• 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 comparison device (1) comprises a central unit (3) comprising a first comparison element (5) for automatically comparing lateral trajectories of two flight trajectories, and a second comparison element (6) for automatically comparing trajectories vertices of these two flight paths, these comparisons being performed successively segment by segment, these comparisons being made as long as the respective successive segments are identical and at least a predetermined distance in the horizontal plane.
    公开号:FR3020706A1
    申请号:FR1453940
    申请日:2014-04-30
    公开日:2015-11-06
    发明作者:Nicolas Albert；Boris Kozlow
    申请人:Airbus Operations SAS；
    IPC主号:
    专利说明:

    [0001] The present invention relates to a method and a device for automatically comparing two flight paths for an aircraft. It is known that, during a flight of an aircraft, in particular during a low-altitude flight performed automatically (via an automatic piloting device and / or a flight director) , embedded systems may be required to change the trajectory followed by the aircraft (laterally and vertically) at the request of a pilot of the aircraft. To do this, the pilot modifies the flight plan using an aircraft flight management system. The flight management system calculates a new trajectory (lateral and / or vertical) corresponding to the modified flight plan. The calculation of this new trajectory can last several seconds. During this time, the aircraft must continue to fly on the current trajectory, before the change can possibly be realized. Also, to secure the transition between the current trajectory and the new trajectory, these trajectories must have a common part. Therefore, before allowing the guidance on the new trajectory, an aircraft guidance system must compare the two trajectories to verify if these two trajectories do have a common portion or portion (which corresponds at least to the flight time of the aircraft). the aircraft during the trajectory calculation process). According to this comparison: - if the two trajectories do not have a common portion, or if the common portion is too short, the new trajectory can not be activated and the aircraft will continue to be guided along the current trajectory ; but - if the two trajectories have a common portion of sufficient length, the new trajectory can be activated and the aircraft will then be guided on the new trajectory. However, to verify the existence of a common portion, it is necessary to have a means for comparing the two paths and this with a reduced duration of comparison. In particular, a point-by-point comparison may be too long for the intended application. The present invention aims to provide a means for comparing, quickly and reliably, two flight paths, especially for a change of trajectory. It relates to a method for automatically comparing first and second flight paths for an aircraft. In the context of the present invention: the first flight trajectory comprises a first vertical trajectory and a first lateral trajectory, and the second flight trajectory comprises a second vertical trajectory and a second lateral trajectory; and said first lateral trajectory and said second lateral trajectory each comprise a succession of a plurality of lateral segments, and said first vertical trajectory and said second vertical trajectory each comprise a succession of a plurality of vertical segments. According to the invention, said method comprises: a) receiving said first flight path and said second flight path; b) automatically performing at least one of the following comparison steps: - comparing the first lateral trajectory and the second lateral trajectory of said first and second flight paths, this comparison being successively carried out segment by segment, said comparison being performed as long as the respective successive segments are identical and at least a predetermined distance in the horizontal plane; and - comparing segment by segment the first vertical trajectory and the second vertical trajectory of said first and second flight paths, this comparison being successively carried out segment by segment, said comparison being carried out successively as long as the respective successive segments are identical and at least a predetermined distance in the horizontal plane; and c) automatically transmitting the result of the comparison step performed in step b) to user means.
    [0002] Thus, thanks to the invention, the comparison of the two trajectories is not carried out point by point, but segment by segment, which makes it possible to obtain a fast and reliable comparison, as specified below. In the context of the present invention: each of the lateral segments of a lateral trajectory corresponds to one of the following segments: a rectilinear-type lateral segment or a curved-type (or curvilinear) lateral segment and comprises in particular a departure and arrival point; and each of the vertical segments of a vertical trajectory corresponds to one of the following segments: a rectilinear-type vertical segment or a curve-type (or curvilinear) vertical segment and comprises in particular a starting point and an arrival point . Advantageously, the comparison between a lateral segment of the first flight trajectory, said first lateral segment, and a lateral segment of the second flight trajectory, said second lateral segment, consists in succession: El) to check whether the points the first and second lateral segments are identical, and: if they are not identical, to conclude that said first and second lateral segments are different; and - otherwise, to implement a step E2); E2) checking whether the types of the first and second lateral segments are identical, and: - if they are not identical, to conclude that said first and second lateral segments are different; and - otherwise, to implement a step E3); E3) to check whether the two identical type lateral segments are of rectilinear type or of curved type, and if the two lateral segments are of rectilinear type to implement a step E4), and if the two lateral segments are of curve type to implement a step E5); E4) checking whether the arrival points of the first and second lateral segments are identical, and: - if they are identical, to conclude that said first and second lateral segments are identical; and - otherwise, to implement a step E4A); E4A) to check whether the orientations (specified below) of the first and second lateral segments are identical, and: - if they are not identical, to conclude that said first and second lateral segments are different; and - otherwise, to implement a step E4B); E4B) to check which of the two segments is the shortest and to consider the shortest segment as corresponding to the beginning of the other segment; E5) to check whether the directions of rotation of the first and second lateral segments are identical, and: - if they are not identical, to conclude that said first and second lateral segments are different; and - otherwise, to implement a step E5A); E5A) to check whether the centers of the first and second lateral segments are identical, and: - if they are not identical, to conclude that said first and second lateral segments are different; and - otherwise, to implement a step E5B); E5B) to check if the arrival points of the first and second lateral segments are identical, and: - if they are identical, to conclude that said first and second lateral segments are identical; and - otherwise, to implement a step E5C); E5C) to check whether the turning radii of the first and second lateral segments are identical, and: - if they are not identical, to conclude that said first and second lateral segments are different; and - otherwise, to implement a step E5D); E5D) to check which of the two segments is the shortest and to consider the shortest segment as corresponding to the beginning of the other segment. In addition, advantageously, the comparison between a vertical segment of the first flight trajectory, said first vertical segment, and a vertical segment of the second flight trajectory, said second vertical segment, consists in succession: F0) to check whether the first and second vertical segments refer to the same lateral segment, and: if they do not refer to the same lateral segment, to conclude that said first and second vertical segments are different; and - otherwise, to implement a step F1); F1) to check if the starting points of the first and second vertical segments are identical, and: - if they are not identical, to conclude that said first and second vertical segments are different; and - otherwise, to implement a step F2); F2) to check whether the types of the first and second vertical segments are identical, and: - if they are not identical, to conclude that said first and second vertical segments are different; and - if not to implement a step F3); F3) to check if the two vertical segments of identical types are of rectilinear or curved type, and if the two vertical segments are of rectilinear type to implement a step F4), and if the two vertical segments are of curved type to implement a step F5); F4) checking whether the arrival points of the first and second vertical segments are identical, and: - if they are identical, to conclude that said first and second vertical segments are identical; and - otherwise, to implement a step F4A); F4A) to check whether the slopes of the first and second vertical segments are identical, and: - if they are not identical, to conclude that said first and second vertical segments are different; and - otherwise, to implement a step F4B); F4B) to check which of the two segments is the shortest and to consider the shortest segment as corresponding to the beginning of the other segment; F5) to check whether the directions of rotation of the first and second vertical segments are identical, and: - if they are not identical, to conclude that said first and second vertical segments are different; and - otherwise, to implement a step F5A); F5A) to check if the centers of rotation of the first and second vertical segments are identical, and: - if they are not identical, to conclude that said first and second vertical segments are different; and - otherwise, to implement a step F5B); F5B) to check whether the arrival points of the first and second vertical segments are identical, and: - if they are identical, to conclude that said first and second vertical segments are identical; and - otherwise, to implement a step F5C); F5C) to check whether the turning radii of the first and second vertical segments are identical, and: - if they are not identical, to conclude that said first and second vertical segments are different; and - otherwise, to implement a step F5D); F5D) to check which of the two segments is the shortest and to consider the shortest segment as corresponding to the beginning of the other segment. Moreover, in a particular embodiment, step b) consists in successively implementing the two comparison steps, starting, for example, by comparing the lateral trajectories. In addition, in a preferred embodiment: the method comprises a further step prior to step a) of copying the first flight path to then form the second flight path; and said first and second flight paths are low-altitude flight paths. The present invention also relates to a device for automatically comparing first and second flight paths, such as those mentioned above. According to the invention, said device comprises: a reception unit configured to receive said first flight trajectory and said second flight trajectory; a central unit comprising: a first comparison element configured to automatically compare the first lateral trajectory and the second lateral trajectory of said first and second flight paths, this comparison being carried out successively segment by segment, said comparison being carried out as long as the respective successive segments are identical and at least a predetermined distance in the horizontal plane; and a second comparison element configured to automatically compare the first vertical trajectory and the second vertical trajectory of said first and second flight paths, this comparison being successively carried out segment by segment, said comparison being carried out successively as long as the segments respective successive ones are identical and at least a predetermined distance in the horizontal plane; and a data transmission unit configured to automatically transmit to user means the result of the calculations implemented by the central unit. The present invention also relates to a system for guiding an aircraft, which comprises: a flight management computer configured to automatically calculate, during a flight of the aircraft along a so-called current trajectory flight trajectory, a new trajectory of flight said auxiliary trajectory; a guiding device for guiding the aircraft along a flight path; a comparison device such as that mentioned above, for performing a comparison of trajectories between the current trajectory and the auxiliary trajectory; and a trajectory change unit configured to automatically perform a flight path change, if said current and auxiliary trajectories have a common section of length greater than a predetermined threshold, a flight path change consisting of replacing said current trajectory by said auxiliary path so that the guide device guides the aircraft along said auxiliary path from the change. The present invention further relates to an aircraft, in particular a transport aircraft, which is provided with such a comparison device and / or such a guidance system.
    [0003] The appended figures will make it clear how the invention can be realized. In these figures, identical references designate similar elements. Figure 1 schematically illustrates a particular embodiment of a device according to the invention.
    [0004] Figures 2 and 3 show geometric parameters for defining a lateral segment of a lateral trajectory.
    [0005] Figure 4 is a block diagram of a comparison of two lateral segments. Figures 5 and 6 show geometric parameters for defining a vertical segment of a vertical trajectory.
    [0006] Figure 7 is a block diagram of a comparison of two vertical segments. Figure 8 is a block diagram of a comparison of two flight paths. FIG. 9 schematically illustrates a particular embodiment of a guidance system of an aircraft. FIG. 10 shows a flight of an aircraft guided by means of a guidance system according to the invention, during a change of trajectory. The device 1 shown diagrammatically in FIG. 1 and making it possible to illustrate the invention, is a comparison device intended to automatically compare a first flight trajectory T1 and a second flight trajectory T2 of an aircraft AC (FIG. 10). especially a military transport plane. This device 1 can be used in particular during a low-altitude flight, as specified below with reference to FIGS. 9 and 10. The flight trajectory T1 comprises a vertical trajectory T1V defined in the vertical plane and a defined lateral trajectory T1L. in the lateral (or horizontal) plane, and the flight path T2 includes a lateral trajectory T2L and a vertical trajectory T2V. Said lateral trajectories T1L and T2L each comprise a succession of a plurality of lateral segments SL, and said vertical trajectories T1V and T2V each comprise a succession of a plurality of vertical segments SV. According to the invention, said device 1 which is embarked on the aircraft AC, comprises: a reception unit 2 configured to receive said flight trajectory T1 and said flight trajectory T2; a central unit 3 connected via a link 4 to the reception unit 2 and comprising: a comparison element 5 for automatically comparing the lateral trajectory T1L and the lateral trajectory T2L respectively of said flight paths T1 and T2. Comparator 5 makes this comparison successively, segment (lateral) by segment (lateral). This comparison is carried out as long as the respective successive segments of the lateral trajectories T1L and T2L are identical and at least over a predetermined distance in the horizontal plane; and a comparison element 6 for automatically comparing the vertical trajectory T1V and the vertical trajectory T2V respectively of said flight paths T1 and T2. The comparison element 6 makes this comparison successively, segment (vertical) by segment (vertical). This comparison is carried out successively as long as the successive vertical segments, respectively, of the vertical trajectories T1V and T2V are identical; and a data transmission unit (illustrated by a link 7) which makes it possible to automatically transmit the result of the calculations implemented by the central processing unit 3 to user means (and in particular to a guidance calculator, as specified in FIG. -Dessous). The device 1 implements an analytical method for automatically performing the comparison of trajectories T1 and T2. To do this, he does not intend to compare the two trajectories T1 and T2 point by point, but to compare them segment by segment, in the horizontal plane and / or in the vertical plane. In a preferred application (specified below), said flight paths T1 and T2 are low-altitude flight paths, used in particular during a revision of a flight plan. The comparison elements 5 and 6 of the central unit 3 therefore compare the segments in pairs, until reaching a desired common path length. The similarity between two segments can be, as specified below; - either complete: all the parameters of a segment are identical to the parameters of the segment to which it is compared; - Partial: the two segments are different, but superimposed over a certain length. In the context of the present invention, a lateral (trajectory) segment SL may be a linear SLA lateral segment (i.e. a straight line segment) or a curved or curved linear segment SLB (i.e. an arc of a circle ), as shown respectively in FIGS. 2 and 3. This lateral segment SLA, SLB is defined from the following geometry parameters: the latitude / longitude of the starting point Bi of the segment SLA, SLB; - the latitude / longitude of the arrival point Ei of the SLA segment, SLB; the type Ti of the segment SLA, SLB: curved or rectilinear; - the latitude / longitude of the center of the curve Ci (for curved or curvilinear segments); and - the rotation direction Tdi (for curved or curvilinear segments). For the rectilinear segments, the orientation ai with respect to North N is also considered, namely, in the context of the invention, the course of the straight line passing through the starting point Bi (defined by its latitude / longitude). and by the end point Ei (defined by its latitude / longitude). The comparison between a lateral segment SL1 of the lateral trajectory TL1 of the flight path T1 and a lateral segment SL2 of the lateral trajectory TL2 of the flight trajectory T2, implemented by the comparison element 5, presents the successive steps following, as shown in Figure 4: - a step E1) to check whether the starting points E1 and E2 of said side segments SL1 and SL2 are identical; and: if they are not identical, to conclude that said lateral segments SL1 and SL2 are different (step G1); and - otherwise, to implement a step E2); step E2) to check whether the types T1 and T2 of the lateral segments SL1 and SL2 are identical, and: if they are not identical, to conclude that said lateral segments SL1 and SL2 are different (G1); and - otherwise, to implement a step E3); step E3) to check whether the two identical lateral segments SL1 and SL2 are of rectilinear type or of curved type, and if the two lateral segments SL1 and SL2 are of rectilinear type to implement a step E4), and if the two lateral segments SL1 and SL2 are of the curve type to implement a step E5); step E4) to check whether the arrival points B1 and B2 of the straight lateral segments SL1 and SL2 are identical, and: if they are identical, to conclude that said lateral segments SL1 and SL2 are identical (G2 ); and - otherwise, to implement a step E4A); step E4A) to check if the orientations a1 and a2 of the lateral segments SL1 and SL2 are identical, and: if they are not identical, to conclude that said lateral segments SL1 and SL2 are different (step G1) ; and - otherwise, to implement a step E4B); step E4B) to check which of the two segments SL1 and SL2 is the shortest and to consider the shortest segment as corresponding to the beginning of the other segment, namely: step G2A: the segment SL2 is shorter that segment SL1; step G2B: segment SL1 is shorter than segment SL2; step E5) to check whether the rotational directions Td1 and Td2 of the curved lateral segments SL1 and SL2 are identical, and: - if they are not identical, to conclude that said lateral segments SL1 and SL2 are different ( G1); and - otherwise, to implement a step E5A); step E5A) to check whether the centers C1 and C2 of the lateral segments SL1 and SL2 are identical, and: if they are not identical, to conclude that said lateral segments SL1 and SL2 are different (G1); and - otherwise, to implement a step E5B); step E5B) to check whether the arrival points B1 and B2 of the lateral segments SL1 and SL2 are identical, and: if they are identical, to conclude that said lateral segments SL1 and SL2 are identical (G2) ; and - otherwise, to implement a step E5C); step E5C) to check whether the turning radii C1E1 and C2E2 of the lateral segments SL1 and SL2 are identical, and: - if they are not identical, to conclude that said lateral segments SL1 and SL2 are different ( G1); and - otherwise, to implement a step E5D); step E5D) to check which of the two segments SL1 and SL2 is the shortest, and to consider the shortest segment as corresponding to the beginning of the other segment, namely: step G2A: the segment SL2 is no longer short than segment SL1; step G2B: segment SL1 is shorter than segment SL2. Furthermore, a vertical segment (trajectory) SV may be a vertical segment SVA of rectilinear type (ie a line segment) or a vertical segment SVB of curved or curvilinear type (namely an arc of circle), as respectively represented in Figures 5 and 6. This vertical segment SVA, SVB is defined from the following geometry parameters: - the reference to a lateral segment SL; - the abscissa Xb of the starting point Bi (of the vertical segment SVA, SVB) on the lateral segment SL; the altitude Zb of the starting point Bi of the vertical segment SVA, SVB; - the abscissa Xe of the arrival point Ei (of the vertical segment SVA, SVB) on the lateral segment SL; the altitude Ze of the arrival point Ei of the vertical segment SVA, SVB; segment type Ti: curved or rectilinear; - the abscissa Xc of the center of turn Ci on the lateral segment SL (for a curved segment); the altitude Zc of the center of turn Ci (for a curved segment); and - the direction of rotation Ztdi (for a curved segment). For rectilinear segments, the slope yi of the line passing through the starting point Bi (defined by its latitude / longitude / altitude) and the arrival point Ei (defined by its latitude / longitude / altitude) are also considered. . The comparison between a vertical segment SV1 of the vertical trajectory TV1 (of the flight trajectory T1) and a vertical segment SV2 of the vertical trajectory TV2 (of the flight trajectory T2), implemented by the comparison element 6, presents the following successive steps, as represented in FIG. 7: a preliminary step FO relative to the comparison of the corresponding lateral segments, and: if the corresponding lateral segments are different, to conclude that said vertical segments SV1 and SV2 are also different (step H1); if not, to implement a step F1); step F1) to check whether the starting points B1 and B2 of the vertical segments SV1 and SV2 are identical, and: if they are not identical, to conclude that said vertical segments SV1 and SV2 are different (H1 ); and - otherwise, to implement a step F2); step F2) to check whether the types T1 and T2 of the vertical segments SV1 and SV2 are identical, and: if they are not identical, to conclude that said vertical segments SV1 and SV2 are different (H1); and - otherwise, to implement a step F3); step F3) for verifying whether the identical vertical segments SV1 and SV2 are of rectilinear type or of curved type, and whether the two vertical segments SV1 and SV2 are of rectilinear type to implement a step F4), and if the two vertical segments are of the curve type to implement a step F5); step F4) to check whether the arrival points E1 and E2 of the straight vertical segments SV1 and SV2 are identical, and: if they are identical, to conclude that said vertical segments SV1 and SV2 are identical (step H2); and - otherwise, to implement a step F4A); step F4A) to check whether the slopes 71 and y2 of the straight vertical segments SV1 and SV2 are identical, and: if they are not identical, to conclude that said vertical segments SV1 and SV2 are different (H1) ; and - otherwise, to implement a step F4B); step F4B) to check which of the two segments SV1 and SV2 is the shortest and to consider the shortest segment as corresponding to the beginning of the other segment, namely: step H2A: the segment SV2 is shorter that segment SV1; step H2B: segment SV1 is shorter than segment SV2; step F5) to check whether the rotation directions Ztd1 and Ztd2 of the vertical segments SV1 and SV2 curves are identical, and: - if they are not identical, to conclude that said vertical segments SV1 and SV2 are different ( H1); and - otherwise, to implement a step F5A); step F5A) to check whether the centers of rotation (or turning) C1 and C2 of the vertical segments SV1 and SV2 are identical, and: - if they are not identical, to conclude that said vertical segments SV1 and SV2 are different (H1); and - otherwise, to implement a step F5B); step F5B) to check whether the arrival points B1 and B2 of the vertical segments SV1 and SV2 are identical, and: if they are identical, to conclude that said vertical segments SV1 and SV2 are identical (H2) ; and - otherwise, to implement a step F5C); step F5C) to check whether the turning radii C1E1 and C2E2 of the vertical segments SV1 and SV2 are identical, and: - if they are not identical, to conclude that said vertical segments SV1 and SV2 are different (H1 ); and - otherwise, to implement a step F5D); step F5D) to check which of the two segments SV1 and SV2 is the shortest and to consider the shortest segment as corresponding to the beginning of the other segment, namely: step H2A: segment SV2 is shorter that segment SV1; step H2B: segment SV1 is shorter than segment SV2. In a preferred embodiment, the two aforementioned comparisons are implemented successively in the lateral (or horizontal) plane and in the vertical plane. The comparison between the flight path T1 and the flight path T2, implemented by the central unit 3, comprises a series of successive steps presenting two sets of successive comparisons, namely COMP1 (to compare the lateral trajectory TL1 and the lateral trajectory TL2) and COMP 2 (to compare the vertical trajectory TV1 and the vertical trajectory TV2), as represented in FIG. 8. More precisely, this series of successive steps comprises: a plurality of steps M1) (after a beginning MO) implemented by the comparison element 5 to check, successively, whether the respective successive lateral segments SL1i and SL2i (i being an integer from 1 to I) of the lateral trajectories TL1 and TL2 are identical; and as long as they are identical (SL11 and SL21 identical, SL12 and SL22 identical, SL13 and SL23 identical, ...), to repeat the step M1) for the next couple SL1i and SL2i, the corresponding step M1) following steps in Figure 4; and - if not, if it is not the case for a couple SL1k and SL2k, to implement a step M2); step M2) to check whether the lateral segment SL2k is part of the lateral segment SL1k, and: if this is not the case (step M8), to conclude that the two flight paths T1 and T2 do not have no satisfactory common part (less than D); and - otherwise, to implement a step M3); k - step M3) to check whether the sum ESL2k D of the lateral segments 1 = 1 SL21 to SL2k is greater than or equal to the distance D, and: - if this is not the case (step M8), for conclude that the two trajectories T1 and T2 do not have a satisfying common part (less than D); and - otherwise, to consider (step M4) that the two lateral trajectories T1L and T2L have a satisfactory common part (greater than D), and to implement a plurality of steps M5); the plurality of steps M5) implemented by the comparison element 6 to check, successively, whether the respective successive vertical segments SV1j and SV2j (j being an integer from 1 to m) are identical; and: as long as they are identical (SV11 and SV21 identical, SV12 and SV22 identical, SV13 and SV23 identical, ...), to repeat the step M5) for the next pair SL1j and SL2j, the step M5) corresponding to the sequence of steps of Figure 7; and - otherwise, if it is not the case for a pair SV1p and SV2p, to implement a step M6); step M6) to check whether the vertical segment SV2p corresponds to the beginning of the vertical segment SV1p, and: if this is not the case (step M8), to conclude that the two flight paths T1 and T2 are have no satisfactory common part (less than D); and - otherwise, to consider (step M7) that the two vertical trajectories TV1 and TV2 are common over a satisfactory distance (greater than D) and therefore that the two flight paths T1 and T2 have a satisfactory common part. Furthermore, in a preferred application, the comparison device 1 is part of a guidance computer 9 of a guidance system 10 which is embedded on the aircraft AC. In a particular embodiment, this guidance system 10 is configured to perform, in the usual way, an automatic guidance of the aircraft AC during a flight at low altitude. Said guidance system 10 comprises, as represented in FIG. 9: a flight management system 13 of the FMS type ("Flight Management System" in English), which comprises at least one flight management computer 12. flight management 12 is able to calculate automatically, during a flight of the aircraft AC along a flight path T1 called current trajectory, a new flight path T2 called auxiliary trajectory; a guidance device 21 comprising the guidance computer 9 for guiding the aircraft AC along a flight path T1, T2, received from the flight management computer 12 via a link 11; and a trajectory change unit 20 configured to automatically perform a change of flight path, if said current and auxiliary trajectories T1 and T2 have a common section LO of length greater than a predetermined threshold D. A change of flight path consists of replacing the current trajectory T1 by the auxiliary trajectory T2 so that the guiding device 21 guides the aircraft AC along said auxiliary trajectory T2 from the change. In a preferred application, said flight paths T1 and T2 are low-altitude flight paths, used in particular during a revision of a flight plan. It is known that, during a revision of the flight plan, the flight management system 13 generally performs an exact copy of the segments of the current trajectory T1 up to a point of divergence with the new trajectory T2.
    [0007] In a particular embodiment, the guidance system 10 also comprises a position calculator 14, connected by links 18 and 19 respectively to the flight management system 13 and the guidance computer 21 of the aircraft AC. This position calculator 14 is configured to automatically determine, in the usual way, the current position of the aircraft AC, for example using a conventional GPS receiver associated with a GPS positioning system ("Global"). Positioning System "). During a flight, particularly at low altitude (with an automatic piloting device and / or a flight director of the aircraft AC, which are part of the guidance device 21 and which are engaged), the flight path T1 (Figure 10) followed by the AC aircraft can be modified (laterally and vertically) at the request of a pilot of the aircraft AC. To do this, the pilot modifies the flight plan using an appropriate input unit 15 for entering data relating to the proposed new flight plan. This data is provided via a link 17 to the flight management computer 12. This input unit 15 forms part of a set 16 of information sources making it possible to provide information, automatically or via input by a pilot, to the computer. flight management 12.
    [0008] The flight management computer 12 calculates, in the usual way, the trajectory T2 (lateral and / or vertical) corresponding to the modified flight plan, from the position of the aircraft AC at the moment when the pilot requests this calculation. This position is received from the position calculator 14 via the link 18. The calculation of the new flight trajectory T2 can last several seconds (computation time of the systems). During this period, the aircraft AC continues to fly along the current flight path T1, as shown in FIG. 10. In this FIG. 10, the direction of flight of the aircraft AC is indicated by an arrow E. In FIG. the example of Figure 10, the current trajectory T1 passes through successive waypoints ("waypoints" in English) P1, P2, P3 and P4 forming part of the initial flight plan. In addition, in this example, the new flight path (or auxiliary trajectory) T2 deviates from the flight path T1 at a point of divergence PR to reach a waypoint P4A (for example entered by the pilot at the using the input unit 15), instead of the waypoint P4. To secure the transition between the current trajectory T1 and the auxiliary trajectory T2, these trajectories T1 and T2 must have a common part called common section LO. Also, before allowing the guidance on the new trajectory T2, the device 1 (as described above), compares the two trajectories T1 and T2 to check if these two trajectories T1 and T2 do indeed have such a common section LO ( which corresponds at least to the flight time of the aircraft AC during the calculation of the new trajectory T2). More precisely: - if the two trajectories T1 and T2 have no part or common section, or if the common section LO is too short, the new trajectory T2 can not be activated and the aircraft AC will continue to be guided by the guidance system 10 along the current trajectory T1; - On the other hand, if the two trajectories T1 and T2 have a common section LO of sufficient length (greater than the distance D), the new trajectory T2 can be activated and the aircraft AC will be guided by the guidance system 10 according to this new trajectory T2.
    [0009] A change of flight path consists of replacing the current trajectory T1 by the auxiliary trajectory T2 so as to fly the aircraft AC along said auxiliary trajectory T2 from the change. To do this, the trajectory change unit 20 which can be part of the guidance computer 9 or another element of the guide device 21 (and receives the information via a link 22) makes the necessary switches to go from T1 to T2.
    权利要求:
    Claims (10)
    [0001]
    REVENDICATIONS1. A method of automatically comparing first and second flight paths (T1) for an aircraft (AC), said first flight path comprising a first vertical trajectory and a first lateral trajectory, and said second flight trajectory (T2) comprising a second vertical trajectory and a second lateral trajectory, said first lateral trajectory and said second lateral trajectory comprising a succession of a plurality of lateral segments, and said first vertical trajectory and said second vertical trajectory comprising a succession of a plurality of vertical segments, said method comprising: a) receiving said first flight path (T1) and said second flight path (T2); b) automatically performing at least one of the following comparison steps: - comparing the first lateral trajectory and the second lateral trajectory of said first and second flight paths (T1, T2), this comparison being performed successively segment by segment, said comparison being performed as long as the respective successive segments are identical and at least a predetermined distance in the horizontal plane; and - comparing segment by segment the first vertical trajectory and the second vertical trajectory of said first and second flight paths (T1, T2), this comparison being successively carried out segment by segment, said comparison being carried out successively as long as the respective successive segments are identical and at least a predetermined distance in the horizontal plane; and c) automatically transmitting the result of the comparison step performed in step b) to user means.
    [0002]
    2. Method according to claim 1, characterized in that the comparison between a lateral segment of the first flight path, said first lateral segment, and a lateral segment of the second flight path, said second lateral segment, each of said first and second lateral segments corresponding to one of the following segments: a rectilinear-type side segment or a curved-type lateral segment having a starting point and an end point, consists in succession of: El) checking whether the points the first and second lateral segments are identical, and: if they are not identical, to conclude that said first and second lateral segments are different; and - otherwise, to implement a step E2); E2) checking whether the types of the first and second lateral segments are identical, and: - if they are not identical, to conclude that said first and second lateral segments are different; and - if not to implement a step E3); E3) to check whether the two identical type lateral segments are of rectilinear type or of curved type, and if the two lateral segments are of rectilinear type to implement a step E4), and if the two lateral segments are of curve type to implement a step E5); E4) checking whether the arrival points of the first and second lateral segments are identical, and: - if they are identical, to conclude that said first and second lateral segments are identical; and - otherwise, to implement a step E4A); E4A) to check whether the orientations of the first and second lateral segments are identical, and: - if they are not identical, to conclude that said first and second lateral segments are different; and if not, implementing a step E4B); E4B) checking which of the two segments is the shortest and considering the shortest segment as corresponding to the beginning of the other segment; E5) to check whether the directions of rotation of the first and second lateral segments are identical, and: - if they are not identical, to conclude that said first and second lateral segments are different; and - otherwise, to implement a step E5A); E5A) to check whether the centers of the first and second lateral segments are identical, and: - if they are not identical, to conclude that said first and second lateral segments are different; and - otherwise, to implement a step E5B); E5B) to check if the arrival points of the first and second lateral segments are identical, and: - if they are identical, to conclude that said first and second lateral segments are identical; and - otherwise, to implement a step E5C); E5C) to check whether the turning radii of the first and second lateral segments are identical, and: - if they are not identical, to conclude that said first and second lateral segments are different; and - otherwise, to implement a step E5D); E5D) to check which of the two segments is the shortest and to consider the shortest segment as corresponding to the beginning of the other segment.
    [0003]
    3. Method according to one of claims 1 and 2, characterized in that the comparison between a vertical segment of the first flight path, said first vertical segment, and a vertical segment of the second flight path, said second vertical segment each of said first and second vertical segments corresponding to one of the following segments: a rectilinear type vertical segment or a curve type vertical segment having a starting point and an ending point, successively consisting of: F0) checking whether the first and second vertical segments refer to the same lateral segment, and: - if they do not refer to the same lateral segment, to conclude that said first and second vertical segments are different; and - otherwise, to implement a step F1); F1) to check if the starting points of the first and second vertical segments are identical, and: - if they are not identical, to conclude that said first and second vertical segments are different; and - otherwise, to implement a step F2); F2) to check whether the types of the first and second vertical segments are identical, and: - if they are not identical, to conclude that said first and second vertical segments are different; and - if not to implement a step F3); F3) to check if the two vertical segments of identical types are of rectilinear or curved type, and if the two vertical segments are of rectilinear type to implement a step F4), and if the two vertical segments are of curve type to implement a step F5); F4) checking whether the arrival points of the first and second vertical segments are identical, and: - if they are identical, to conclude that said first and second vertical segments are identical; and - otherwise, to implement a step F4A); F4A) to check whether the slopes of the first and second vertical segments are identical, and: - if they are not identical, to conclude that said first and second vertical segments are different; and if not, implementing a step F4B); F4B) checking which of the two segments is the shortest and considering the shortest segment as corresponding to the beginning of the other segment; F5) to check whether the directions of rotation of the first and second vertical segments are identical, and: - if they are not identical, to conclude that said first and second vertical segments are different; and - otherwise, to implement a step F5A); F5A) to check if the centers of rotation of the first and second vertical segments are identical, and: - if they are not identical, to conclude that said first and second vertical segments are different; and - otherwise, to implement a step F5B); F5B) to check whether the arrival points of the first and second vertical segments are identical, and: - if they are identical, to conclude that said first and second vertical segments are identical; and - otherwise, to implement a step F5C); F5C) to check whether the turning radii of the first and second vertical segments are identical, and: - if they are not identical, to conclude that said first and second vertical segments are different; and - otherwise, to implement a step F5D); F5D) to check which of the two segments is the shortest and to consider the shortest segment as corresponding to the beginning of the other segment.
    [0004]
    4. Method according to any one of the preceding claims, characterized in that step b) consists of implementing successively the two comparison steps.
    [0005]
    5. Method according to any one of the preceding claims, characterized in that it comprises a further step prior to step a) and of copying the first flight path (T1) to then form the second flight path ( T2).
    [0006]
    6. Method according to any one of the preceding claims, characterized in that said first and second flight paths (T1, T2) are low-altitude flight paths.
    [0007]
    7. Device for automatically comparing first and second flight paths for an aircraft (AC), said first flight trajectory (T1) comprising a first vertical trajectory and a first lateral trajectory, and said second flight trajectory (T2) comprising a second vertical trajectory and a second lateral trajectory, said first lateral trajectory and said second lateral trajectory comprising a succession of a plurality of lateral segments, said first vertical trajectory and said second vertical trajectory comprising a succession of a plurality of vertical segments said device (1) comprising: - a receiving unit (2) configured to receive said first flight path (T1) and said second flight path (T2); a central unit (3) comprising: a first comparison element (5) configured to automatically compare the first lateral trajectory and the second lateral trajectory of said first and second flight paths (T1, T2), this comparison being carried out in a manner successive segment by segment, said comparison being performed as long as the respective successive segments are identical and at least a predetermined distance in the horizontal plane; and a second comparison element (6) configured to automatically compare the first vertical trajectory and the second vertical trajectory of said first and second flight paths (T1, T2), this comparison being successively carried out segment by segment, said comparison being performed successively as long as the respective successive segments are identical and at least a predetermined distance in the horizontal plane; and- a data transmission unit (7) configured to automatically transmit to user means the result of the calculations implemented by the central unit (3).
    [0008]
    8. System for guiding an aircraft, characterized in that it comprises: a flight management computer (12) configured to automatically calculate, during a flight of the aircraft (AC) according to a flight path said current trajectory (T1), a new flight path called auxiliary trajectory (T2); a guiding device (21) for guiding the aircraft (AC) along a flight path; a comparison device (1) such as that specified in claim 7, for performing a comparison of trajectories between the current trajectory (T1) and the auxiliary trajectory (T2); and a trajectory change unit (20) configured to automatically perform a flight path change, if said current and auxiliary trajectories (T1, T2) have a common section (LO) longer than a predetermined threshold, a change flight path method of replacing said current trajectory (T1) by said auxiliary trajectory (T2) so that the guiding device (21) guides the aircraft (AC) along said auxiliary trajectory (T2) from the change .
    [0009]
    9. Aircraft, characterized in that it comprises a device (1) such as that specified in claim 7.
    [0010]
    10. Aircraft, characterized in that it comprises a guide system (10) such as that specified in claim 8.
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    引用文献:
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    法律状态:
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    优先权:
    申请号 | 申请日 | 专利标题
    FR1453940A|FR3020706B1|2014-04-30|2014-04-30|METHOD AND DEVICE FOR AUTOMATIC COMPARISON OF TWO FLIGHT TRAJECTORIES FOR AN AIRCRAFT.|FR1453940A| FR3020706B1|2014-04-30|2014-04-30|METHOD AND DEVICE FOR AUTOMATIC COMPARISON OF TWO FLIGHT TRAJECTORIES FOR AN AIRCRAFT.|
    US14/697,896| US9725157B2|2014-04-30|2015-04-28|Method and device for automatically comparing flight trajectories of aircraft|
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