WO2019224468A1 - Method for automatically saving, in flight, the trajectory of an aircraft with electric flight controls - Google Patents

Method for automatically saving, in flight, the trajectory of an aircraft with electric flight controls Download PDF

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Publication number
WO2019224468A1
WO2019224468A1 PCT/FR2019/051146 FR2019051146W WO2019224468A1 WO 2019224468 A1 WO2019224468 A1 WO 2019224468A1 FR 2019051146 W FR2019051146 W FR 2019051146W WO 2019224468 A1 WO2019224468 A1 WO 2019224468A1
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WO
WIPO (PCT)
Prior art keywords
flight
aircraft
pilot
trajectory
space
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Application number
PCT/FR2019/051146
Other languages
French (fr)
Inventor
Marc Labrucherie
Jean-Bernard LABRUCHERIE
Stephan LABRUCHERIE
Florian CASTILLO
Original Assignee
Marc Labrucherie
Labrucherie Jean Bernard
Labrucherie Stephan
Castillo Florian
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by Marc Labrucherie, Labrucherie Jean Bernard, Labrucherie Stephan, Castillo Florian filed Critical Marc Labrucherie
Publication of WO2019224468A1 publication Critical patent/WO2019224468A1/en

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
    • G05D1/0061—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements for transition from automatic pilot to manual pilot and vice versa
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • B64D45/0015—Devices specially adapted for the protection against criminal attack, e.g. anti-hijacking systems
    • B64D45/0031—Devices specially adapted for the protection against criminal attack, e.g. anti-hijacking systems means for overriding or restricting access to flight controls
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
    • 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
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0056—Navigation or guidance aids for a single aircraft in an emergency situation, e.g. hijacking
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/04—Anti-collision systems
    • G08G5/045—Navigation or guidance aids, e.g. determination of anti-collision manoeuvers

Definitions

  • the present invention relates to the general field of aeronautics, and more particularly relates to aircraft with electric flight controls (commonly known as "fly-by-wire" in English).
  • flight controls are the transmission systems that make the link between the steering devices (such as the pilot's handle or the autopilot) and the aircraft's moving surface actuators (such as as the aerodynamic control surfaces) to change the trajectory of the aircraft.
  • the flight controls of an airplane have long been mechanical (or hydro-mechanical); the actuation by the pilot of the control members for acting directly (via cables) on the movable surface actuators of the aircraft to modify their effects and thus the trajectory of the aircraft.
  • the mechanical flight controls are gradually replaced by electric flight controls (or "fly-by-wire" in English).
  • the pilot of the airplane or the autopilot transmits flight control instructions of the aircraft to a flight computer which, from these flight instructions, calculates and transmits signals the movable surface actuators of the aircraft to allow the aircraft to follow the desired path.
  • the pilot no longer determines the movement of the moving surfaces of the aircraft to be carried out and then controls the effects by means of his on-board instruments, but he determines the movement of the aircraft leaving the computer of flight to control the movements of the moving surfaces of the aircraft necessary to perform the required maneuver according to altitude, speed, etc. from the plane.
  • GPWS Ground Proximity Warning System
  • This system consists of a monitoring system that is coupled to the aircraft's radio altimeter and gives the pilot audible and visual alarms in the event of dangerous flight conditions close to the ground.
  • this monitoring system detects only the proximity of the ground to the vertical plane.
  • EGPWS Enhanced Ground Proximity Warning System
  • the EGPWS monitoring system is not entirely satisfactory.
  • the flight safety control instructions issued by this surveillance system are generally to be executed in a very short period of time which is not always appropriate to avoid the collision.
  • this monitoring system does not prevent a voluntary human action to precipitate the aircraft against a target or against the ground or at sea (case of a pirate who took control of the aircraft or a suicidal pilot).
  • the present invention therefore has the main purpose of providing a method for saving the flight path of an aircraft that does not have the disadvantages of the aforementioned surveillance systems. According to the invention, this object is achieved by means of a method for automatically saving the flight of an electric flight control aircraft in flight, in which:
  • an airplane pilot transmits aircraft control instructions to a flight computer which, from these flight instructions, calculates and transmits electrical signals to the mobile surface actuators of the aircraft. aircraft to allow the airplane to follow a trajectory requested by the pilot;
  • an aircraft control system automatically unlocks a cockpit access door. of the aircraft and automatically disinhibits piloting instructions from the pilot and calculates a safety trajectory allowing the aircraft to avoid entering the prohibited flight space, said safety trajectory being converted into signals electrical devices which are transmitted directly to the movable surface actuators of the aircraft to effect the maneuver for securing the aircraft by excluding any action on the part of the pilot;
  • the control system of the aircraft neutralizes any manual control of cut or abnormal maneuver of a critical system of the aircraft in the absence of warning indicating the need for such a maneuver.
  • the method according to the invention is remarkable in that in the event of detection of a crossing by the aircraft of a predefined warning surface associated with a forbidden space of flight, a control system makes it possible to disinhibit any action of steering from the cockpit (either directly by the manual steering control or indirectly by the autopilot computer), to take control of the flight computer in order to calculate and directly apply to the actuators the moving surfaces of the aircraft.
  • aircraft electrical signals to adopt a safety path that prevents the aircraft from entering the forbidden space of flight. In this way, any voluntary or involuntary human action tending to precipitate the aircraft on the ground, in the sea or on a site to be protected (case of a pirate having taken control of the plane or a suicidal pilot) will be annihilated.
  • the Flight control instructions for the aircraft will be directly implemented by the control system excluding any action on the part of the pilot.
  • the method according to the invention also makes it possible to prevent a pirate or a suicidal pilot from precipitating the aircraft on the ground or at sea. To reach this level of backup, it is not enough to protect the trajectory by the "grip in hand. Piloting (by a backup system for example), but it is also necessary to prevent any voluntary interruption or abnormal maneuvering of a critical system (eg engines) operating normally when the aircraft is in flight. Finally, when a pirate or suicidal pilot has taken possession of the cockpit, the method according to the invention gives the other occupants of the aircraft the opportunity to enter the station to try to regain control of the situation before exhaustion. fuel leading to the extinction of the engines and therefore to the accident.
  • a critical system eg engines
  • the implementation of the method according to the invention requires the creation of a database containing the aeronautical safety altitudes for all the points of the terrestrial globe.
  • these security altitudes may be simple data to be added to the databases already used in the aeronautical world for air navigation (for example to maps published by the Aeronautical Information Service).
  • the forbidden space can include the geographical coordinates of a terrestrial site to be protected (building, city, central, etc.), in which case it is advantageously bounded on the outside by an impassable surface, the associated warning surface. to the forbidden space of flight being positioned around the impassable surface.
  • the impassable surface of a forbidden space of flight can be in the form of a circular truncated cone forming on the ground a circle of center centered on the site to be protected.
  • the generator of the truncated cone of the impassable surface of a prohibited space of flight preferably forms a slope whose angle with respect to the horizontal is greater than that with the trajectory of the airplane when this one navigates with its engines cut or reduced and all trails out.
  • the safety path includes a turn initiated as soon as the aircraft reaches the warning surface at a point.
  • the no-fly space may also be delimited at altitude by an impassable surface whose altitude is equal to a predetermined safety altitude, the warning surface associated with the forbidden space of flight being positioned above the surface impassable, the safety trajectory being calculated to bring and maintain the aircraft above the predetermined safe altitude.
  • the impassable surface and the safety surface may each include at least one air corridor defining flight paths within the forbidden flight space that can be taken by the airplane under normal flight conditions so as to be able to leave or to reach an airport located inside the site to be protected.
  • the safety trajectory is carried out at a flight altitude at least equal to a predetermined safety altitude.
  • the control system gives the pilot control of the trajectory to enable him to attempt a landing or landing in the area he considers the most favorable.
  • the invention also relates to a computer program comprising instructions for carrying out the steps of the method of automatic backup in flight of the trajectory of an aircraft with electric flight controls as defined above.
  • the invention also relates to a computer-readable information medium comprising instructions of a computer program as mentioned above.
  • the information carrier may be any entity or device capable of storing the program.
  • the medium may comprise storage means, such as a ROM, for example a CD ROM or a microelectronic circuit ROM, or a magnetic recording medium, for example a floppy disk or a disk. hard.
  • the information medium may be a transmissible medium such as an electrical or optical signal, which may be conveyed via an electrical or optical cable, by radio or by other means.
  • the program according to the invention can be downloaded in particular on an Internet type network.
  • the support information can be an integrated circuit in which the program is incorporated, the circuit being adapted to execute or to be used in the execution of the method in question.
  • FIG. 1 is a schematic view of a flight control architecture for implementing the method according to the invention
  • FIG. 2 is a schematic side view showing an exemplary implementation of the method according to the invention.
  • FIGS. 3A and 3B are diagrammatic side and top views, respectively, of another example of implementation of the method according to the invention.
  • the invention relates to a method for automatically and autonomously take control of an aircraft equipped with electric flight controls in order to safeguard it.
  • FIG. 1 schematically represents an exemplary flight control architecture 2 for the implementation of such a method according to the invention.
  • a pilot of the airplane transmits flight control instructions from the aircraft to a flight computer 4. This transmission is effected either directly via a manual control 6 (for example a mini-stick), or indirectly by activation of an autopilot computer 8.
  • the flight computer 4 calculates and transmits electrical signals 10 to the actuators 12 of the various moving surfaces 14 of the aircraft (in particular the control surfaces) to enable the aircraft to follow a trajectory requested by the pilot.
  • the invention also covers the case of any other non-mechanical signals, such as optical or digital signals, for example.
  • the flight computer 4 samples the steering instructions, but also other data on the flight conditions such as the inertial data from the aircraft 16 and the positions of the actuators .
  • ARLAS Aircraft Recovery Last Avoidance System
  • This control system 18 has the function of automatically taking control of the aircraft controls in the event of detection of a voluntary or involuntary human action that would aim to precipitate the aircraft on a chosen target on the ground or on the ground or in the sea.
  • the control system 18 of the aircraft automatically disinhibits the piloting instructions from the pilot and calculates a safety trajectory Ts allowing the aircraft to avoid entering the prohibited space of flight E.
  • the safety path Ts which is developed by the control system 18 is then converted into electrical signals which are transmitted directly to the actuators 12 of the movable surfaces 14 of the aircraft to automatically perform the maneuver to secure the aircraft.
  • the method according to the invention makes it possible to prevent the aircraft from impacting a site to be protected, the ground or the sea in all circumstances, especially when it comes from a maneuver voluntary pilot (case of a pirate who took control of the plane or case of a suicidal pilot).
  • the forbidden space of flight E takes different forms. As represented in FIG. 2, it can notably be an area of the airspace E which is under a predetermined safety altitude As.
  • the safety altitudes in every point of the terrestrial globe are listed in bases of navigation data typically used in the aeronautical world for air navigation (eg maps edited by the Aeronautical Information Service). These safety altitudes in every point of the globe constitute a terrestrial safety surface.
  • the forbidden space of flight E is delimited in altitude by an impassable surface SI whose altitude is equal to the predetermined safety altitude As. From this impassable surface, an SA warning surface associated with the forbidden space of flight is defined, this SA warning surface being positioned above the impassable surface.
  • the control system 18 automatically disarms the piloting instructions from the pilot and calculates a safety path Ts to bring and maintain the aircraft above the corresponding predetermined safety altitude As.
  • This safety trajectory Ts is calculated and converted into electric signals that are transmitted to the actuators of the movable surfaces of the aircraft to enable it to avoid crossing the impassable surface SI and thus to penetrate inside the forbidden space of flight E. Any attempt by the pilot to hit the ground or the sea can thus be avoided.
  • the forbidden space E may also take the form of an area of the airspace that encompasses a site to be protected (for example a nuclear power plant, a city, etc.).
  • a site to be protected for example a nuclear power plant, a city, etc.
  • the forbidden space E is delimited externally by an impassable surface SI and includes the coordinates of the site to be protected 20.
  • the impassable surfaces SI delimiting a forbidden space of flight are in the form of a trunk of circular cone forming on the ground a circle C of center O centered on the site to be protected, this circle having a radius R.
  • the generator of this cone forms a slope whose angle with respect to the horizontal is greater than that formed by the flight path of the aircraft (angle b with respect to the horizontal plane) when it is sailing with its engines cut (or reduced) and any trailed outputs (trains, flaps, spoilers, air brakes, thrust reversers, etc.) .
  • a warning surface SA is defined which is in the form of a circular cone positioned around the cone of the impassable surface SI corresponding to it being coaxial.
  • This warning surface SA defines the trigger threshold of the control system 18 in order to put the aircraft on a safety trajectory Ts avoiding it to cross the impassable surface SI and thus to enter the forbidden space of stolen.
  • the cone of the SA warning surface has a generator that forms a slope parallel to the slope of the cone of the impassable surface SI. These two slopes are distant (in horizontal projection) of a distance of which is constant whatever the altitude of the plane. Furthermore, this distance is chosen so that when the aircraft reaches the warning surface SA, the control system 18 imposes a safety trajectory Ts that includes a V-turn to avoid crossing the surface. insurmountable SI and thus penetrate inside the forbidden space of flight E.
  • the turn V of the safety trajectory Ts is in the form of an arc of circle belonging to a circle C 'centered on a point O' aligned with the point I and having a radius R 'such that the circle C and the circle C 'are tangent.
  • this turn is made at a flight altitude equal to the safety altitude As.
  • the control system 18 automatically disarms the piloting instructions from the pilot and the autopilot and controls the actuators of the moving surfaces of the aircraft. plane to enable it to follow the turn of the safety path Ts which allows it to avoid crossing the impassable surface SI and thus to enter the forbidden space of flight E.
  • this database 19 is connected to the flight management system 21 (called FMS for “Flight Management System”) which makes it possible to assist the pilot during the flight by providing him with information on the piloting, the navigation, the estimated, fuel consumption, etc.
  • FMS flight Management System
  • the control system 18 of the aircraft neutralizes all accessible manual controls of critical systems of the aircraft and all manual controls for abnormal shutdown or maneuvering of the various critical aircraft systems in the absence of an alert indicating the need to cut them.
  • Critical aircraft systems are all systems essential to the operation of the aircraft, for example engines.
  • Accessible manual controls of aircraft critical systems means all accessible controls or circuit breakers of aircraft critical systems (engines, flight controls, electrical, pneumatic, hydraulic, etc.) for which voluntary tampering would be Without effect.
  • the control system 18 controls the automatic unlocking of the access door to the flight deck of the aircraft. 'plane.
  • the control system also controls the automatic unlocking of the door. access to the cockpit of the aircraft.
  • the impassable surface SI and the safety surface SA may comprise at least one air corridor delimiting flight paths inside the forbidden flight space E that can be taken by the aircraft under normal flight conditions. to leave or reach an airport within the site to be protected. This is typically the case of an impassable surface encompassing an aerodrome for which it is necessary to allow aircraft to cross this surface in order to land and take off, the aircraft then being allowed to use these air corridors to perform these maneuvers .
  • slopes of the surfaces delimiting these air corridors are greater than that of the airplane trajectory when the latter is sailing with its engines cut (or reduced) and all outgoing trains (trains, flaps, spoilers, airbrakes, thrust reversers). , etc.).
  • SI impenetrable surfaces, SA safety surfaces and air corridors are defined by geographical coordinates (latitude and longitude) that are stored in the ARLAS 19 database.
  • the control system gives control of the trajectory to the pilot to enable him to attempt a landing or landing in the area he considers the most favorable.
  • the flight computer will detect a degradation of the aircraft performance allowing only the flight downhill for example when all the engines are cut or when one or more engines still work but for another reason (by icing of the cell), the aircraft born can only go down. In this case, the flight computer will detect that with the throttle lever engines in maximum thrust operation, the aircraft being at the speed (or below the speed) maximum fineness associated with the configuration of the moment, the airplane can only descend or have a speed in regression.
  • this feature allows the pilot to land or ditch.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention concerns a method for automatically saving, in flight, the trajectory of an aircraft with electric flight controls, in which, in normal flight conditions, a pilot of the aircraft transmits piloting instructions to a flight computer (4) which, based on these piloting instructions, calculates and transmits electric signals (10) to the actuators (12) of movable surfaces (14) of the aircraft in order to allow the aircraft to follow a trajectory requested by the pilot; in the event of the flight computer detecting that the aircraft has crossed a predefined alert surface associated with a prohibited flight space, a control system (18) of the aircraft automatically overrides the piloting instructions from the pilot and calculates a safe trajectory that allows the aircraft to avoid entering the prohibited flight space and is converted into electric signals that are transmitted to the actuators of movable surfaces of the aircraft in order to perform the aircraft safety manoeuvre, excluding any action that may be taken by the pilot.

Description

Titre de l'invention  Title of the invention
Procédé de sauvegarde automatique en vol de la trajectoire d'un avion à commandes de vol électriques Arrière-plan de l'invention  Method for Automatic Backup in Flight of the Flight Path of an Electric Flight Control Aircraft Background of the Invention
La présente invention se rapporte au domaine général de l'aéronautique, et concerne plus particulièrement les avions à commandes de vol électriques (communément dénommées « fly-by-wire » en anglais).  The present invention relates to the general field of aeronautics, and more particularly relates to aircraft with electric flight controls (commonly known as "fly-by-wire" in English).
Dans le domaine de l'aviation, les commandes de vol sont les systèmes de transmission qui font le lien entre les organes de pilotage (tels que le manche du pilote ou le pilote automatique) et les actionneurs de surfaces mobiles de l'avion (telles que les gouvernes aérodynamiques) permettant de modifier la trajectoire de l'avion.  In the field of aviation, flight controls are the transmission systems that make the link between the steering devices (such as the pilot's handle or the autopilot) and the aircraft's moving surface actuators (such as as the aerodynamic control surfaces) to change the trajectory of the aircraft.
Les commandes de vol d'un avion ont longtemps été mécaniques (ou hydro-mécaniques) ; l'actionnement par le pilote des organes de pilotage permettant d'agir directement (par l'intermédiaire de câbles) sur les actionneurs de surfaces mobiles de l'avion afin de modifier leurs effets et ainsi la trajectoire de l'avion.  The flight controls of an airplane have long been mechanical (or hydro-mechanical); the actuation by the pilot of the control members for acting directly (via cables) on the movable surface actuators of the aircraft to modify their effects and thus the trajectory of the aircraft.
Pour des raisons de fiabilité et de réduction de poids, les commandes de vol mécaniques sont progressivement remplacées par des commandes de vol électriques (ou « fly-by-wire » en anglais). Grâce à ce type de commande de vol, le pilote de l'avion (ou le pilote automatique) transmet des consignes de pilotage de l'avion à un calculateur de vol qui, à partir de ces consignes de pilotage, calcule et transmet des signaux électriques aux actionneurs de surfaces mobiles de l'avion pour permettre à l'avion de suivre la trajectoire souhaitée. En particulier, avec ce type de commande, le pilote ne détermine plus le mouvement des surfaces mobiles de l'avion à effectuer pour ensuite en contrôler les effets grâce à ses instruments de bord, mais il détermine le mouvement de l'avion laissant au calculateur de vol le soin de commander les mouvements des surfaces mobiles de l'avion nécessaires pour effectuer la manœuvre demandée en fonction de l'altitude, de la vitesse, etc. de l'avion.  For reasons of reliability and weight reduction, the mechanical flight controls are gradually replaced by electric flight controls (or "fly-by-wire" in English). Thanks to this type of flight control, the pilot of the airplane (or the autopilot) transmits flight control instructions of the aircraft to a flight computer which, from these flight instructions, calculates and transmits signals the movable surface actuators of the aircraft to allow the aircraft to follow the desired path. In particular, with this type of control, the pilot no longer determines the movement of the moving surfaces of the aircraft to be carried out and then controls the effects by means of his on-board instruments, but he determines the movement of the aircraft leaving the computer of flight to control the movements of the moving surfaces of the aircraft necessary to perform the required maneuver according to altitude, speed, etc. from the plane.
Par ailleurs, la sécurité d'un avion en vol est devenue un enjeu majeur notamment du fait de l'accroissement du trafic aérien mondial. Or, avec les systèmes de commandes de vol actuels, le risque qu'une action humaine (volontaire ou involontaire) ne précipite un avion sur une cible au sol ou sur le sol ou dans la mer reste élevé. En particulier, ces systèmes de commande ne permettent pas toujours d'éviter que des pirates ne s'emparent des commandes de l'avion pour le précipiter sur une cible au sol choisie ou qu'un pilote suicidaire ne précipite l'avion sur le sol ou en mer. De même, les erreurs de navigation dans le plan horizontal ou le plan vertical conduisant à une collision avec le sol ou la mer d'un avion piloté en conditions normales de vol (c'est-à-dire hors perte de contrôle de l'appareil) ne peuvent pas toujours être empêchées. In addition, the safety of an aircraft in flight has become a major issue, particularly because of the increase in global air traffic. However, with current flight control systems, the risk that human action (voluntary or involuntary) may precipitate an aircraft on a target at ground or on the ground or in the sea remains high. In particular, these control systems do not always make it possible to prevent hackers from grabbing the controls of the aircraft to precipitate it on a chosen ground target or that a suicidal pilot does not precipitate the aircraft on the ground. or at sea. Similarly, navigational errors in the horizontal plane or the vertical plane leading to a collision with the ground or the sea of an airplane flown in normal flight conditions (that is to say excluding loss of control of the device) can not always be prevented.
Pour limiter ces effets, certains avions sont équipés d'un système d'avertissement de proximité sol, communément appelé GPWS pour « Ground Proximity Warning System » en anglais. Ce système consiste en un système de surveillance qui est couplé au radioaltimètre de l'avion et qui donne au pilote des alarmes sonores et visuelles en cas de conditions de vol dangereuses proches du sol. Cependant, ce système de surveillance ne détecte que la proximité du sol à la verticale de l'avion.  To limit these effects, some aircraft are equipped with a ground proximity warning system, commonly called GPWS for "Ground Proximity Warning System". This system consists of a monitoring system that is coupled to the aircraft's radio altimeter and gives the pilot audible and visual alarms in the event of dangerous flight conditions close to the ground. However, this monitoring system detects only the proximity of the ground to the vertical plane.
Un système de surveillance plus évolué, dénommé EGPWS pour « Enhanced Ground Proximity Warning System » en anglais, permet, en plus de l'émission d'alarmes, de montrer au pilote sur l'écran de navigation le relief autour de l'avion et de donner des consignes de pilotage de sauvegarde de l'avion qui sont à exécuter par le pilote pour éviter la collision avec le sol ou la mer.  A more advanced surveillance system, called EGPWS for "Enhanced Ground Proximity Warning System" in English, allows, in addition to the issuance of alarms, to show the pilot on the navigation screen the relief around the aircraft and to give flight safety piloting instructions that are to be executed by the pilot to avoid collision with the ground or the sea.
Le système de surveillance EGPWS n'est toutefois pas entièrement satisfaisant. En particulier, les consignes de pilotage de sauvegarde de l'avion émis par ce système de surveillance sont généralement à exécuter dans un laps de temps très court qui n'est pas toujours approprié pour éviter la collision. De plus, ce système de surveillance ne permet pas d'éviter une action humaine volontaire pour précipiter l'avion contre une cible ou contre le sol ou en mer (cas d'un pirate ayant pris le contrôle de l'avion ou d'un pilote suicidaire).  However, the EGPWS monitoring system is not entirely satisfactory. In particular, the flight safety control instructions issued by this surveillance system are generally to be executed in a very short period of time which is not always appropriate to avoid the collision. In addition, this monitoring system does not prevent a voluntary human action to precipitate the aircraft against a target or against the ground or at sea (case of a pirate who took control of the aircraft or a suicidal pilot).
Objet et résumé de l'invention Object and summary of the invention
La présente invention a donc pour but principal de proposer un procédé de sauvegarde de la trajectoire en vol d'un avion qui ne présente pas les inconvénients des systèmes de surveillance précités. Conformément à l'invention, ce but est atteint grâce à un procédé de sauvegarde automatique en vol de la trajectoire d'un avion à commandes de vol électriques, dans lequel : The present invention therefore has the main purpose of providing a method for saving the flight path of an aircraft that does not have the disadvantages of the aforementioned surveillance systems. According to the invention, this object is achieved by means of a method for automatically saving the flight of an electric flight control aircraft in flight, in which:
en conditions normales de vol, un pilote de l'avion transmet des consignes de pilotage de l'avion à un calculateur de vol qui, à partir de ces consignes de pilotage, calcule et transmet des signaux électriques aux actionneurs de surfaces mobiles de l'avion pour permettre à l'avion de suivre une trajectoire demandée par le pilote ;  under normal flight conditions, an airplane pilot transmits aircraft control instructions to a flight computer which, from these flight instructions, calculates and transmits electrical signals to the mobile surface actuators of the aircraft. aircraft to allow the airplane to follow a trajectory requested by the pilot;
en cas de détection par le calculateur de vol du franchissement par l'avion d'une surface d'alerte prédéfinie associée à un espace interdit de vol, un système de contrôle de l'avion déverrouille automatiquement une porte d'accès au poste de pilotage de l'avion et désinhibe automatiquement les consignes de pilotage provenant du pilote et calcule une trajectoire de sécurité permettant à l'avion d'éviter de pénétrer à l'intérieur de l'espace interdit de vol, ladite trajectoire de sécurité étant convertie en signaux électriques qui sont transmis directement aux actionneurs de surfaces mobiles de l'avion pour effectuer la manœuvre de mise en sécurité de l'avion en excluant une quelconque action de la part du pilote ; et  in the event that the flight computer detects that the aircraft has crossed a predefined warning surface associated with a prohibited flight space, an aircraft control system automatically unlocks a cockpit access door. of the aircraft and automatically disinhibits piloting instructions from the pilot and calculates a safety trajectory allowing the aircraft to avoid entering the prohibited flight space, said safety trajectory being converted into signals electrical devices which are transmitted directly to the movable surface actuators of the aircraft to effect the maneuver for securing the aircraft by excluding any action on the part of the pilot; and
dès qu'un système air/sol de l'avion indique que l'avion est en vol, le système de contrôle de l'avion neutralise toute commande manuelle de coupure ou de manœuvre anormale d'un système critique de l'avion en l'absence d'alerte indiquant la nécessité d'une telle manœuvre.  as soon as an air / ground system of the aircraft indicates that the aircraft is in flight, the control system of the aircraft neutralizes any manual control of cut or abnormal maneuver of a critical system of the aircraft in the absence of warning indicating the need for such a maneuver.
Le procédé selon l'invention est remarquable en ce qu'en cas de détection d'un franchissement par l'avion d'une surface d'alerte prédéfinie associée à un espace interdit de vol, un système de contrôle permet de désinhiber toute action de pilotage provenant du poste de pilotage (soit directement par la commande manuelle de pilotage, soit indirectement par l'ordinateur de pilotage automatique), de prendre le contrôle du calculateur de vol afin de calculer et d'appliquer directement aux actionneurs des surfaces mobiles de l'avion des signaux électriques permettant d'adopter une trajectoire de sécurité qui empêche l'avion de pénétrer à l'intérieur de l'espace interdit de vol. De la sorte, toute action humaine volontaire ou involontaire tendant à précipiter l'avion sur le sol, dans la mer ou sur un site à protéger (cas d'un pirate ayant pris le contrôle de l'avion ou d'un pilote suicidaire) sera annihilée. De plus, les consignes de pilotage de sauvegarde de l'avion seront directement implémentées par le système de contrôle en excluant une quelconque action de la part du pilote. The method according to the invention is remarkable in that in the event of detection of a crossing by the aircraft of a predefined warning surface associated with a forbidden space of flight, a control system makes it possible to disinhibit any action of steering from the cockpit (either directly by the manual steering control or indirectly by the autopilot computer), to take control of the flight computer in order to calculate and directly apply to the actuators the moving surfaces of the aircraft. aircraft electrical signals to adopt a safety path that prevents the aircraft from entering the forbidden space of flight. In this way, any voluntary or involuntary human action tending to precipitate the aircraft on the ground, in the sea or on a site to be protected (case of a pirate having taken control of the plane or a suicidal pilot) will be annihilated. Moreover, the Flight control instructions for the aircraft will be directly implemented by the control system excluding any action on the part of the pilot.
Le procédé selon l'invention permet également d'empêcher un pirate ou un pilote suicidaire de précipiter l'avion sur le sol ou en mer. Pour atteindre ce niveau de sauvegarde, il ne suffit pas de protéger la trajectoire par la « prise en main » du pilotage (par un système de sauvegarde par exemple), mais il est aussi nécessaire d'empêcher toute coupure volontaire ou manœuvre anormale d'un système critique (par exemple les moteurs) fonctionnant normalement lorsque l'avion est en vol. Enfin, lorsqu'un pirate ou pilote suicidaire a pris possession du poste de pilotage, le procédé selon l'invention donne aux autres occupants de l'avion la possibilité d'entrer dans le poste pour tenter de reprendre la maîtrise de la situation avant épuisement du carburant conduisant à l'extinction des moteurs et donc à l'accident.  The method according to the invention also makes it possible to prevent a pirate or a suicidal pilot from precipitating the aircraft on the ground or at sea. To reach this level of backup, it is not enough to protect the trajectory by the "grip in hand. Piloting (by a backup system for example), but it is also necessary to prevent any voluntary interruption or abnormal maneuvering of a critical system (eg engines) operating normally when the aircraft is in flight. Finally, when a pirate or suicidal pilot has taken possession of the cockpit, the method according to the invention gives the other occupants of the aircraft the opportunity to enter the station to try to regain control of the situation before exhaustion. fuel leading to the extinction of the engines and therefore to the accident.
La mise en œuvre du procédé selon l'invention requiert la création d'une base de données contenant les altitudes de sécurité aéronautiques pour l'ensemble des points du globe terrestre. Typiquement, ces altitudes de sécurité pourront être de simples données à ajouter aux bases de données déjà utilisées dans le monde aéronautique pour la navigation aérienne (par exemple aux cartes éditées par le Service Information Aéronautique).  The implementation of the method according to the invention requires the creation of a database containing the aeronautical safety altitudes for all the points of the terrestrial globe. Typically, these security altitudes may be simple data to be added to the databases already used in the aeronautical world for air navigation (for example to maps published by the Aeronautical Information Service).
L'espace interdit de vol peut englober les coordonnées géographiques d'un site terrestre à protéger (bâtiment, ville, centrale, etc.), auquel cas il est avantageusement délimité à l'extérieur par une surface infranchissable, la surface d'alerte associée à l'espace interdit de vol étant positionnée autour de la surface infranchissable.  The forbidden space can include the geographical coordinates of a terrestrial site to be protected (building, city, central, etc.), in which case it is advantageously bounded on the outside by an impassable surface, the associated warning surface. to the forbidden space of flight being positioned around the impassable surface.
Dans ce cas, la surface infranchissable d'un espace interdit de vol peut se présenter sous la forme d'un tronc de cône circulaire formant au sol un cercle de centre centré sur le site à protéger. La génératrice du tronc de cône de la surface infranchissable d'un espace interdit de vol forme de préférence une pente dont l'angle par rapport à l'horizontal est supérieur à celui formé par la trajectoire de l'avion lorsque celui-ci navigue avec ses moteurs coupés ou réduits et toutes traînées sorties.  In this case, the impassable surface of a forbidden space of flight can be in the form of a circular truncated cone forming on the ground a circle of center centered on the site to be protected. The generator of the truncated cone of the impassable surface of a prohibited space of flight preferably forms a slope whose angle with respect to the horizontal is greater than that with the trajectory of the airplane when this one navigates with its engines cut or reduced and all trails out.
De préférence également, la trajectoire de sécurité comprend un virage amorcé dès que l'avion atteint la surface d'alerte en un point. L'espace interdit de vol peut également être délimité en altitude par une surface infranchissable dont l'altitude est égale à une altitude de sécurité prédéterminée, la surface d'alerte associée à l'espace interdit de vol étant positionnée au-dessus de la surface infranchissable, la trajectoire de sécurité étant calculée pour amener et maintenir l'avion au-dessus de l'altitude de sécurité prédéterminée. Also preferably, the safety path includes a turn initiated as soon as the aircraft reaches the warning surface at a point. The no-fly space may also be delimited at altitude by an impassable surface whose altitude is equal to a predetermined safety altitude, the warning surface associated with the forbidden space of flight being positioned above the surface impassable, the safety trajectory being calculated to bring and maintain the aircraft above the predetermined safe altitude.
La surface infranchissable et la surface de sécurité peuvent comprendre chacune au moins un couloir aérien délimitant des trajectoires de vol à l'intérieur de l'espace interdit de vol pouvant être empruntées par l'avion en conditions normales de vol de façon à pouvoir quitter ou rejoindre un aéroport se situant à l'intérieur du site à protéger.  The impassable surface and the safety surface may each include at least one air corridor defining flight paths within the forbidden flight space that can be taken by the airplane under normal flight conditions so as to be able to leave or to reach an airport located inside the site to be protected.
De préférence, la trajectoire de sécurité s'effectue à une altitude de vol au moins égale à une altitude de sécurité prédéterminée.  Preferably, the safety trajectory is carried out at a flight altitude at least equal to a predetermined safety altitude.
De préférence encore, en cas de détection par le calculateur de vol d'une dégradation de la performance avion ne permettant que le vol en descente, et lorsque le calculateur détecte le franchissement par l'avion d'une surface d'alerte prédéfinie, le système de contrôle laisse le contrôle de la trajectoire au pilote pour lui permettre de tenter un atterrissage ou amerrissage dans la zone lui paraissant la plus favorable.  More preferably, in the event of detection by the flight computer of a degradation of the aircraft performance allowing only the flight downhill, and when the computer detects the crossing by the aircraft of a predefined warning surface, the control system gives the pilot control of the trajectory to enable him to attempt a landing or landing in the area he considers the most favorable.
L'invention concerne encore un programme d'ordinateur comportant des instructions pour l'exécution des étapes du procédé de sauvegarde automatique en vol de la trajectoire d'un avion à commandes de vol électriques tel que défini précédemment.  The invention also relates to a computer program comprising instructions for carrying out the steps of the method of automatic backup in flight of the trajectory of an aircraft with electric flight controls as defined above.
L'invention vise aussi un support d'informations lisible par un ordinateur et comportant des instructions d'un programme d'ordinateur tel que mentionné ci-dessus. Le support d'informations peut être n'importe quelle entité ou dispositif capable de stocker le programme. Par exemple, le support peut comporter un moyen de stockage, tel qu'une ROM, par exemple un CD ROM ou une ROM de circuit microélectronique, ou encore un moyen d'enregistrement magnétique, par exemple une disquette (floppy dise) ou un disque dur.  The invention also relates to a computer-readable information medium comprising instructions of a computer program as mentioned above. The information carrier may be any entity or device capable of storing the program. For example, the medium may comprise storage means, such as a ROM, for example a CD ROM or a microelectronic circuit ROM, or a magnetic recording medium, for example a floppy disk or a disk. hard.
D'autre part, le support d'informations peut être un support transmissible tel qu'un signal électrique ou optique, qui peut être acheminé via un câble électrique ou optique, par radio ou par d'autres moyens. Le programme selon l'invention peut être en particulier téléchargé sur un réseau de type Internet. Alternativement, le support d'informations peut être un circuit intégré dans lequel le programme est incorporé, le circuit étant adapté pour exécuter ou pour être utilisé dans l'exécution du procédé en question. Brève description des dessins On the other hand, the information medium may be a transmissible medium such as an electrical or optical signal, which may be conveyed via an electrical or optical cable, by radio or by other means. The program according to the invention can be downloaded in particular on an Internet type network. Alternatively, the support information can be an integrated circuit in which the program is incorporated, the circuit being adapted to execute or to be used in the execution of the method in question. Brief description of the drawings
D'autres caractéristiques et avantages de la présente invention ressortiront de la description faite ci-dessous, en référence aux dessins annexés qui en illustrent des exemples de réalisation dépourvus de tout caractère limitatif. Sur les figures :  Other features and advantages of the present invention will emerge from the description given below, with reference to the accompanying drawings which illustrate embodiments having no limiting character. In the figures:
- la figure 1 est une vue schématique d'une architecture de commande de vol pour la mise en œuvre du procédé selon l'invention ;  FIG. 1 is a schematic view of a flight control architecture for implementing the method according to the invention;
- la figure 2 est une vue schématique de côté montrant un exemple de mise en œuvre du procédé selon l'invention ; et  FIG. 2 is a schematic side view showing an exemplary implementation of the method according to the invention; and
- les figures 3A et 3 B sont des vues schématiques de côté et de dessus, respectivement, d'un autre exemple de mise en œuvre du procédé selon l'invention.  FIGS. 3A and 3B are diagrammatic side and top views, respectively, of another example of implementation of the method according to the invention.
Description détaillée de l'invention Detailed description of the invention
L'invention concerne un procédé permettant de prendre de façon automatique et autonome le contrôle en vol d'un avion équipé de commandes de vol électriques en vue de sa sauvegarde.  The invention relates to a method for automatically and autonomously take control of an aircraft equipped with electric flight controls in order to safeguard it.
La figure 1 représente de façon schématique un exemple d'architecture de commande de vol 2 pour la mise en œuvre d'un tel procédé selon l'invention.  FIG. 1 schematically represents an exemplary flight control architecture 2 for the implementation of such a method according to the invention.
En conditions normales de vol, un pilote de l'avion transmet des consignes de pilotage de l'avion à un calculateur de vol 4. Cette transmission s'effectue soit de façon directe par l'intermédiaire d'une commande manuelle 6 (par exemple un mini-manche), soit de façon indirecte par activation d'un ordinateur de pilotage automatique 8.  Under normal flight conditions, a pilot of the airplane transmits flight control instructions from the aircraft to a flight computer 4. This transmission is effected either directly via a manual control 6 (for example a mini-stick), or indirectly by activation of an autopilot computer 8.
De façon connue, à partir de ces consignes de pilotage, le calculateur de vol 4 calcule et transmet des signaux électriques 10 aux actionneurs 12 des différentes surfaces mobiles 14 de l'avion (notamment les gouvernes) pour permettre à l'avion de suivre une trajectoire demandée par le pilote. Bien entendu, l'invention couvre également le cas de tout autres signaux non mécaniques, tels que des signaux optiques ou numériques par exemple. Plus précisément, afin d'élaborer les signaux électriques adéquats, le calculateur de vol 4 échantillonne les consignes de pilotage, mais également d'autres données sur les conditions de vol telles que les données inertielles provenant de l'avion 16 et les positions des actionneurs. In known manner, from these flight control instructions, the flight computer 4 calculates and transmits electrical signals 10 to the actuators 12 of the various moving surfaces 14 of the aircraft (in particular the control surfaces) to enable the aircraft to follow a trajectory requested by the pilot. Of course, the invention also covers the case of any other non-mechanical signals, such as optical or digital signals, for example. More specifically, in order to develop the appropriate electrical signals, the flight computer 4 samples the steering instructions, but also other data on the flight conditions such as the inertial data from the aircraft 16 and the positions of the actuators .
Selon l'invention, il est prévu d'intercaler un système électronique de contrôle 18 (appelé ARLAS pour « Aircraft Recovery Last Avoidance System » en anglais) entre, d'une part la commande manuelle 6 et l'ordinateur de pilotage automatique 8, et d'autre part le calculateur de vol 4.  According to the invention, it is planned to intercalate an electronic control system 18 (called ARLAS for "Aircraft Recovery Last Avoidance System" in English) between, on the one hand, the manual control 6 and the autopilot computer 8, and on the other hand the flight calculator 4.
Ce système de contrôle 18 a pour fonction de prendre automatiquement le contrôle des commandes de l'avion en cas de détection d'une action humaine volontaire ou involontaire qui viserait à précipiter l'avion sur une cible choisie au sol ou au sol ou dans la mer.  This control system 18 has the function of automatically taking control of the aircraft controls in the event of detection of a voluntary or involuntary human action that would aim to precipitate the aircraft on a chosen target on the ground or on the ground or in the sea.
A cet effet, au cours d'un vol, en cas de détection par le calculateur de vol du franchissement par l'avion d'une surface d'alerte prédéfinie SA associée à un espace interdit de vol E, le système de contrôle 18 de l'avion désinhibe automatiquement les consignes de pilotage provenant du pilote et calcule une trajectoire de sécurité Ts permettant à l'avion d'éviter de pénétrer à l'intérieur de l'espace interdit de vol E.  For this purpose, during a flight, in the event of detection by the flight computer of the crossing by the aircraft of a predefined warning surface SA associated with a forbidden space of flight E, the control system 18 of the aircraft automatically disinhibits the piloting instructions from the pilot and calculates a safety trajectory Ts allowing the aircraft to avoid entering the prohibited space of flight E.
Par « désinhibition des consignes de pilotage provenant du pilote », on entend ici que le système de contrôle 18 court-circuite automatiquement les liaisons entre le calculateur de vol 4 et la commande manuelle 6, d'une part, et les liaisons entre le calculateur de vol 4 et l'ordinateur de pilotage automatique 8, d'autre part. Ainsi, toute action du pilote sur le calculateur de vol (via la commande manuelle et l'ordinateur de pilotage automatique) est sans effet.  By "disinhibition of steering commands from the pilot" is meant here that the control system 18 automatically bypasses the links between the flight computer 4 and the manual control 6, on the one hand, and the links between the computer flight 4 and the autopilot computer 8, on the other hand. Thus, any action of the pilot on the flight computer (via the manual control and the autopilot computer) has no effect.
La trajectoire de sécurité Ts qui est élaborée par le système de contrôle 18 est ensuite convertie en signaux électriques qui sont transmis directement aux actionneurs 12 des surfaces mobiles 14 de l'avion pour effectuer automatiquement la manœuvre de mise en sécurité de l'avion.  The safety path Ts which is developed by the control system 18 is then converted into electrical signals which are transmitted directly to the actuators 12 of the movable surfaces 14 of the aircraft to automatically perform the maneuver to secure the aircraft.
De la sorte, le procédé selon l'invention permet d'éviter que l'avion ne vienne percuter un site à protéger, le sol ou la mer en toutes circonstances, notamment lorsque cela provient d'une manœuvre volontaire du pilote (cas d'un pirate ayant pris le contrôle de l'avion ou cas d'un pilote suicidaire). In this way, the method according to the invention makes it possible to prevent the aircraft from impacting a site to be protected, the ground or the sea in all circumstances, especially when it comes from a maneuver voluntary pilot (case of a pirate who took control of the plane or case of a suicidal pilot).
L'espace interdit de vol E prend différentes formes. Comme représenté sur la figure 2, il peut notamment s'agir d'une zone de l'espace aérien E qui se situe sous une altitude de sécurité prédéterminée As. Les altitudes de sécurité en tout point du globe terrestre sont répertoriées dans des bases de données de navigation typiquement utilisées dans le monde aéronautique pour la navigation aérienne (par exemple aux cartes éditées par le Service Information Aéronautique). Ces altitudes de sécurité en chaque point du globe constituent une surface de sécurité terrestre.  The forbidden space of flight E takes different forms. As represented in FIG. 2, it can notably be an area of the airspace E which is under a predetermined safety altitude As. The safety altitudes in every point of the terrestrial globe are listed in bases of navigation data typically used in the aeronautical world for air navigation (eg maps edited by the Aeronautical Information Service). These safety altitudes in every point of the globe constitute a terrestrial safety surface.
Dans ce cas, l'espace interdit de vol E est délimité en altitude par une surface infranchissable SI dont l'altitude est égale à l'altitude de sécurité As prédéterminée. A partir de cette surface infranchissable, on définit une surface d'alerte SA associée à l'espace interdit de vol, cette surface d'alerte SA étant positionnée au-dessus de la surface infranchissable.  In this case, the forbidden space of flight E is delimited in altitude by an impassable surface SI whose altitude is equal to the predetermined safety altitude As. From this impassable surface, an SA warning surface associated with the forbidden space of flight is defined, this SA warning surface being positioned above the impassable surface.
Ainsi, dès que le calculateur de vol 4 détecte le franchissement par l'avion d'une surface d'alerte SA associée à un espace interdit de vol E, le système de contrôle 18 désinhibe automatiquement les consignes de pilotage provenant du pilote et calcule une trajectoire de sécurité Ts pour amener et maintenir l'avion au-dessus de l'altitude de sécurité prédéterminée As correspondante.  Thus, as soon as the flight computer 4 detects the crossing by the aircraft of a warning surface SA associated with a forbidden space E, the control system 18 automatically disarms the piloting instructions from the pilot and calculates a safety path Ts to bring and maintain the aircraft above the corresponding predetermined safety altitude As.
Cette trajectoire de sécurité Ts est calculée et convertie en signaux électriques qui sont transmis aux actionneurs des surfaces mobiles de l'avion pour permettre à celui-ci d'éviter de franchir la surface infranchissable SI et ainsi de pénétrer à l'intérieur de l'espace interdit de vol E. Toute tentative par le pilote de percuter le sol ou la mer peut de la sorte être évitée.  This safety trajectory Ts is calculated and converted into electric signals that are transmitted to the actuators of the movable surfaces of the aircraft to enable it to avoid crossing the impassable surface SI and thus to penetrate inside the forbidden space of flight E. Any attempt by the pilot to hit the ground or the sea can thus be avoided.
Comme représenté sur les figures 3A et 3B, l'espace interdit de vol E peut également prendre la forme d'une zone de l'espace aérien qui englobe un site à protéger (par exemple une centrale nucléaire, une ville, etc.). Dans ce cas, l'espace interdit de vol E est délimité à l'extérieur par une surface infranchissable SI et englobe les coordonnées du site à protéger 20.  As shown in FIGS. 3A and 3B, the forbidden space E may also take the form of an area of the airspace that encompasses a site to be protected (for example a nuclear power plant, a city, etc.). In this case, the forbidden space E is delimited externally by an impassable surface SI and includes the coordinates of the site to be protected 20.
De façon avantageuse, les surfaces infranchissables SI délimitant un espace interdit de vol se présentent sous la forme d'un tronc de cône circulaire formant au sol un cercle C de centre O centré sur le site à protéger, ce cercle ayant un rayon R. La génératrice de ce cône forme une pente dont l'angle a par rapport à l'horizontal est supérieur à celui formé par la trajectoire de l'avion (angle b par rapport à l'horizontal) lorsque celui-ci navigue avec ses moteurs coupés (ou réduits) et toutes traînées sorties (trains, volets, spoilers, aérofreins, inverseurs de poussée, etc.). Advantageously, the impassable surfaces SI delimiting a forbidden space of flight are in the form of a trunk of circular cone forming on the ground a circle C of center O centered on the site to be protected, this circle having a radius R. The generator of this cone forms a slope whose angle with respect to the horizontal is greater than that formed by the flight path of the aircraft (angle b with respect to the horizontal plane) when it is sailing with its engines cut (or reduced) and any trailed outputs (trains, flaps, spoilers, air brakes, thrust reversers, etc.) .
Pour chaque espace interdit de vol E, on définit une surface d'alerte SA qui se présente sous la forme d'un cône circulaire positionné autour du cône de la surface infranchissable SI correspondante en lui étant coaxial. Cette surface d'alerte SA définit le seuil de déclenchement du système de contrôle 18 afin de mettre l'avion sur une trajectoire de sécurité Ts lui évitant de franchir la surface infranchissable SI et de pénétrer ainsi à l'intérieur de l'espace interdit de vol E.  For each forbidden space of flight E, a warning surface SA is defined which is in the form of a circular cone positioned around the cone of the impassable surface SI corresponding to it being coaxial. This warning surface SA defines the trigger threshold of the control system 18 in order to put the aircraft on a safety trajectory Ts avoiding it to cross the impassable surface SI and thus to enter the forbidden space of stolen.
Plus précisément, le cône de la surface d'alerte SA possède une génératrice qui forme une pente parallèle à la pente du cône de la surface infranchissable SI. Ces deux pentes sont distantes (en projection horizontale) d'une distance d' qui est constante quelle que soit l'altitude de l'avion. Par ailleurs, cette distance d' est choisie de sorte que lorsque l'avion atteint la surface d'alerte SA, le système de contrôle 18 lui impose une trajectoire de sécurité Ts qui comprend un virage V lui permettant d'éviter de franchir la surface infranchissable SI et de pénétrer ainsi à l'intérieur de l'espace interdit de vol E.  More precisely, the cone of the SA warning surface has a generator that forms a slope parallel to the slope of the cone of the impassable surface SI. These two slopes are distant (in horizontal projection) of a distance of which is constant whatever the altitude of the plane. Furthermore, this distance is chosen so that when the aircraft reaches the warning surface SA, the control system 18 imposes a safety trajectory Ts that includes a V-turn to avoid crossing the surface. insurmountable SI and thus penetrate inside the forbidden space of flight E.
Le virage V de la trajectoire de sécurité Ts se présente sous la forme d'un arc de cercle appartenant à un cercle C' centré sur un point O' aligné avec le point I et ayant un rayon R' tel que le cercle C et le cercle C' soient tangents. De plus, ce virage s'effectue à une altitude de vol égale à l'altitude de sécurité As.  The turn V of the safety trajectory Ts is in the form of an arc of circle belonging to a circle C 'centered on a point O' aligned with the point I and having a radius R 'such that the circle C and the circle C 'are tangent. In addition, this turn is made at a flight altitude equal to the safety altitude As.
Lorsque le calculateur de vol 4 détecte que l'avion atteint la surface d'alerte SA en un point I, le système de contrôle 18 désinhibe automatiquement les consignes de pilotage provenant du pilote et du pilotage automatique et commande les actionneurs des surfaces mobiles de l'avion pour lui permettre de suivre le virage de la trajectoire de sécurité Ts qui lui permet d'éviter de franchir la surface infranchissable SI et de pénétrer ainsi à l'intérieur de l'espace interdit de vol E. On notera que les données de chaque espace interdit de vol E et des surfaces infranchissables SI et surface d'alerte SA qui leur sont associées (à savoir les altitudes en chaque point du globe terrestre dans le cas d'une zone de l'espace aérien qui se situe sous une altitude de sécurité prédéterminée As ; et les coordonnées du centre O, rayon R du cercle C et pente a de la génératrice dans le cas d'un site à protéger) sont ajoutées à une base de données 19 (ci-après appelée « base de données ARLAS ») à laquelle est reliée le système de contrôle 18. When the flight computer 4 detects that the aircraft reaches the warning surface SA at a point I, the control system 18 automatically disarms the piloting instructions from the pilot and the autopilot and controls the actuators of the moving surfaces of the aircraft. plane to enable it to follow the turn of the safety path Ts which allows it to avoid crossing the impassable surface SI and thus to enter the forbidden space of flight E. It will be noted that the data of each space prohibited from flight E and the impassable areas SI and SA warning surface associated with them (ie the altitudes at each point of the terrestrial globe in the case of an area of the airspace which is situated under a predetermined safety altitude As, and the coordinates of the center O, radius R of the circle C and slope a of the generator in the case of a site to be protected) are added to a database 19 (hereinafter after called "ARLAS database") to which the control system is linked 18.
Par ailleurs, cette base de données 19 est reliée au système de gestion de vol 21 (appelé FMS pour « Flight Management System ») qui permet d'assister le pilote pendant le vol en lui fournissant des renseignements sur le pilotage, la navigation, les estimées, la consommation de carburant, etc.  Furthermore, this database 19 is connected to the flight management system 21 (called FMS for "Flight Management System") which makes it possible to assist the pilot during the flight by providing him with information on the piloting, the navigation, the estimated, fuel consumption, etc.
Toujours selon l'invention, dès que le système air/sol de l'avion indique que l'avion est en vol, le système de contrôle 18 de l'avion neutralise toutes les commandes manuelles accessibles de systèmes critiques de l'avion et toutes les commandes manuelles de coupure ou de manœuvre anormale des différents systèmes critiques de l'avion en l'absence d'alerte indiquant la nécessité de les couper. Par systèmes critiques de l'avion, on entend tous les systèmes indispensables au fonctionnement de l'avion, par exemple les moteurs. Par commandes manuelles accessibles de systèmes critiques de l'avion, on entend toutes les commandes ou disjoncteurs accessibles de systèmes critiques de l'avion (moteurs, commandes de vol, électricité, pneumatique, hydraulique, etc.) dont la manipulation volontaire sans alarme serait sans effet.  Still according to the invention, as soon as the air / ground system of the aircraft indicates that the aircraft is in flight, the control system 18 of the aircraft neutralizes all accessible manual controls of critical systems of the aircraft and all manual controls for abnormal shutdown or maneuvering of the various critical aircraft systems in the absence of an alert indicating the need to cut them. Critical aircraft systems are all systems essential to the operation of the aircraft, for example engines. Accessible manual controls of aircraft critical systems means all accessible controls or circuit breakers of aircraft critical systems (engines, flight controls, electrical, pneumatic, hydraulic, etc.) for which voluntary tampering would be Without effect.
De la sorte, dès que l'avion est en vol, la coupure volontaire ou la manœuvre anormale par le pilote d'un système critique de l'avion tel qu'un moteur fonctionnant normalement (c'est-à-dire sans indication d'incident technique mettant en péril son fonctionnement) est rendue impossible.  In this way, as soon as the aircraft is in flight, the voluntary cutting or the abnormal maneuver by the pilot of a critical system of the aircraft such as a normally functioning engine (that is to say without indication of 'technical incident jeopardizing its operation) is made impossible.
Toujours selon l'invention, lorsque le calculateur de vol 4 détecte un franchissement par l'avion d'une surface d'alerte SA prédéfinie, le système de contrôle 18 commande le déverrouillage automatique de la porte d'accès au poste de pilotage de l'avion. De plus, lorsque le calculateur de vol détecte une tentative de coupure d'un système critique de l'avion en l'absence d'alerte indiquant la nécessité de le couper, le système de contrôle commande également le déverrouillage automatique de la porte d'accès au poste de pilotage de l'avion. Still according to the invention, when the flight computer 4 detects a crossing by the aircraft of a predefined warning surface SA, the control system 18 controls the automatic unlocking of the access door to the flight deck of the aircraft. 'plane. In addition, when the flight computer detects an attempt to cut a critical system of the aircraft in the absence of an alert indicating the need to cut it, the control system also controls the automatic unlocking of the door. access to the cockpit of the aircraft.
De la sorte, les personnes dans la cabine pourront tenter de reprendre le contrôle de la situation dans le poste de pilotage (par exemple dans le cas d'un pirate ayant pris le contrôle de l'avion ou d'un pilote suicidaire).  In this way, people in the cabin can attempt to regain control of the situation in the cockpit (for example in the case of a pirate who took control of the plane or a suicidal pilot).
On notera que la surface infranchissable SI et la surface de sécurité SA peuvent comprendre au moins un couloir aérien délimitant des trajectoires de vol à l'intérieur de l'espace interdit de vol E pouvant être empruntées par l'avion en conditions normales de vol de façon à pouvoir quitter ou rejoindre un aéroport se situant à l'intérieur du site à protéger. II s'agit typiquement du cas d'une surface infranchissable englobant un aérodrome pour lequel il est nécessaire de permettre aux avions de franchir cette surface afin d'atterrir et de décoller, les avions étant alors autorisés à emprunter ces couloirs aériens pour réaliser ces manœuvres.  It will be noted that the impassable surface SI and the safety surface SA may comprise at least one air corridor delimiting flight paths inside the forbidden flight space E that can be taken by the aircraft under normal flight conditions. to leave or reach an airport within the site to be protected. This is typically the case of an impassable surface encompassing an aerodrome for which it is necessary to allow aircraft to cross this surface in order to land and take off, the aircraft then being allowed to use these air corridors to perform these maneuvers .
On notera que les pentes des surfaces délimitant ces couloirs aériens sont supérieures à celle de la trajectoire d'avion lorsque celui-ci navigue avec ses moteurs coupés (ou réduits) et toutes traînées sorties (trains, volets, spoilers, aérofreins, inverseurs de poussée, etc.).  It should be noted that the slopes of the surfaces delimiting these air corridors are greater than that of the airplane trajectory when the latter is sailing with its engines cut (or reduced) and all outgoing trains (trains, flaps, spoilers, airbrakes, thrust reversers). , etc.).
On notera encore que les surfaces impénétrables SI, les surfaces de sécurité SA et les couloirs aériens sont définis par des coordonnées géographiques (latitude et longitude) qui sont stockées dans la base de données ARLAS 19.  It should also be noted that SI impenetrable surfaces, SA safety surfaces and air corridors are defined by geographical coordinates (latitude and longitude) that are stored in the ARLAS 19 database.
Enfin, on notera qu'en cas de détection par le calculateur de vol d'une dégradation de la performance avion ne permettant que le vol en descente, et lorsque le calculateur détecte le franchissement par l'avion d'une surface d'alerte prédéfinie SA, le système de contrôle laisse le contrôle de la trajectoire au pilote pour lui permettre de tenter un atterrissage ou amerrissage dans la zone lui paraissant la plus favorable. Le calculateur de vol détectera une dégradation de la performance avion ne permettant que le vol en descente par exemple lorsque tous les moteurs sont coupés ou lorsque un ou plusieurs moteurs fonctionnent encore mais pour une autre raison (par givrage de la cellule), l'avion ne peut que descendre. Dans ce cas, le calculateur de vol détectera qu'avec la manette des gaz des moteurs en fonctionnement de poussée maximum, l'avion étant à la vitesse (ou en dessous de la vitesse) de finesse maximale associée à la configuration du moment, l'avion ne peut que descendre ou avoir une vitesse en régression. Finally, it should be noted that in the event of detection by the flight computer of a degradation of the aircraft performance allowing only the descending flight, and when the computer detects the aircraft's crossing of a predefined warning surface. SA, the control system gives control of the trajectory to the pilot to enable him to attempt a landing or landing in the area he considers the most favorable. The flight computer will detect a degradation of the aircraft performance allowing only the flight downhill for example when all the engines are cut or when one or more engines still work but for another reason (by icing of the cell), the aircraft born can only go down. In this case, the flight computer will detect that with the throttle lever engines in maximum thrust operation, the aircraft being at the speed (or below the speed) maximum fineness associated with the configuration of the moment, the airplane can only descend or have a speed in regression.
Dans des situations d'urgence détectées par le calculateur de vol (typiquement si l'avion est en situation dégradée à cause d'un vol d'oiseaux ou de la présence d'un nuage volcanique ayant irrémédiablement endommagé tous les moteurs de l'avion par exemple), cette fonctionnalité permet au pilote de réaliser un atterrissage ou un amerrissage forcé.  In emergency situations detected by the flight calculator (typically if the aircraft is degraded due to a flight of birds or the presence of a volcanic cloud having irreparably damaged all the engines of the aircraft for example), this feature allows the pilot to land or ditch.

Claims

REVENDICATIONS
1. Procédé de sauvegarde automatique en vol de la trajectoire d'un avion à commandes de vol électriques, dans lequel : A method of automatically saving the flight of an electric flight control aircraft in flight, wherein:
en conditions normales de vol, un pilote de l'avion transmet des consignes de pilotage à un calculateur de vol (4) qui, à partir de ces consignes de pilotage, calcule et transmet des signaux électriques (10) aux actionneurs (12) de surfaces mobiles (14) de l'avion pour permettre à l'avion de suivre une trajectoire demandée par le pilote ;  under normal flight conditions, a pilot of the airplane transmits flight control instructions to a flight computer (4) which, from these flight instructions, calculates and transmits electrical signals (10) to the actuators (12) of mobile surfaces (14) of the aircraft to allow the aircraft to follow a path requested by the pilot;
en cas de détection par le calculateur de vol du franchissement par l'avion d'une surface d'alerte prédéfinie (SA) associée à un espace interdit de vol (E), un système de contrôle (18) de l'avion déverrouille automatiquement une porte d'accès au poste de pilotage de l'avion et désinhibe automatiquement les consignes de pilotage provenant du pilote et calcule une trajectoire de sécurité (Ts) permettant à l'avion d'éviter de pénétrer à l'intérieur de l'espace interdit de vol (E), ladite trajectoire de sécurité (Ts) étant convertie en signaux électriques qui sont transmis directement aux actionneurs de surfaces mobiles de l'avion pour effectuer la manœuvre de mise en sécurité de l'avion en excluant une quelconque action de la part du pilote ; et  if the flight computer detects that the aircraft has crossed a predefined warning surface (SA) associated with a prohibited flight space (E), a control system (18) of the aircraft automatically unlocks an access door to the cockpit of the aircraft and automatically disinhibits the piloting instructions from the pilot and calculates a safety trajectory (Ts) allowing the aircraft to avoid entering the space forbidden flight (E), said safety trajectory (Ts) being converted into electrical signals which are transmitted directly to the movable surface actuators of the aircraft to effect the maneuver for securing the aircraft by excluding any action of the pilot's share; and
dès qu'un système air/sol de l'avion indique que l'avion est en vol, le système de contrôle (18) de l'avion neutralise toute commande manuelle de coupure ou de manœuvre anormale d'un système critique de l'avion en l'absence d'alerte indiquant la nécessité d'une telle manœuvre.  as soon as an air / ground system of the aircraft indicates that the airplane is in flight, the control system (18) of the aircraft neutralizes any manual control of cut or abnormal maneuver of a critical system of the aircraft. aircraft in the absence of an alert indicating the need for such a maneuver.
2. Procédé selon la revendication 1, dans lequel l'espace interdit de vol (E) englobe les coordonnées géographiques d'un site à protéger (20) et est délimité à l'extérieur par une surface infranchissable (SI), la surface d'alerte (SA) associée à l'espace interdit de vol étant positionnée autour de la surface infranchissable (SI). 2. Method according to claim 1, wherein the forbidden space of flight (E) encompasses the geographical coordinates of a site to be protected (20) and is delimited on the outside by an impassable surface (SI), the surface of alert (SA) associated with the forbidden space of flight being positioned around the insurmountable surface (SI).
3. Procédé selon la revendication 2, dans lequel la surface infranchissable (SI) d'un espace interdit de vol (E) se présente sous la forme d'un tronc de cône circulaire formant au sol un cercle (C) de centre (O) centré sur le site à protéger (20). 3. Method according to claim 2, wherein the impassable surface (SI) of a forbidden space of flight (E) is in the form of a circular truncated cone forming on the ground a circle (C) of center (O ) centered on the site to be protected (20).
4. Procédé selon la revendication 3, dans lequel la génératrice du tronc de cône de la surface infranchissable (SI) d'un espace interdit de vol (E) forme une pente dont l'angle (a) par rapport à l'horizontal est supérieur à celui formé par la trajectoire de l'avion lorsque celui-ci navigue avec ses moteurs coupés ou réduits et toutes traînées sorties. 4. Method according to claim 3, wherein the generator of the truncated cone of the impassable surface (SI) of a forbidden space of flight (E) forms a slope whose angle (a) with respect to the horizontal is greater than that formed by the trajectory of the aircraft when it sails with its engines cut or reduced and all trails out.
5. Procédé selon la revendication 4, dans lequel la trajectoire de sécurité (Ts) comprend un virage (V) amorcé dès que l'avion atteint la surface d'alerte en un point (I), ledit virage étant porté par un arc de cercle appartenant à un cercle (C) centré sur un point (O') aligné verticalement avec le point (I) et ayant un rayon (R') tel que le cercle (C) et le cercle (C') soient tangents. 5. The method of claim 4, wherein the safety path (Ts) comprises a turn (V) initiated as soon as the aircraft reaches the alert surface at a point (I), said turn being carried by an arc of circle belonging to a circle (C) centered on a point (O ') aligned vertically with the point (I) and having a radius (R') such that the circle (C) and the circle (C ') are tangent.
6. Procédé selon la revendication 1, dans lequel l'espace interdit de vol (E) est délimité en altitude par une surface infranchissable (SI) dont l'altitude est égale à une altitude de sécurité (As) prédéterminée, la surface d'alerte (SA) associée à l'espace interdit de vol étant positionnée au-dessus de la surface infranchissable, la trajectoire de sécurité (Ts) étant calculée pour amener et maintenir l'avion au-dessus de l'altitude de sécurité prédéterminée. 6. The method of claim 1, wherein the forbidden space of flight (E) is delimited in altitude by an impassable surface (SI) whose altitude is equal to a predetermined safe altitude (As), the surface of alert (SA) associated with the forbidden space of flight being positioned above the impassable surface, the safety trajectory (Ts) being calculated to bring and maintain the aircraft above the predetermined safe altitude.
7. Procédé selon l'une quelconque des revendications 2 à 6, dans lequel la surface infranchissable (SI) et la surface de sécurité (SA) comprennent chacune au moins un couloir aérien délimitant des trajectoires de vol à l'intérieur de l'espace interdit de vol (E) pouvant être empruntées par l'avion en conditions normales de vol de façon à pouvoir quitter ou rejoindre un aéroport se situant à l'intérieur du site à protéger. The method according to any one of claims 2 to 6, wherein the impassable surface (SI) and the safety surface (SA) each comprise at least one air corridor defining flight paths within the space. prohibited from flying (E) that can be taken by the airplane under normal flight conditions so that it can leave or reach an airport located inside the site to be protected.
8. Procédé selon l'une quelconque des revendications 1 à 7, dans lequel la trajectoire de sécurité (Ts) s'effectue à une altitude de vol au moins égale à une altitude de sécurité (As) prédéterminée. 8. A method according to any one of claims 1 to 7, wherein the safety path (Ts) is performed at a flight altitude at least equal to a predetermined safe altitude (As).
9. Procédé selon l'une quelconque des revendications 1 à 8, dans lequel, en cas de détection par le calculateur de vol d'une dégradation de la performance avion ne permettant que le vol en descente, et lorsque le calculateur détecte le franchissement par l'avion d'une surface d'alerte prédéfinie (SA), le système de contrôle laisse le contrôle de la trajectoire au pilote pour lui permettre de tenter un atterrissage ou amerrissage dans la zone lui paraissant la plus favorable. 9. A method according to any one of claims 1 to 8, wherein, in the event of detection by the flight computer of a degradation of the aircraft performance allowing only the flight downhill, and when the computer detects the crossing by the plane of a predefined warning surface (SA), the control system gives the pilot control of the trajectory to enable him to attempt a landing or landing in the area he considers the most favorable.
10. Programme d'ordinateur comportant des instructions pour l'exécution des étapes du procédé de sauvegarde automatique en vol de la trajectoire d'un avion à commandes de vol électriques selon l'une quelconque des revendications 1 à 9. A computer program comprising instructions for executing the steps of the method of automatically saving the flight of an electric flight control aircraft in flight according to any one of claims 1 to 9.
11. Support d'enregistrement lisible par un ordinateur sur lequel est enregistré un programme d'ordinateur comprenant des instructions pour l'exécution des étapes du procédé de sauvegarde automatique en vol de la trajectoire d'un avion à commandes de vol électriques selon l'une quelconque des revendications 1 à 9. 11. A computer-readable recording medium on which is recorded a computer program including instructions for executing the steps of the method of automatically saving in flight the trajectory of an aircraft with electric flight controls according to the any of claims 1 to 9.
PCT/FR2019/051146 2018-05-23 2019-05-21 Method for automatically saving, in flight, the trajectory of an aircraft with electric flight controls WO2019224468A1 (en)

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