• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The present invention relates to a guidance method along a reference trajectory on a platform on the ground of an aircraft carrying at least one detector of a plurality of ground indicators, said method comprising: a) the determination (E1 ) geometrically complex areas of uncertainty of the platform from a map of the platform, b) near one of said uncertainty zones, the selection (E2) of at least one indicator, c) the estimation (E3) of the relative location of the aircraft with respect to said reference trajectory from data relating to the selected indicators transmitted by the detectors, d) calculation (E4) of a relative location confidence index estimated from the selected indicators, e) the comparison (E5) of the calculated confidence index to a predetermined threshold, f) when the calculated confidence index is greater than the predetermined threshold, the guidance (E6) of the aircraft along the reference path as a function of the estimated relative location.
    公开号:FR3020172A1
    申请号:FR1453590
    申请日:2014-04-22
    公开日:2015-10-23
    发明作者:Julien Farjon；Christophe Guettier
    申请人:Sagem Defense Securite SA；
    IPC主号:
    专利说明:

    [0001] FIELD OF THE INVENTION The invention relates to the field of piloting assistance in a phase of ground displacement of an aircraft and more specifically to an improved autonomous guidance method during a taxi phase. . STATE OF THE ART During the taxiing phases of an aircraft, the pilot of the aircraft must drive the aircraft between the runways and the airport infrastructures in complete safety despite reduced visibility. In order to assist the pilot in his task, there are guidance systems determining the position of the aircraft relative to ground indicators, such as reflective markings, pads or lamps, and using this information to guide the aircraft along a reference path to follow. Nevertheless, certain rolling areas such as the crossing zones may have a complex topology liable to mislead a guidance system, as shown in FIG. 1. This may indeed take into account for the calculation of a trajectory to follow unsuitable indicators and can then guide the aircraft in the wrong direction. Such a trajectory error can present significant safety risks if the aircraft is thus guided out of a taxiway or on a runway already taken by another aircraft.
    [0002] There is therefore a need for a method supervising the guidance of an aircraft to guide it correctly on a platform of an airport, even in complex rolling areas, and limiting the impact of a guiding error.
    [0003] PRESENTATION OF THE INVENTION The present invention thus relates, according to a first aspect, to a method of guiding along a reference trajectory on a platform on the ground of an aircraft carrying at least one detector of a plurality of indicators. sol, said method comprising the following steps implemented by a data processing module capable of being connected to said at least one detector: a) determination of geometrically complex uncertainty zones of the platform from a mapping of the platform, b) close to one of the said determined uncertainty zones, selection of at least one of the plurality of ground indicators, c) estimation of the relative location of the aircraft with respect to said reference trajectory from data relating to said at least one selected indicator transmitted by said at least one detector, d) calculating a confidence index relative to the localization relative ratio estimated from the at least one selected indicator, e) comparison of the calculated confidence index to a predetermined threshold, f) when the calculated confidence index is greater than the predetermined threshold, guiding the aircraft the along the reference path 25 as a function of the estimated relative location.
    [0004] Such a method can guide the aircraft without risking to follow a different trajectory of the reference path. The step of calculating the confidence index of a set of selected indicators of the method according to the first aspect can be performed according to the arrangement of said indicators on the ground with respect to the reference trajectory. The step of calculating the Relative Relative Relative Relative Relative Index from a set of selected indicators of the method according to the first aspect can be performed depending on the position of the aircraft relative to the location of the aircraft. set of selected indicators and the reference path. This makes it possible to quantify the confidence that can be given to an estimate of the location of the aircraft according to the positions of the indicators and the aircraft relative to each other and with respect to the trajectory that the aircraft must follow. When the relative confidence index relative to the estimated relative location is lower than the predetermined threshold, the data processing module selects at least one new indicator on the ground, estimates the relative location of the aircraft relative to the reference trajectory from of said at least one selected new indicator, calculates a Relative Relative Relative Relative Relative Index from the at least one new selected indicator and compares the computed confidence index with the predetermined threshold. This makes it possible not to guide the aircraft from a location deemed insufficiently trustworthy and likely to cause the aircraft to follow a wrong direction but rather to seek a location with a sufficient level of confidence to be used to guide the aircraft. the aircraft.
    [0005] When the relative confidence index relative to the estimated relative location is lower than the predetermined threshold, the data processing module can transmit an alarm message requesting that the aircraft be piloted in manual mode or warning of the passage of the aircraft in manual mode.
    [0006] This makes it possible to warn the pilot and to ask him to regain control of the aircraft or to prevent it from automatically switching to manual mode when the indicators available to the processing module do not make it possible to carry out the guidance of the aircraft in such a way that safe enough.
    [0007] When the confidence index relative to the estimated location is below the predetermined threshold, the data processing module can guide the aircraft from the reference trajectory. This makes it possible to continue to guide the aircraft autonomously without taking into account the data relating to the ground indicators transmitted by the detectors. Thus this solution is not likely to guide the aircraft in the wrong direction when the available indicators are not considered reliable. In a first implementation variant, the processing module implements the step of determining the zones of uncertainty repeatedly over time. In a second implementation variant, the processing module implements the step of determining the zones of uncertainty when the aircraft enters the taxiing phase. This makes it possible to determine whether the aircraft is likely to encounter a complex zone requiring the use of a guiding method adapted to limit the risk of guiding the aircraft in the wrong direction.
    [0008] According to a second aspect, 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.
    [0009] According to a third aspect, 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 data processing module being configured to: a) determine geometrically complex areas of the platform uncertainty from a platform map, b) near one of said determined areas of uncertainty, select at least one indicator among the plurality of ground indicators, c) estimating the relative location of the aircraft with respect to a reference trajectory from data relating to said at least one selected indicator transmitted by said at least one detector, d) computing a Relative Relative Relative Relative Relative Index based on the at least one selected indicator, e) Comparing the Confidence Index c altered to a predetermined threshold, f) when the calculated confidence index is greater than the predetermined threshold, guiding the aircraft along the reference trajectory as a function of the estimated relative location.
    [0010] According to a fourth aspect, the invention relates to a system for guiding an aircraft along a reference trajectory on a platform on the ground comprising: at least one detector, a plurality of ground indicators and a processing module. data according to the third aspect. Such computer program products, processing module and guidance system have the same advantages as those mentioned for the method according to the first aspect.
    [0011] PRESENTATION OF THE FIGURES Other features and advantages of the present invention will appear on reading the following description of an embodiment of the invention. This description will be given with reference to the appended drawings in which: FIG. 1 illustrates rolling zones such that crossing zones may have a complex topology; FIG. 2 is a diagram schematizing an implementation of a guidance method according to the invention; FIG. 3 represents a guidance system according to one embodiment of the invention; DETAILED DESCRIPTION With reference to FIG. 2, an embodiment of the invention relates to a method of guiding an aircraft 1 along a reference trajectory on a platform implemented by a data processing module. 2 of an aircraft guidance system illustrated in FIG. 3. Such a system comprises ground indicators 4 used for marking the taxiing zones of the platform and at least one detector 3 on board the aircraft 1 and adapted to detect the position of such indicators on the ground. Such a detector captures the signals sent or reflected by said indicators on the ground. 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 can also be a radio frequency receiver receiving radio signals emitted by antennas placed on the ground. Said detectors 3 can be connected to the processing module 2 so as to provide it with measurement data enabling the processing module 2 to determine the relative location of the aircraft 1 with respect to these indicators 4. The data processing module 2 may comprise COM communication means, CALC calculation means and MEM storage means. 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. The data processing module 2 can be connected to at least one computer of the aircraft or be integrated in it, so as to be able to transmit to it guidance commands of the aircraft.
    [0012] The method according to the invention proposes an improved guidance of the aircraft along a reference trajectory making it possible to limit the probability of guiding errors during guidance in a complex zone such as a crossing zone.
    [0013] When implementing a guidance method, the relative location of the aircraft with respect to the reference trajectory is estimated from data relating to ground indicators transmitted by the detectors, such as the position of the indicators by compared to the plane. This estimate of the location of the aircraft is used to guide the aircraft along this reference trajectory. The method of the invention proposes to verify that the ground indicators taken into account to determine the relative location of the aircraft are relevant to the reference path to follow. Thus, if an aircraft is at a crossing between a rectilinear track and a curved track and the trajectory to be followed by the aircraft must lead it along the rectilinear track, the method according to the invention makes it possible to avoid that the indicators located along the curved track are taken into account to perform the guidance of the aircraft. Such guidance could then cause the aircraft to borrow the curved track instead of the straight track and risk placing the aircraft in a dangerous situation. For this, the method calculates for a relative location estimated from some ground indicators a confidence index. Such a confidence index represents the probability that these ground indicators are appropriate for the guidance of the aircraft given the trajectory taken by it. More specifically, with reference to FIG. 2, during a determination step E1, the data processing module determines one or more geometrically complex uncertainty zones of the platform from a cartography of the platform. Such a determination step can be implemented at the beginning of a rolling phase. Alternatively, such a determination step can be carried out repeatedly in time during a rolling phase.
    [0014] During a selection step E2, the processing module selects from among the plurality of ground indicators detected by the detectors of the aircraft at least one indicator. Such a selection step is implemented when the aircraft is in or near a determined uncertainty zone during the determination step E1. These selected indicators are those that the processing module will then attempt to use to guide the aircraft. During a relative location estimation step E3, the processing module 2 estimates the relative location of the aircraft with respect to the reference trajectory from data relating to the indicators selected during the selection step E2 transmitted. by the detectors. This estimate may for example involve the position of the aircraft with respect to an indicator or a pair of indicators. During a calculation step E4, the processing module 2 verifies the relevance of the selected indicators used during the relative location estimation step E3 with respect to the reference trajectory to be followed. For this, the processing module calculates for the relative location estimated from these selected indicators a confidence index indicating the probability that these selected indicators mark a path that the aircraft is supposed to take along the reference path. According to a first embodiment, the calculation of the confidence index is made according to the disposition of the selected indicators with respect to the reference trajectory. For example, indicators may be considered suitable if they are arranged along a path similar to the reference path. The confidence index associated with these indicators can then be high. Conversely, if selected indicators form a curved line indicating a turn while the reference path is a straight line, the indicators may be considered unsuitable and the associated index of confidence may be low. According to a second embodiment, the calculation of the confidence index is made according to the position of the aircraft with respect to the selected indicators and the reference trajectory. The processing module can for example compare the position of the aircraft with respect to the selected indicators and the location of the aircraft relative to the reference trajectory. If the selected indicators are unsuitable and do not follow the reference trajectory, the aircraft following the reference trajectory will deviate from the selected indicators but not from the reference trajectory. The difference between the relative position of the aircraft with respect to the selected indicators and the relative location of the aircraft relative to the reference trajectory may then present a sudden variation. The confidence index associated with such unsuitable indicators may then be low. The calculation of the confidence index may be a function of a geometric complexity level of the uncertainty zone traversed by the aircraft or of external conditions such as weather conditions. The confidence index may be set to a deliberately very low predetermined value when conditions are fulfilled in which the calculation of the confidence index is known to give unreliable results. During a comparison step E5, the processing module compares the calculated index of confidence with a predetermined threshold.
    [0015] During a guide step E6, the processing module guides the aircraft along the reference trajectory as a function of the estimated relative location if the confidence index is greater than the predetermined threshold. The relative location having been recognized as trustworthy, the processing module can use it to correct the trajectory of the aircraft so that it follows the reference trajectory. If the confidence index is below the threshold, the estimated relative position can not be used for the guidance of the aircraft and the processing module performs again the selection steps E2, relative location estimation E3, E4 calculation and comparison E5: the processing module selects at least one new indicator, estimates the relative location of the aircraft from the new indicators, calculates the associated confidence index and compares it with the predetermined threshold. The processing module can thus repeat these steps as long as the confidence index remains below the threshold. According to one embodiment, the processing module can, when a confidence index is below the threshold, transmit an alarm message to the requesting pilot that the aircraft is piloted in manual mode or warning of the passage of the aircraft in manual mode during a manual guidance step E7. Such a message may, for example, be sent after a predetermined number of negative comparisons, after a certain elapsed time without a confidence index being greater than the threshold or when no new indicator exists. for which no confidence index has been calculated. The processing module then considers that the indicators selected during the previous steps do not allow reliable guidance of the aircraft and that the pilot should provide manual guidance of the aircraft. The transition to manual mode may be automatic after the issuance of the alarm message, for example after expiration of a time countdown of predetermined duration. In such an embodiment the sending of such a message requiring the manual guidance of the aircraft or the automatic switch to manual mode accompanied by an alert can be imposed by setting systematically during the calculation step E4 the confidence index to a predetermined value voluntarily very low until the alarm message is sent. In addition, when a confidence index is below the predetermined threshold, the processing module can decide to guide the aircraft from the reference trajectory during an autonomous guidance step E8, without taking into account the one or more estimated relative locations since these relative locations were not considered reliable. The processing module can also take into account absolute location information provided for example by a GPS module. The aircraft then continues to be guided but blind, without using the information from the detectors. According to one embodiment, if the aircraft is piloted in manual mode and is in a zone of uncertainty, the processing module can still execute the selection steps E2, for estimating a relative location E3, E4 calculation and comparison E5 and may offer the pilot to return to automatic guidance mode when a confidence index is greater than the predetermined threshold. The processing module then has a relative location considered reliable enabling it to perform the automatic guidance of the aircraft in the uncertainty zone along the reference trajectory. The automatic guidance mode can also be automatically reset when a confidence index is greater than the predetermined threshold. According to one embodiment, the processing module can, when the aircraft leaves a zone of uncertainty, propose to the pilot to stop calculating a confidence index for the estimated location. Each estimated location is then considered reliable and can be used to guide the aircraft without questioning the selected indicators to assess this location. The processing module can remain in this simplified guidance mode as long as the aircraft is not found again in the vicinity or in a zone of uncertainty. The guidance method as described thus makes it possible to correctly guide an aircraft on a platform of an airport, even in complex taxiing areas.
    权利要求:
    Claims (11)
    [0001]
    REVENDICATIONS1. Method for guiding along a reference trajectory on a platform on the ground of an aircraft (1) carrying at least one detector (3) of a plurality of ground indicators (4), said method comprising the following steps implemented by a data processing module (2) capable of being connected to said at least one detector: a) determination (El) of geometrically complex uncertainty zones of the platform from a mapping of the platform, b) near one of said determined uncertainty zones, selecting (E2) at least one indicator (4) from the plurality of ground indicators, c) estimating (E3) the relative location of the aircraft with respect to said reference trajectory from data relating to said at least one selected indicator transmitted by said at least one detector, d) calculating (E4) a confidence index relative to the relative location estimated from the at least one least one point ur selected, e) comparing (E5) the calculated confidence index to a predetermined threshold, f) when the calculated confidence index is greater than the predetermined threshold, guiding (E6) the aircraft along the path of reference according to the estimated relative location.
    [0002]
    2. Method according to the preceding claim, wherein the step of calculating the confidence index of a set of selected indicators (E4) is performed according to the provision of said indicators on the ground relative to the reference path. .
    [0003]
    3. Method according to one of the preceding claims, wherein the calculation step (E4) of the relative confidence index relative to the estimated relative location from a set of selected indicators is performed according to the position. of the aircraft with respect to the set of selected indicators and the reference trajectory.
    [0004]
    4. Method according to one of the preceding claims, wherein when the estimated relative confidence index relative to the estimated relative location is less than the predetermined threshold, the data processing module selects at least one new indicator on the ground, estimates the relative location. of the aircraft relative to the reference trajectory from said at least one selected new indicator, calculates a relative relative confidence index relative to the estimated location from the at least one new selected indicator and compares the confidence index calculated at the predetermined threshold.
    [0005]
    5. Method according to one of the preceding claims, wherein when the confidence index relative to the estimated relative location is less than the predetermined threshold, the data processing module transmits an alarm message requiring the aircraft to be flown. in manual mode or warning of the passage of the aircraft in manual mode (E7).
    [0006]
    6. Method according to one of the preceding claims, wherein when the confidence index relative to the estimated location is less than the predetermined threshold, the data processing module guides the aircraft from the reference trajectory (E8).
    [0007]
    7. Method according to one of the preceding claims, wherein the processing module implements the step of determining the uncertainty zones (El) repeatedly in time.
    [0008]
    8. Method according to one of the preceding claims, wherein the processing module implements the step of determining the areas of uncertainty (El) when the aircraft enters the taxiing phase.
    [0009]
    A computer program product comprising code instructions for executing a guidance method according to any one of the preceding claims when the program is executed by a processor.
    [0010]
    10. Data processing module (2) capable of being connected to at least one detector (3) of a plurality of indicators (4) located on a platform on the ground, said at least one detector (3) being embedded on an aircraft (1) and said data processing module (2) being configured to: a) determine geometrically complex areas of uncertainty of the platform from a platform map, b) near a of said determined uncertainty zones, selecting at least one of the plurality of ground indicators, c) estimating the relative location of the aircraft with respect to a reference trajectory from data relating to said at least one selected indicator transmitted by said at least one detector, d) calculating a Relative Relative Relative Relative Relative Index based on the at least one selected indicator, e) comparing the calculated confidence index with a predicted threshold determined, f) when the calculated confidence index is greater than the predetermined threshold, guiding the aircraft along the reference trajectory as a function of the estimated relative location.
    [0011]
    11. System for guiding an aircraft (1) along a reference path on a ground platform comprising: at least one detector (3), a plurality of ground indicators (4) and a processing module data device (2) according to claim 10.
    类似技术:
    公开号 | 公开日 | 专利标题
    EP3134791A1|2017-03-01|Method for guiding an aircraft
    CA2615681C|2015-03-24|Method and device for making secure low altitude automatic flight of an aircraft
    FR3031175B1|2019-11-29|METHOD FOR AUTOMATICALLY JOINING A ROAD OF AN AIRCRAFT
    US10117057B2|2018-10-30|Method and system for locating a mobile device
    FR2913800A1|2008-09-19|Anti-collision alert filtering device for e.g. helicopter, has alarm manger centralizing alerts transmitted by anti-collision equipments to crew, where each alert comprises danger level code, and alert filter filtering alerts based on code
    JP6469220B2|2019-02-13|Traveling lane discrimination device and traveling lane discrimination method
    US9002095B2|2015-04-07|Faulty cart wheel detection
    FR2864270A1|2005-06-24|Ground anti-collision embedded device for aircraft, has two comparison units establishing comparisons between profiles/safety surfaces and profiles/topographic surfaces to find risk of collision to generate alarms
    RU2681992C2|2019-03-14|Method and system for overcoming icy bridge
    FR3010541A1|2015-03-13|METHOD AND APPARATUS FOR AUTOMATICALLY MANAGING A FLIGHT TRACK CHANGE ON AN AIRCRAFT, PARTICULARLY FOR LOW ALTITUDE FLIGHT.
    FR3053781A1|2018-01-12|METHOD OF CALCULATING BY A FLIGHT MANAGEMENT SYSTEM A TRACK HAVING IMPROVED TRANSITIONS
    FR2904706A1|2008-02-08|Aircraft`s e.g. civil transport aircraft, steering assisting method, involves determining minimal decision height corresponding to arrival instant based on performances of satellite localization unit and arrival characteristics of aircraft
    US8938098B2|2015-01-20|Faulty cart wheel detection
    FR3010807A1|2015-03-20|METHOD AND DEVICE FOR AIDING THE CONTROL OF AN AIRCRAFT DURING AN APPROACH PHASE FOR LANDING.
    FR3016224B1|2019-09-13|METHOD AND DEVICE FOR GUIDING AN AIRCRAFT AT A LOW HEIGHT FLIGHT.
    WO2015162151A1|2015-10-29|Method for guiding an aircraft
    WO2015158906A1|2015-10-22|Method for assistance with ground operations of an aircraft
    EP3648439A1|2020-05-06|Anti-collision device, associated avionics protection system, anti-collision method and computer program
    EP3646306A1|2020-05-06|Method for signaling a suggestion of a behavior and associated terminal
    FR3072816A1|2019-04-26|METHOD FOR DETERMINING THE DECISION LIMIT POINT | RELATING TO THE TRIGGERING OF AN AIRCRAFT EVENT MANEUVER, ASSOCIATED DEVICE AND COMPUTER PROGRAM
    EP3274780A1|2018-01-31|Improved method for correcting a trajectory in a personal movement assistance device equipped with sensors
    FR3037412A1|2016-12-16|METHOD AND DEVICE FOR AUTOMATIC MONITORING OF AN AUTONOMOUS APPROACH TO AN AIRCRAFT
    FR3055287A1|2018-03-02|DEVICE FOR DETERMINING A SPEED LIMITATION, ON-BOARD SYSTEM COMPRISING SUCH A DEVICE AND METHOD FOR DETERMINING A SPEED LIMITATION
    KR102346970B1|2022-01-05|Lof-based senior loitering and missing children prevention systems and method
    US20210382489A1|2021-12-09|Predicting Jaywaking Behaviors of Vulnerable Road Users
    同族专利:
    公开号 | 公开日
    IL248454D0|2016-11-30|
    CN106462163B|2019-11-05|
    BR112016024640A2|2017-08-15|
    US9990855B2|2018-06-05|
    MX359587B|2018-10-02|
    WO2015162152A1|2015-10-29|
    CN106462163A|2017-02-22|
    EP3134791A1|2017-03-01|
    IL248454A|2019-07-31|
    US20170046963A1|2017-02-16|
    MX2016013895A|2017-06-29|
    RU2016145426A|2018-05-23|
    RU2016145426A3|2018-11-19|
    FR3020172B1|2016-05-06|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US5172317A|1988-08-10|1992-12-15|Honda Giken Kogyo Kabushiki Kaisha|Automatic travelling apparatus|
    FR2808588A1|2000-05-05|2001-11-09|Thomson Csf|Method of determination of position of a vehicle relative to an ideal trajectory, uses image data collection devices mounted on vehicle to read markers installed alongside desired trajectory|
    FR2911713A1|2007-01-19|2008-07-25|Thales Sa|DEVICE AND METHOD FOR MEASURING DYNAMIC PARAMETERS OF AN AIRCRAFT EXTENDING ON A AIRPORT AREA|
    EP2378460A1|2010-04-16|2011-10-19|Thales|Device for assisting the taxing process of an airplane|
    US20130151062A1|2011-12-09|2013-06-13|Electronics And Telecommunications Research Institute|Apparatus and method for establishing route of moving object|FR3062835A1|2017-02-10|2018-08-17|Valeo Schalter Und Sensoren Gmbh|METHOD AND SYSTEM FOR DETERMINING A TRUST INDEX ASSOCIATED WITH A CHARACTERISTIC OF A CIRCULATION PATH|
    CN108778930A|2017-09-30|2018-11-09|深圳市大疆创新科技有限公司|Aircraft security guard method, equipment, aircraft and UAV system|US6038498A|1997-10-15|2000-03-14|Dassault Aviation|Apparatus and mehod for aircraft monitoring and control including electronic check-list management|
    US8380367B2|2009-03-26|2013-02-19|The University Of North Dakota|Adaptive surveillance and guidance system for vehicle collision avoidance and interception|
    CN102169540B|2011-03-28|2013-03-13|汉王科技股份有限公司|Camera-based point reading positioning method and device|
    KR101193115B1|2011-10-07|2012-10-19|한국항공우주산업 주식회사|Three dimention digital map system|
    CN103985214A|2014-04-15|2014-08-13|中国民航大学|Airplane protection system based on CCD and RFID electronic tags|
    FR3020172B1|2014-04-22|2016-05-06|Sagem Defense Securite|METHOD FOR GUIDING AN AIRCRAFT|FR3020172B1|2014-04-22|2016-05-06|Sagem Defense Securite|METHOD FOR GUIDING AN AIRCRAFT|
    FR3044153B1|2015-11-19|2017-11-10|Airbus|METHOD FOR AUTOMATICALLY CONTROLLING AN AIRCRAFT ON THE GROUND AND DEVICE FOR IMPLEMENTING SAID METHOD|
    FR3051264B1|2016-05-13|2018-04-27|Robert Schegerin|AUTOMATICALLY CONTROLLED AIRCRAFT WITH DIFFERENT DISCONNECTION|
    法律状态:
    2015-03-19| PLFP| Fee payment|Year of fee payment: 2 |
    2016-03-23| PLFP| Fee payment|Year of fee payment: 3 |
    2017-01-13| CD| Change of name or company name|Owner name: SAGEM DEFENSE SECURITE, FR Effective date: 20161214 |
    2017-01-13| CJ| Change in legal form|Effective date: 20161214 |
    2017-03-22| PLFP| Fee payment|Year of fee payment: 4 |
    2018-03-22| PLFP| Fee payment|Year of fee payment: 5 |
    2020-03-19| PLFP| Fee payment|Year of fee payment: 7 |
    2021-03-23| PLFP| Fee payment|Year of fee payment: 8 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1453590A|FR3020172B1|2014-04-22|2014-04-22|METHOD FOR GUIDING AN AIRCRAFT|FR1453590A| FR3020172B1|2014-04-22|2014-04-22|METHOD FOR GUIDING AN AIRCRAFT|
    CN201580021771.1A| CN106462163B|2014-04-22|2015-04-22|Method for vector aircraft|
    EP15716850.1A| EP3134791A1|2014-04-22|2015-04-22|Method for guiding an aircraft|
    BR112016024640A| BR112016024640A2|2014-04-22|2015-04-22|guide process of an aircraft|
    US15/305,634| US9990855B2|2014-04-22|2015-04-22|Method for guiding an aircraft|
    PCT/EP2015/058654| WO2015162152A1|2014-04-22|2015-04-22|Method for guiding an aircraft|
    MX2016013895A| MX359587B|2014-04-22|2015-04-22|Method for guiding an aircraft.|
    RU2016145426A| RU2016145426A3|2014-04-22|2015-04-22|
    IL248454A| IL248454A|2014-04-22|2016-10-23|Method for guiding an aircraft|
    [返回顶部]