of the wires relative to the flight path of the aircraft. In so doing not only may wire strikes be avoided because of the rebustness of the subject system, the stress is taken out of low-level flying.
  • the second is the case of wires that carry no power, such as trip wires or guys.
  • wires that carry no power such as trip wires or guys.
  • the distortion of the naturally occurring atmospheric electric field due to the wire is sensed even when there is no applied voltage.
  • E-field sensors are exceptionally robust due to the electric fields generated by the voltage on the power lines. Note that this is an electric field, not a magnetic field that is detected, which makes it possible to detect wires at much greater distances than with electromagnetic sensors.
  • the differential E-field sensors are also useful in detecting so-called trip wires that are extended, for instance, across a valley. Detection is made possible because the electrostatic field around the wires is altered from that associated with the rest of the terrain. It has been found that a differential E-field sensor can sense a tipping of the E- field as the aircraft approaches such a trip wire, whether or not the trip wire is powered.
  • the trip wire is located adjacent an AC field, the trip wire itself may acquire a voltage that results in an electrostatic component. In such a case, detectability is increased.
  • the subject application is made possible by the development of a novel E-field sensor described in Patent Application Serial No. US2002/039,436 filed December 10, 2002 and incorporated herein by reference.
  • the E-field sensor was primarily directed to finding moving projectiles, rocket launches, and even the presence of individuals on the surface of the earth. It was found that each of these events produced a significant tilt or shift in the surrounding E-field that could be sensed by an E-field detector system including at least one E-f ⁇ eld distortion sensor that could detect the distortion of the E- field by a person, vehicle, weapon or electric power source. Coupled to this E-field sensor was a system for compensating for background noise by using coherent signal processing to isolate the detected source from the background noise and thus enable correlation of the distortion source with its electrostatic signature.
  • the use of at least two E-field sensors in conjunction with coherent signal processing enables substantial reduction of background noise, which permits detection of E-field distortion at greater ranges and sensitivity than heretofore possible and also facilitates signature correlation of the detected object with characteristic E-field distortions of like and similar sources.
  • the E-field sensor be used for wire strike avoidance by manned aircraft, it is also useful for unmanned aerial vehicles or UAVs which likewise can fly into trip wires or power lines.
  • the E-field sensor includes a sensing element for detecting electric field signals, a guard area approximate the sensing element in a differential amplifier stage with bootstrapping coupled to the sensing element.
  • a filter stage connecting to the output side of the amplifier stage in an analog-to-digital converter coupled to the filter stage for converting the electric field signals to digital data.
  • a micro-controller coupled to the analog-to-digital converter for processing the digital data.
  • the electric field sensor for detecting electrostatic field disturbances uses a first set of sensing elements for detecting electric field signals, a first pre-amplif ⁇ er coupled to the sensing element, wherein the first preamplifier is coupled to a first bootstrapping circuit.
  • a second sensing element for detecting electrostatic field signals with a second pre-amplifier coupled to a second sensing circuit, wherein the second pre-amplifier is coupled to a second bootstrapping circuit.
  • a differential amplifier coupled to the first pre-amplifier and the second preamplifier is also coupled to a filter stage connecting to the differential amplifier.
  • An analog-to-digital converter is coupled to the filter stage for converting the electric field signals to digital data.
  • a microprocessor coupled to the analog-to- digital converter for processing the digital data.
  • arctangent algorithm (ATAN2) is used to provide 360° relative heading. Moreover, when the amplitude of the 50/60Hz signal exceeds a predetermined threshold an audible or visual alarm is activated.
  • an E-field sensing system to detect the presence of obstacles, including wires, power lines or trip wires, as well as towers, guy wires, buildings and elevated terrain, in which a variation or tilt of the iso-potential electrostatic field adjacent the obstacle is detected.
  • the bearing to the obstacle is ascertained. The result is the detection of power lines from as far away as at least 1,000 feet and unpowered wires from as far away as at least 100 feet, thus reducing pilot anxiety for low level missions as well as providing for wire strike avoidance.
  • Figure 1 is a diagrammatic illustration of the sensing of power lines from a helicopter using E-field sensors in which the presence and heading of the wires relative to the flight path are indicated;
  • Figure 2 is a top view of the helicopter of Figure 1, illustrating right and left E- field sensors and fore-and-aft E-field sensors so as to provide 360° coverage;
  • Figure 3 is a diagrammatic illustration of the position of the orthogonally- oriented pairs of E-field sensors of Figure 2, showing that for an E-field sensor axis parallel to the power line there is no differential in the E-field, whereas the maximum differential occurs for the orthogonally-oriented fore-and-aft sensors;
  • Figure 4 is a block diagram of the processing of a pair of E-field sensors of Figures 2 and 3, illustrating a gradient drift processor coupled to the E-field sensors, with the output being provided on a pilot display in terms of bearing to the detected wire, the block diagram also showing a thresholding circuit and an alarm circuit coupled thereto;
  • Figure 5 is a block diagram of the gradient drift processor of Figure 4, illustrating inputs from the left, right, fore and aft pairs of E-field sensors of Figures 1 and 2, with the inputs being converted to digital signals by analog-to-digital converters and processed by an arc tan 2 algorithm to output relative heading coupled to a pilot display;
  • Figure 6 is a spectrogram illustrating the results of a test in which right and left E-field sensors are flown near a power line, indicating by the relative intensity of the dots the orientation of the left-right sensors relative to the power line, with the maximum differential amplitude occurring when the axis of the two sensors is orthogonal to the power line and minimal when it is parallel;
  • Figure 7 is a basic block diagram of an E-field sensor, showing the sensing area, guard, high impedance amplifier with bootstrapping, filter and buffer amplifier;
  • Figure 8 is a general schematic diagram for a single-sensor configuration
  • Figure 9 is a block diagram illustrating a dual-differential sensor system with various programmable configurations
  • Figure 1OA is a diagrammatic illustration showing four sensors orthogonally oriented for measuring in two axes
  • Figures 10B- 1OE are scatter plots of the results of a test as sensors approach electric power lines, with the scatter plot dots being scattered around due to electric field changes;
  • Figure 11 is a diagrammatic illustration of the E-field vector tilt due to the presence of a guyed vertical conducting structure such as a tower.
  • a helicopter 10 is flying along a flight path 12 towards power lines 14.
  • the power line locations are unknown and are relatively invisible such that the pilot requires advance notice of their presence to be able to avoid them.
  • the aircraft is provided with pairs of E-field sensors 16, which are coupled to a processor 18 that processes the signals from two differential pairs that are orthogonally oriented and provides a display 20 of the relative bearing 22 to the power lines.
  • the relative bearing to the power lines is illustrated by dotted line 24 so that as the pilot turns away from the power lines the bearing line displayed to the pilot will change. Thus the pilot can be assured that he will miss the power lines.
  • a threshold detector 26 in which the amplitude of the power line frequency component is used to activate a cockpit alarm 28, which may be either audible or visible.
  • the E-field sensor is in essence an extremely high-impedance voltmeter (electrometer). Since one knows that one is looking for 60- or 50-Hz signals that are spectrally pure, one sets the filters for the processor to look for these signals and to watch for long-term drift of the potential gradient. As will be seen, if the aircraft has left and right E-field sensors and if the aircraft flight path is parallel to the power lines, one sees a large amount of power, whereas when it is not parallel the amount of power drops off, such as when one is banking or turning. By using orthogonally- oriented pairs of sensors, one obtains a direction component that is related to the bearing of the power line, with the output of the processor indicating where the power line is relative to aircraft heading.
  • the output of the processor may be coupled to a conventional programmable horizontal situation indicator available on every aircraft such that one can use existing equipment to display a pipper that shows when one is going in a particular direction that one has a problem.
  • a conventional programmable horizontal situation indicator available on every aircraft such that one can use existing equipment to display a pipper that shows when one is going in a particular direction that one has a problem.
  • the electric field caused by the high voltage power lines permits the power lines to be detected from at least 1,000 feet, clearly ample time for the pilot to execute evasive action.
  • power lines range in voltage from 30,000 volts to 125,000 volts to even as high as 400,000 volts.
  • the range for which the power lines can be detected is voltage- and power line height-dependent.
  • the subject system can detect power lines from at least 1,000 feet. Electromagnetic sensors may only be effective at as little as 30 feet, thus giving the pilot no ability to avoid contact with the power lines.
  • E-field sensor pads or antennas 50 and 52 are coupled to an E-field sensing circuit 57, which is in turn coupled to a processor 56 that determines from the slowly shifting gradient the bearing 58 to the wire.
  • Bearing 58 is displayed on a pilot display 60, with a thresholding circuit 62 used to activate an alarm 64 when the gradient drift amplitude exceeds a predetermined threshold.
  • Figure 6 graphs the strength of the 60 cycle signal and indicates that, for a pair of differential sensors flying about a power line as illustrated by flight path 82 of aircraft 83, at certain points the differential sensors 84 and 85 will be on a line 86 perpendicular to the power line, at which point the magnitude of the difference is large as illustrated by points 88, whereas if the line between the two sensors is parallel to the power line as illustrated at 89, there may be no differential voltage whatsoever, as illustrated by the sparse scattering of the dots that are due to noise. How the electrostatic field is measured is now described in connection with Figure 7.
  • Figure 7 is a block diagram representing a simple embodiment of a sensor used for detecting E-field distortions illustrating the circuit arrangement as well as the interconnection of the inputs and outputs.
  • the sensing area 90 or "antenna” is a small conductive element.
  • the sensor area 90 in Figure 7 can essentially be regarded as one side of a capacitor with the remainder of the sensor being the charged source or even the earth's field being the source. The larger the area the greater the sensitivity, however interference and extraneous signals become problematic if the sensitivity is too high.
  • the pad is approximately 1/30 inch squared and picks up signals as low as 200 microvolts. Experimentation of other sensing areas from about 1/10 of a square inch to several inches has resulted in different data measurements and the size of the antenna depends upon the application and environmental conditions.
  • guard area 91 proximate the sensing element that functions to reduce the "capacitance.”
  • the guard area is a wiring board etch on the opposite side of printed circuit board opposing the sensing area 90.
  • the guard 91 primarily eliminates the capacitance of the shield, such as coax cable, thereby greatly increasing the antenna 90 impedance.
  • the sensing element 90 is designed for maximum input impedance with a partial Faraday shield covering a portion of the sensing area 90 to reduce the gain.
  • the size of the sensor area 90 is one method to adjust system gain, while another adjustment mechanism is the shielding. Subsequent signal processing and filtering is used to reject unwanted signals, for example, narrow pulses or relatively high frequency signals such as those caused by lightening, arc welders, and RF sources.
  • a differential amplifier 92 is used with bootstrapping to establish high impedance and provide amplification.
  • the gain of the differential amplifier 92 is determined by the resistors R2, R3, and R4 and as is well known in the art, that the gain is equal to (R2 + R3 + R4)/(R3 + R4).
  • the ratio of R3 to R4 determines the input resistance to the amplifier 92. It is preferred to make the input impedance very high without having amplifier 92 saturate due to its input bias currents. Typical feedback ratios are from 90% to 99% while the value of Rl might be 10 Mohms, giving an effective input resistance of 100 to 1000 Mohms or more.
  • the differential amplifier 92 is a field-effect operational amplifier Ul (op amp TLC2272) with bootstrapping to provide high impedance for the sensing element 90.
  • the sensing element 90 is a small metallic piece that is part of the printed wiring board, such as an etch on the board.
  • the sensing element signal is amplified and converted to a low source impedance.
  • Rl is lOMohm
  • R2 is 6.04Kohm
  • R3 is 33.2ohm
  • R4 is 301ohm.
  • An additional resistor R5 may be connected between the sensing area 90 and the + input of the differential amplifier 92 of approximately lOKohm to provide amplifier protection.
  • a frequency filter 93 may be used in other applications when not looking to detect power lines.
  • filter 93 is a power line 60-Hz pass band filter used to pass the E field caused by power lines and is set to the power line frequency for the region of use, generally 60 Hz in the United States.
  • off-the-shelf commercial components are utilized to construct the filter 93.
  • the 60-Hz pass band filter 93 is inserted to reject out-of-band signals.
  • a buffer amplifier 94 provides high input impedance to the filter 93 while providing additional gain and a low impedance source for the voltage measuring device.
  • the measuring device is a sample-and-hold circuit followed by an analog-to-digital (AfD) converter and subsequent processing circuitry.
  • the buffer amplifier stage 94 in one embodiment is a second field-effect operational amplifier U2 (op amp TLC2272) and is used to achieve an approximate gain of 2OdB.
  • a 15v DC power is supplied by a power source, such as common dry cell batteries, although any power source with acceptable output may be used.
  • the output signal of the sensor device is delivered to the next stage of the detection system.
  • the sensor does not require unique components and persons skilled in the art will choose components that will enable optimal configuration to achieve the objectives of the sensor's application.
  • the combination of the sensing elements and guard in conjunction with the bootstrapped differential amplifier and other elements enables the unexpected sensing of electric field disturbances in a wide array of applications.
  • Trip Wire Sensing As to trip wire sensing where there is no induced voltage, one is still able to detect the tipping of the E-field adjacent the wire. Here the tipping is relatively slow and the circuit of Figure 7 is modified as shown in Figure 8 to have the bandpass filter now converted to a band reject filter 93' .
  • the obvious purpose of the notch filter is to notch out any AC power line-induced fields, with the frequency of the sensed E-field being in the low- or sub-Hz range.
  • FIG. 8 what is presented is a schematic of one circuit illustrating the component selection for the differential amplifier as well as the electrical interconnection.
  • a field-effect operational amplifier (op amp) Ul such as TLC2272 is used to perform impedance matching for the sensing antenna 90.
  • the sensing antenna 90 is a small metal pad on a printed circuit board with a corresponding guard 91 on the opposite side of the board.
  • the effective antenna impedance is approximately 1000 Mohms and the sensing area signal is amplified to a low ( ⁇ 90 ohms) source by the amplifier Ul.
  • the bootstrapping interface discussed herein establishes the high impedance input and provides amplification.
  • a notch filter 93' is inserted to reject the 60-Hz E-field signals.
  • the selection of components R6, R7, R8, C3 and C6 are selected as known in the art and other values are possible.
  • the second field-effect operational amplifier (op amp) U2 is used to achieve an approximate gain of 2OdB.
  • DC power is supplied by common dry cell batteries in one embodiment. However, power can also be provided from an AC source after AC/DC conversion. Other power sources such as solar and coupling power from power lines have also been contemplated.
  • the sensor device output signals are delivered to the next stage of the detection system (not shown) through a connector Jl.
  • Figure 9 shows one embodiment that encompasses dual sensors 300 for a differential field sensor and the signal processing requirements. It should be understood that the device can be run in single ended mode by grounding one antenna 300 which can allow for redundancy. The parallel connections allow the processing unit 390 to gather data from the multiple sensors 300 and process the data accordingly.
  • This embodiment employs two sensing elements 300 and two corresponding bootstrapped preamps 310 for boosting the input signal strength.
  • the output of the preamps 310 are connected to a differential amplifier 320 and 60-Hz bandpass filter 340. Filter 340 can also be bypassed by switch SWl.
  • a programmable filter 350 and programmable gain stage 360, and logarithmic amplifier 370 (logamp) are employed to process and enhance the electrostatic signature of the detected source prior to its passage to the analog and digital converters 380 generating digital data representing the received signals.
  • the digitized data is coupled to a processing unit 390 such as a microprocessor or microcontroller, which performs processing to configure the output signal parameters for use by the next stage of the detection system.
  • An optional Digital-to-Analog converter 395 can be used to re-convert the digitized data to analog form in order to have the raw data presented to the user.
  • the programmable filter 350 includes an Allpass, Bandpass, Highpass and Lowpass filtering depending upon the application.
  • the selectability of filtering via switch SW3 allows flexibility in isolating the signal of interest as well as eliminating interfering noise.
  • the programmable gain stage 360 permits variable boosting of the received signal.
  • the log amp 370 boosts the signal depending upon the input level to a level satisfactory for further processing. In this embodiment the log amp stage 370 can be bypassed by switch SW2.
  • the control to the programmable filter 350 and gain stage 360 are commands from the local signal processor although external commands via hard wired or wireless are within the scope of the invention.
  • the output of the differential field sensor is delivered to the next stage of the detection system at the digital output terminal.
  • the processing unit 390 has internal memory (not shown) or connection to external memory that stores the measured data.
  • the output data can also be stored to establish a library of E-field signatures that allow for classification and identification of measurements. This stored data is useful when comparing the present measurements to the existing database. For example, the signature of a certain event can possibly be matched for future measurements.
  • the E-field distortion associated with power lines is described and more particularly how one determines if one is near a power line.
  • the scatter plot in the X versus Y directions is symmetric as shown in Figure 1OB.
  • the symmetric scatter plot elongates and in essence represents a line of electric flux from the power line.
  • the differential E-fields are random, producing a symmetric pattern.
  • the pattern takes on a linear shape, indicating amplitude and phase coherence.
  • the sensors are measuring the 50/60-Hz signals, so a bandpass filter would be used to isolate the 50/60-Hz signals.
  • Figures lOB-lOE show test results as the E-field sensor approaches the high voltage power lines. The 50/60-Hz amplitude and phase coherence increases and is easily discernable.
  • coherent processing from multiple sensors of a single measurement greatly improves the measurement capabilities by reducing the impact of noise and interference.
  • the coherent processing is described in detail in related application U.S. Application No. 10/256812, filed Sept. 27, 2002 which is incorporated by reference.
  • the coherent noise reduction works because the background noise is "far field” and low frequency. This means that two sensors placed apart see exactly the same background noise. If the signal of interest is in the near field, (less than 100 feet in one test) the sensors see the signal of interest at different signal strengths. When the two sensors are subtracted, the background noise disappears while some of the signal of interest remains. No knowledge of the background noise is required.
  • This technology is well known to those skilled in the art and is applied to noise reduction head sets and microphones. This is distinguishable from bandpass filters, low pass filters, and high pass filters, that essentially reject interfering signals within a certain frequency. Bandpass filters reject signals in a certain frequency band. High pass filters reject lower frequency signals while allowing higher frequency signals. Low pass filters allow certain lower frequency signals while rejecting high frequency signals.
  • Sl (t) is the total signal received at sensor 1
  • S2(t) is the total signal received at sensor 2
  • Nb(t) is the background noise (assumed to be far field and therefore the same at both sensors)
  • SNR signal to noise ratio
  • E-field vectors 406. As can be seen, as one approaches the tower, the direction of the E-field vectors 406 tilt towards the tower at shown by vectors 406', 406" and 406'".
  • the subject system can also detect vertical conductive structures and the guy wires used to support them so that these structures or wires can be avoided even when they are not horizontal.
  • the subject wire strike avoidance system can be described in general as an obstacle avoidance system useful in a wide variety of applications so as to permit avoiding wires, towers, building structures and even terrain including mountains or hills.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention porte sur un système de détection de champ électrique (16, 18, 26, 28) qui permet de détecter la présence d'obstacles (14) tels que des câbles, des lignes électriques ou des fils-pièges, ainsi que des tours, des haubans de mâts, des bâtiments et des terrains élevés. Ce système permet ainsi de détecter la variation ou l'inclinaison du champ électrostatique iso-potentiel adjacent à l'obstacle (14). Selon un autre mode de mise en oeuvre, le système permet de déterminer avec précision le relèvement géographique par rapport à l'obstacle (14). On peut ainsi effectuer la détection des lignes électriques (14) jusqu'à au moins 1000 pieds et des fils non électriques jusqu'à au moins 100 pieds, ce qui permet aux pilotes d'avoir moins d'anxiété lors de navigations à basse altitude, et d'éviter de heurter les fils.
PCT/US2005/045643 2004-12-31 2005-12-19 Procede et appareil pour eviter aux aeronefs a voilure fixe et rotative les lignes electriques ou les fils-pieges.. WO2006083408A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US64027704P 2004-12-31 2004-12-31
US60/640,277 2004-12-31
US11/104,125 US7286912B2 (en) 2001-12-10 2005-04-12 Method and apparatus for avoidance of power lines or trip wires by fixed and rotary winged aircraft
US11/104,125 2005-04-12

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WO2008147460A3 (fr) * 2006-12-08 2009-04-02 Sikorsky Aircraft Corp Système avertisseur de proximité d'aéronef à voilure tournante avec un système d'évitement basé sur la géographie
RU2555585C1 (ru) * 2014-05-27 2015-07-10 Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Казанский государственный энергетический университет" (ФГБОУ ВПО "КГЭУ") Способ работы автоматического беспилотного комплекса диагностики высоковольтных воздушных линий электропередачи
CN104932526A (zh) * 2015-05-29 2015-09-23 深圳市大疆创新科技有限公司 一种飞行设备的控制方法及飞行设备
CN108762305A (zh) * 2018-06-12 2018-11-06 重庆大学 一种无人机避撞架空交流电力线路的预警装置
WO2018214068A1 (fr) * 2017-05-24 2018-11-29 深圳市大疆创新科技有限公司 Procédé, dispositif et système de commande de vol, et support de stockage lisible par machine
US10391867B1 (en) 2018-06-09 2019-08-27 Nxp Aeronautics Research, Llc Apparatus having electric-field actuated generator for powering electrical load within vicinity of powerlines
US10491021B1 (en) 2018-06-09 2019-11-26 Nxp Aeronautics Research, Llc Generating electric power within vicinity of powerlines using electric field and electrical pathway to ground
RU2748134C1 (ru) * 2021-02-01 2021-05-19 Общество с ограниченной ответственностью "Научно-Производственное предприятие "Центр роботизации процессов" Роботизированный комплекс контроля линий электропередач и электроподстанций.
US11431168B2 (en) 2019-08-26 2022-08-30 Nxp Aeronautics Research, Llc UAV airways systems and apparatus
US11520329B2 (en) * 2019-09-27 2022-12-06 Airbus Helicopters Method and a system for detecting wire or wire-like obstacles for an aircraft
RU2805304C2 (ru) * 2021-12-20 2023-10-13 Федеральное государственное бюджетное образовательное учреждение высшего образования "ОРЛОВСКИЙ ГОСУДАРСТВЕННЫЙ УНИВЕРСИТЕТ имени И.С. ТУРГЕНЕВА" (ОГУ им. И.С. Тургенева) Способ обеспечения аварийной посадки беспилотного летательного аппарата в заданном районе при выполнении мониторинга воздушной линии электропередачи и потери связи с наземным пунктом управления

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US7598888B2 (en) 2006-12-08 2009-10-06 Sikorsky Aircraft Corporation Rotary wing aircraft proximity warning system with a geographically based avoidance system
WO2008147460A3 (fr) * 2006-12-08 2009-04-02 Sikorsky Aircraft Corp Système avertisseur de proximité d'aéronef à voilure tournante avec un système d'évitement basé sur la géographie
RU2555585C1 (ru) * 2014-05-27 2015-07-10 Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Казанский государственный энергетический университет" (ФГБОУ ВПО "КГЭУ") Способ работы автоматического беспилотного комплекса диагностики высоковольтных воздушных линий электропередачи
CN104932526A (zh) * 2015-05-29 2015-09-23 深圳市大疆创新科技有限公司 一种飞行设备的控制方法及飞行设备
WO2018214068A1 (fr) * 2017-05-24 2018-11-29 深圳市大疆创新科技有限公司 Procédé, dispositif et système de commande de vol, et support de stockage lisible par machine
US11011922B2 (en) 2018-06-09 2021-05-18 Nxp Aeronautics Research, Llc Monitoring tower with device powered using differentials in electric field strengths within vicinity of powerlines
US11011923B2 (en) 2018-06-09 2021-05-18 Nxp Aeronautics Research, Llc UAV having electric-field actuated generator for powering electrical load within vicinity of powerlines
US10491021B1 (en) 2018-06-09 2019-11-26 Nxp Aeronautics Research, Llc Generating electric power within vicinity of powerlines using electric field and electrical pathway to ground
US10493851B1 (en) 2018-06-09 2019-12-03 Nxp Aeronautics Research, Llc Charging UAV using electric-field actuated generator within vicinity of powerlines
US10498169B1 (en) 2018-06-09 2019-12-03 Nxp Aeronautics Research, Llc Buoyancy-assisted UAV having electric-field actuated generator for powering electrical load within vicinity of powerlines
US11949267B2 (en) 2018-06-09 2024-04-02 Nxp Aeronautics Research, Llc Apparatus having electric-field actuated generator for powering electrical load within vicinity of powerlines
US11011924B2 (en) 2018-06-09 2021-05-18 Nxp Aeronautics Research, Llc Charging UAV using electric-field actuated generator within vicinity of powerlines
US10391867B1 (en) 2018-06-09 2019-08-27 Nxp Aeronautics Research, Llc Apparatus having electric-field actuated generator for powering electrical load within vicinity of powerlines
US11865926B2 (en) 2018-06-09 2024-01-09 Nxp Aeronautics Research, Llc Electric-field actuated generator for powering electrical load when within vicinity of powerlines including powering UAVs
US11731515B2 (en) 2018-06-09 2023-08-22 Nxp Aeronautics Research, Llc Apparatus having electric-field actuated generator for powering electrical load within vicinity of powerlines
CN108762305A (zh) * 2018-06-12 2018-11-06 重庆大学 一种无人机避撞架空交流电力线路的预警装置
US11431168B2 (en) 2019-08-26 2022-08-30 Nxp Aeronautics Research, Llc UAV airways systems and apparatus
US11520329B2 (en) * 2019-09-27 2022-12-06 Airbus Helicopters Method and a system for detecting wire or wire-like obstacles for an aircraft
RU2748134C1 (ru) * 2021-02-01 2021-05-19 Общество с ограниченной ответственностью "Научно-Производственное предприятие "Центр роботизации процессов" Роботизированный комплекс контроля линий электропередач и электроподстанций.
RU2805304C2 (ru) * 2021-12-20 2023-10-13 Федеральное государственное бюджетное образовательное учреждение высшего образования "ОРЛОВСКИЙ ГОСУДАРСТВЕННЫЙ УНИВЕРСИТЕТ имени И.С. ТУРГЕНЕВА" (ОГУ им. И.С. Тургенева) Способ обеспечения аварийной посадки беспилотного летательного аппарата в заданном районе при выполнении мониторинга воздушной линии электропередачи и потери связи с наземным пунктом управления

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