WO2015162151A1 - Procédé de guidage d'un aéronef - Google Patents
Procédé de guidage d'un aéronef Download PDFInfo
- Publication number
- WO2015162151A1 WO2015162151A1 PCT/EP2015/058653 EP2015058653W WO2015162151A1 WO 2015162151 A1 WO2015162151 A1 WO 2015162151A1 EP 2015058653 W EP2015058653 W EP 2015058653W WO 2015162151 A1 WO2015162151 A1 WO 2015162151A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- aircraft
- starting point
- ground
- taxiing
- location
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/02—Automatic approach or landing aids, i.e. systems in which flight data of incoming planes are processed to provide landing data
- G08G5/025—Navigation or guidance aids
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0083—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot to help an aircraft pilot in the rolling phase
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/17—Terrestrial scenes taken from planes or by drones
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/176—Urban or other man-made structures
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/06—Traffic control systems for aircraft, e.g. air-traffic control [ATC] for control when on the ground
- G08G5/065—Navigation or guidance aids, e.g. for taxiing or rolling
Definitions
- the invention relates to the field of piloting assistance in a phase of ground movement of an aircraft and more specifically to a guidance method comprising a flight registration of the position of the aircraft relative to landmarks.
- the trajectory followed by the guidance method will not be the expected reference course and the aircraft may be guided in the wrong direction and placed in a situation. dangerous.
- taxiing can begin with an exit from the landing strip by an exit ramp and each track may comprise several exit ramps. It is then necessary to make sure that the aircraft takes the exit ramp through which the reference trajectory passes.
- the ground guidance method does not have means to ensure at the beginning of the guidance of the exact position of the aircraft on the platform. Absolute positioning means such as GPS may not be accurate enough.
- the detection of the exact position of the aircraft from the indicators is difficult because of the complexity of the scene visible from a position on the ground.
- the present invention thus relates, according to a first aspect, to a guidance method along a reference trajectory of an aircraft carrying at least one detector of a plurality of ground indicators, said guidance method comprising the following steps: implemented by a data processing module that can be connected to said at least one detector: a) when the altitude of the aircraft in flight is greater than a threshold, estimating a relative location of the aircraft with respect to a starting point of taxiing from a platform map and from benchmarks to ground, b) when the altitude of the aircraft is below said threshold and before the aircraft is located at the starting point of taxiing, estimating a relative location of the aircraft relative to the starting point of taxiing from absolute location data of the aircraft and from the last relative location of the aircraft with respect to the starting point of taxiing estimated in step a), c) when the aircraft is located at the point of beginning of rolling, guiding the aircraft according to a location of the aircraft relative to the estimated reference trajectory from data relating to a set of ground indicators and transmitted by said at least one detector.
- the processing module can receive images transmitted by image capture means embedded in the aircraft and detect the landmarks from said received images.
- the processing module can also receive absolute location data transmitted by a GPS receiver and an inertial navigation system embedded in the aircraft. These absolute position data make it possible to continue locating the aircraft with respect to the starting point of taxiing from the last location estimated in step a) despite the impossibility of positioning the aircraft with respect to the landmarks.
- the threshold can be determined according to the weather conditions.
- the invention relates to a computer program product comprising code instructions for executing a guidance method according to the first aspect when this program is executed by a processor.
- the invention relates to a data processing module capable of being connected to at least one detector of a plurality of indicators located on a platform on the ground, said at least one detector being embarked on an aircraft and said processing module being configured for: a) when the altitude of the aircraft in flight is greater than a threshold, estimating a relative location of the aircraft with respect to a starting point of rolling from a mapping of the platform and ground markings, (b) when the altitude of the aircraft is below that threshold and before the aircraft is located at the point of commencement of taxiing, estimate a relative location of the aircraft in relation to the point start of taxiing from absolute location data of the aircraft and from the last relative location of the aircraft with respect to the starting point of taxiing estimated in step a), c) when the aircraft is located at the starting point of taxiing, guiding the aircraft according to a location of the aircraft relative to the estimated reference trajectory from data relating to a set of ground indicators and transmitted by said at least one detector.
- the invention relates to a system for guiding an aircraft along a reference trajectory on a ground platform comprising: at least one detector, a plurality of ground indicators, means for detecting markers on the ground, a data processing module according to the third aspect.
- the guidance system of an aircraft according to the fourth aspect may further comprise image capturing means.
- the guidance system of an aircraft according to the fourth aspect may also further comprise a GPS receiver and an inertial navigation system.
- Such computer program products, processing module and guidance system have the same advantages as those mentioned for the method according to the first aspect.
- FIG. 1 is a diagram schematizing an implementation of a method for guiding an aircraft according to the invention
- FIG. 2 represents a system for guiding an aircraft according to one embodiment of the invention
- Figure 3 illustrates examples of landmarks.
- an embodiment of the invention relates to a method for guiding an aircraft 1 on a platform along a reference trajectory implemented by a data processing module 2.
- Such a system comprises ground indicators 4 used for marking the running zones of the platform and at least one detector 3 embedded in the aircraft 1 and adapted to detect the position of such indicators on the ground.
- a detector 3 captures the signals sent or reflected by said indicators on the ground 4.
- Such a detector may for example be an optical or optoelectronic sensor capturing light emitted by light sources such as lamps or reflected by reflective markings.
- Such a detector 3 can also be a radio frequency receiver receiving radio signals emitted by antennas placed on the ground.
- Said detectors 3 may be connected to the processing module so as to provide measurement data enabling the processing module 2 to determine the relative location of the aircraft with respect to these indicators.
- the data processing module 2 may comprise communication means such as a communication interface COM, calculation means such as a calculator CALC and storage means SAME.
- Such a computer may consist of a processor or microprocessor, of the x-86 or RISC type, for example, a controller or microcontroller, a DSP, an integrated circuit such as an ASIC or programmable such as an FPGA, a combination of such elements. or any other combination of components to implement the process calculation steps described below.
- the MEM storage means may consist of any type of computer mass storage such as a magnetic hard disk tray, an SSD, flash memory or a CD-ROM or DVD-ROM.
- Said communication means COM can be used to communicate with the detectors 3.
- Said storage means MEM can in particular be used to store one or more cartographic representations of the airport platform on which the aircraft 1 is to be guided.
- Said system also comprises means 5 for detecting ground markings that can be used to accurately locate the aircraft with respect to a detailed cartographic representation of the platform stored in the storage means MEM.
- Such markers may be markings such as markings of runway threshold and end of runway, branch points of entry and exit ramps of a runway, etc., as shown in FIG. 3.
- Such means detection 5 may be optical or optoelectronic means, image capture means such as a camera or a video camera, radio frequency receivers ...
- Such means of detection of marks are embedded on the aircraft 1 and can be confused with detectors 3 used to detect ground indicators.
- the data processing module 2 can be connected to at least one computer of the aircraft or be integrated therein, so as to be able to send him guidance commands of the aircraft.
- the guidance system may also include a GPS receiver 6 and an inertial navigation system 7.
- the method according to the invention proposes to determine during the landing the position of the aircraft relative to the landmarks in order to locate the aircraft with respect to the starting point of rolling. This makes it possible to implement the autonomous guidance of the aircraft from the ground indicators once the aircraft has reached the point of beginning of taxiing.
- the method detects the landmarks during the landing phase of the aircraft, for example from a photograph of the platform taken in flight, and determines the position of the aircraft relative to the point of departure. start of running using a platform map on which the position of the landmarks is georeferenced.
- the processing module estimates a relative location of the aircraft with respect to a starting point of rolling from a map of the platform and landmarks. This estimate is made in flight when the aircraft is at an altitude above a sufficient threshold so that the marks can be detected correctly.
- a sufficient threshold so that the marks can be detected correctly.
- the processing module estimates a relative location of the aircraft with respect to a starting point of rolling from a map of the platform and landmarks. This estimate is made in flight when the aircraft is at an altitude above a sufficient threshold so that the marks can be detected correctly.
- the land marker detection means 5 are image capture means
- this estimation is carried out by the processing module from images transmitted by the image capture means when the aircraft is traveling. is at an altitude sufficient to have an overview of the platform and to differentiate unambiguously the different landmarks.
- the altitude threshold can be variable and determined for example according to the weather conditions. This estimate can be implemented only once at an altitude above the threshold or repeatedly so long as the aircraft is at an altitude above the threshold.
- the processing module estimates a relative location of the aircraft with respect to the starting point of rolling from absolute location data of the aircraft and from the last relative location. of the aircraft with respect to the starting point of rolling obtained during the first estimation step E1.
- This second estimation step is implemented when the altitude of the aircraft is below the threshold and before the aircraft is located at the point of beginning of taxiing. Since the aircraft is at an altitude that is too low and the ground markings are no longer usable for locating the aircraft, the processing module thus continues to locate the aircraft with respect to the starting point of taxiing from the last location obtained from ground markings and absolute position data obtainable by a GPS receiver or inertial navigation system. This estimate can be implemented repeatedly as long as the aircraft has not reached the taxiing start point.
- the location estimate of the aircraft obtained repeatedly during the second estimation step E2 allows the processing module to follow the approach of the aircraft towards the start point of rolling.
- the processing module implements a guidance step E3 during which the aircraft is guided along the reference trajectory as a function of a location relative to the trajectory.
- reference datum estimated from data relating to a set of ground indicators and transmitted by said at least one detector.
- this step taking into account the locating the aircraft with respect to the reference trajectory, determined from the ground indicators, makes it possible to correct the trajectory of the aircraft so that it continuously tracks the reference trajectory.
- the detection during the landing phase of the position of the aircraft with respect to the starting point of rolling makes it possible to locate the aircraft at any time up to the starting point of rolling where the autonomous guidance of the aircraft from the ground indicators is implemented.
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB1619436.7A GB2541583B (en) | 2014-04-22 | 2015-04-22 | Method for guiding an aircraft |
US15/304,833 US10274956B2 (en) | 2014-04-22 | 2015-04-22 | Method for guiding an aircraft |
IL248367A IL248367B (en) | 2014-04-22 | 2016-10-13 | A method for guiding an aircraft |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1453591A FR3020170B1 (fr) | 2014-04-22 | 2014-04-22 | Procede de guidage d'un aeronef |
FR1453591 | 2014-04-22 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2015162151A1 true WO2015162151A1 (fr) | 2015-10-29 |
Family
ID=51063659
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2015/058653 WO2015162151A1 (fr) | 2014-04-22 | 2015-04-22 | Procédé de guidage d'un aéronef |
Country Status (5)
Country | Link |
---|---|
US (1) | US10274956B2 (fr) |
FR (1) | FR3020170B1 (fr) |
GB (1) | GB2541583B (fr) |
IL (1) | IL248367B (fr) |
WO (1) | WO2015162151A1 (fr) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR3028084B1 (fr) * | 2014-11-03 | 2020-12-25 | Sagem Defense Securite | Procede et dispositif de guidage d'un aeronef |
CN111142561A (zh) * | 2019-12-25 | 2020-05-12 | 中国航空工业集团公司西安飞机设计研究所 | 一种飞行管理系统的垂直高度导引方法 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1335258A1 (fr) * | 2002-01-25 | 2003-08-13 | Airbus France | Procédé de guidage d'un aéronef en phase finale d'atterrissage et dispositif correspondant |
US20040026573A1 (en) * | 2000-10-13 | 2004-02-12 | Sune Andersson | Method and device at automatic landing |
US20120176497A1 (en) * | 2009-10-01 | 2012-07-12 | Rafael Advancedefense Systems Ltd. | Assisting vehicle navigation in situations of possible obscured view |
EP2557552A1 (fr) * | 2011-08-11 | 2013-02-13 | Honeywell International Inc. | Système de vision d'avion disposant de redondance pour des approches à basse altitude |
EP2610590A2 (fr) * | 2011-12-28 | 2013-07-03 | Honeywell International Inc. | Système et procédé de sélection dýimages à afficher |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
ITRM20020371A1 (it) * | 2002-07-10 | 2004-01-12 | Maurizio Catello Pennarola | Sistema di gestione della navigazione di velivoli fuori rotta e comunicazioni di allarme. |
US9129521B2 (en) * | 2013-05-29 | 2015-09-08 | Honeywell International Inc. | System and method for displaying a runway position indicator |
-
2014
- 2014-04-22 FR FR1453591A patent/FR3020170B1/fr active Active
-
2015
- 2015-04-22 WO PCT/EP2015/058653 patent/WO2015162151A1/fr active Application Filing
- 2015-04-22 US US15/304,833 patent/US10274956B2/en active Active
- 2015-04-22 GB GB1619436.7A patent/GB2541583B/en active Active
-
2016
- 2016-10-13 IL IL248367A patent/IL248367B/en active IP Right Grant
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20040026573A1 (en) * | 2000-10-13 | 2004-02-12 | Sune Andersson | Method and device at automatic landing |
EP1335258A1 (fr) * | 2002-01-25 | 2003-08-13 | Airbus France | Procédé de guidage d'un aéronef en phase finale d'atterrissage et dispositif correspondant |
US20120176497A1 (en) * | 2009-10-01 | 2012-07-12 | Rafael Advancedefense Systems Ltd. | Assisting vehicle navigation in situations of possible obscured view |
EP2557552A1 (fr) * | 2011-08-11 | 2013-02-13 | Honeywell International Inc. | Système de vision d'avion disposant de redondance pour des approches à basse altitude |
EP2610590A2 (fr) * | 2011-12-28 | 2013-07-03 | Honeywell International Inc. | Système et procédé de sélection dýimages à afficher |
Also Published As
Publication number | Publication date |
---|---|
GB201619436D0 (en) | 2017-01-04 |
IL248367A0 (en) | 2016-11-30 |
FR3020170B1 (fr) | 2016-05-06 |
FR3020170A1 (fr) | 2015-10-23 |
GB2541583A (en) | 2017-02-22 |
US20170185083A1 (en) | 2017-06-29 |
IL248367B (en) | 2020-10-29 |
GB2541583B (en) | 2020-11-25 |
US10274956B2 (en) | 2019-04-30 |
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