• 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:
    Method for navigating an aerial drone in the presence of at least one intruder aircraft in a zone of space surrounding the drone, wherein an estimated distance between the drone and the intruder aircraft is calculated from a signal power received and validated if an estimated value of a positioning data calculated by the drone using the estimated distance substantially corresponds to a measured value of the positioning data. Aerial drone arranged for the implementation of this method.
    公开号:FR3020892A1
    申请号:FR1454215
    申请日:2014-05-12
    公开日:2015-11-13
    发明作者:Julien Farjon
    申请人:Sagem Defense Securite SA；
    IPC主号:
    专利说明:

    [0001] The present invention relates to the prevention of collisions between aircraft and more particularly to a method of navigation and control of aerial drones. The invention also relates to a drone implementing such a method of navigation and pilots. State of the art An aerial drone is a human unmanned aircraft on board. This aircraft can be equipped with automated systems and make its flight autonomously; it can also be provided with sensors connected to an automatic piloting device and / or to a remote control device by a pilot on the ground. Air drones are increasingly used in the military field, especially for battlefield surveillance, reconnaissance and even ground attack. It has been envisaged to use aerial drones in the civilian field to carry out aerial surveillance of territories. These drones are indeed interesting because they have a great autonomy of flight. On the other hand, they suffer from low maneuverability. The absence of pilot on board prohibits the drone from being able to comply with the rules of the air in force in the civil airspace, rules which provide in particular for an aircraft to be able to perform a "see and avoid" function enabling it to escape a collision. Thus drones are not allowed to fly in segregated airspace, that is, at the same places and times as civil aircraft carrying a pilot. It is known to embark transponders (operating in mode A, C or S for civil aircraft) on the aircraft, allowing the secondary radar stations of air traffic control to determine the position of these aircraft and to identify them in space. monitored. For this purpose, the secondary radar stations interrogate the transponders of the aircraft operating in the monitored space zone and the transponders return in response a signal containing an identifier and also a barometric altitude according to the mode of operation of the transponder. There is an anti-collision system, intended to equip certain piloted aircraft, which is known as the TCAS and corresponds to the ACAS standard defined by the Convention on International Civil Aviation. In Europe, the use of this system tends to be extended and all commercial aircraft with more than nineteen passenger seats must be equipped with version II of this system incorporating an S mode transponder. The system is arranged to retrieve information on the heading and position of any aircraft, said intruder aircraft, evolving in the surrounding space of the aircraft at a distance of between 2.5 (4 km) and 30 miles (48 km). This information includes mainly the distance to these aircraft, their barometric altitude and approximate azimuth information. The information is retrieved by interrogating the Mode S transponder of the intruding aircraft and is used by the TCAS II system to determine whether a collision with this intruder aircraft is possible. In the event of a potential collision detected by the TCAS system, the pilot of each aircraft is informed by a hearing alert issued in the cockpit. If the risk of a collision is not reduced after this alert and the collision seems imminent, the TCAS system determines a maneuver setpoint for the pilot: maintain the current trajectory, climb, descend or monitor the vertical speed. The use of TCAS II is, however, restrictive and unsuitable for unmanned drones and are generally relatively inexpensive. OBJECT OF THE INVENTION An object of the invention is to facilitate the navigation of a drone and increase its safety by allowing the taking into account of at least one intruder aircraft in the space surrounding the drone. DESCRIPTION OF THE INVENTION For this purpose, it is provided, according to the invention, a method of navigation of an aerial drone in the presence of at least one intruder aircraft in a zone of space surrounding the drone. The method comprises the steps, implemented at the level of the drone, of: receiving a signal from the intruder aircraft, signal comprising at least the altitude of the intruder aircraft, and calculating an estimated distance between the drone and the aircraft; aircraft intruding from a received signal strength; capturing at least one image of the intruder aircraft and determining a bearing angle of the aircraft intruded from this image; extract from the signal the altitude transmitted by the intruding aircraft; calculating, using the estimated distance, an estimated value of a positioning datum of the intruder aircraft or the drone; comparing the estimated value of the positioning data with a measured value of the positioning data and taking into account the calculated distance for the navigation if the estimated value substantially corresponds to the measured value. The positioning data may be the altitude of the intruder aircraft (the measured value being the transmitted altitude) or the angle of the aircraft intruder relative to the drone (the measured value of the angle of being the one determined on the image). Thus, since the estimated distance is involved in the calculation of the estimated value of the positioning data, the comparison of the estimated value and the measured value makes it possible to verify the validity of the estimated distance between the drone and the intruder aircraft. . This limits the risk of error. The estimated and validated distance can then be taken into account in the navigation, in particular to provide an avoidance maneuver of the intruding aircraft or to identify among the available information those that are safest to use for navigation. It is not mandatory for the drone to be equipped with a transponder interrogator, the receiver of the drone receiving, for example, the signals transmitted by the mode C or S transponder of the intruder aircraft after it has been interrogated or by a secondary radar on the ground by another aircraft equipped with an interrogator; the receiver of the drone can also receive for example the signals emitted automatically by an ADS-B type device (Automatic Dependent Surveillance-Broadcast). The method of the invention can therefore be implemented from solely passive sensors, in particular if the drone is brought to evolve only in an environment covered by secondary radars.
    [0002] The invention also relates to an aerial drone comprising a control device connected to an altitude measuring instrument, to an optronic detection device arranged to determine a bearing angle of an intruding aircraft operating in a surrounding area. the drone, and a receiver to receive a signal that is emitted by an intruder aircraft and that contains an altitude of the intruder aircraft. The piloting device of the drone is arranged to: calculate an estimated distance between the drone and an intruder aircraft from a power of a signal received by the receiver; capturing at least one image of the aircraft intruded by the optronic device and determining the angle of bearing of the aircraft intruded from this image; extracting from the signal the altitude transmitted by the intruding aircraft; calculate an estimated altitude of the intruder aircraft from the bearing angle and the calculated distance; - compare the estimated altitude with the transmitted altitude and take into account the distance calculated for the navigation if the estimated altitude corresponds substantially to the transmitted altitude. Other features and advantages of the invention will emerge on reading the following description of particular non-limiting embodiments of the invention. Reference is made to the accompanying drawings, in which: FIG. 1 is a diagrammatic perspective view of a crossing situation of an aircraft and a drone according to the invention; FIG. 2 is a schematic view of the piloting device of the drone according to the invention.
    [0003] Referring to the figures, the aerial drone according to the invention has the general shape of an aircraft and comprises a fuselage 1 and wings 2 which are provided with movable flight surfaces by means of actuators connected to a control device embedded in the aircraft. drone. The very structure of the drone is not part of the invention and will not be more detailed here. The control device, generally designated 3, comprises a data processing unit 4 connected to an altitude measuring instrument 5, an optronic detection device 6 and a receiver 7. The control device 3 comprises also in a manner known per se means for controlling the actuators of the flight surfaces and the engine of the drone. The data processing unit 4 is a computer unit which notably comprises a processor for processing the data and a memory for recording the data. The altitude measuring instrument 5 is a conventional barometric instrument.
    [0004] The optronic detection device 6 comprises an image sensor connected to an acquisition unit and oriented to have a field covering a zone of monitored space located in front of the drone. The sensor of the detection device 6 is arranged to operate in the infrared range and / or in the visible range. The sensor has sufficient performance to detect, in the images provided, an aircraft (said intruder aircraft) located in the area of monitored space at a maximum distance of between 8 and 10 km. The processing unit 4 incorporates an image processing module (software or hardware) arranged to determine a bearing angle of the intruder aircraft operating in the monitored space area. The receiver 7 has a directional antenna and is arranged to receive a signal that is transmitted by the mode S transponders of aircraft operating near the drone. The receiver operates here at the frequency of 1090 MHz. The signal contains: a barometric altitude of the intruder aircraft, a transponder code, and a hexadecimal code identifying each aircraft equipped with a mode S transponder. The control device 3 is arranged and programmed to: - calculate a distance estimated between the drone and an intruder aircraft from a power of a signal received by the receiver 7; capturing at least one image of the intruder aircraft by the optronic detection device 6 and determining the bearing angle of the aircraft intruded from this image; extract from the signal the altitude transmitted by the intruding aircraft; calculate an estimated altitude of the intruder aircraft from the bearing angle and the calculated distance; compare the estimated altitude with the transmitted altitude and take into account the distance calculated for the navigation if the estimated altitude corresponds substantially to the altitude transmitted.
    [0005] The processing unit 4 is programmed to implement Kalman filters in particular to calculate: an altitude and a vertical speed of the intruder aircraft from the transmitted altitude contained in the signals received; an estimated distance and a relative speed (or approach speed) between the drone and the intruder aircraft from the power of each signal received; an estimated altitude and an estimated elevation speed of the intruder aircraft from the bearing angle and the estimated distance. The processing unit 4 also incorporates a module (software or hardware) for associating information derived solely from the received signal (transmitted altitude, estimated distance, estimated approximation speed, vertical speed) and information. derived also images (estimated elevation speed, estimated altitude).
    [0006] A potential collision situation between a drone according to the invention and an intruder aircraft will now be exposed to explain the method of the invention. When the drone A is in flight, the optical device 6 provides images to the processing unit 4 which processes these images to search for the presence of an intruder aircraft. As soon as an intruder C is detected by the image processing module in one of the images transmitted by the optronic device 6, the image processing module then determines in the image a bearing angle of the intruder aircraft. C present in the image. In parallel, the drone A in flight receives signals from the transponders of aircraft responding to a secondary radar station B which is located on the ground S and which has a surveillance zone in which said aircraft and the drone A. L operate. The processing unit 4 of the drone A extracts the transmitted altitude contained in the signal, the identifier of the aircraft having emitted the signal and the power of the signal received.
    [0007] The estimated distance between the drone and the intruder aircraft is calculated by the Kalman filter from the power of the received signal and is transmitted to the association module. The estimated distance is also used by the processing unit 4 to calculate an estimated altitude of the intruder aircraft from the estimated distance and the bearing angle.
    [0008] It goes without saying that the estimated distance calculation is only valid if the reception of the signal and the image capture are close to each other in time. It can thus be provided that the control unit 3 is arranged to control the optronic device 6 in such a way that the reception of a signal automatically triggers the capture of an image by the optronic device 6. The estimated altitude is calculated in the local landmark (eg in the NED or ENU coordinate system). Here again, the accuracy of the estimated altitude depends on the proximity in time of signal reception and image capture. The power of the received signal is here used in the form of the signal-to-noise ratio of the received signal. This ratio depends on the distance between the transponder and the receiver, the transmission power (transponder from 1 to 5 Watts TBC), the gain of the transmitting antenna (antenna of the transponder of the intruder C aircraft), the gain of the antenna of the receiver 7, and the atmospheric attenuation. Nevertheless, it has been determined experimentally that the distance can be approximated by a second-degree law of the signal-to-noise ratio. The chosen law is valid on the range of distance considered, here between 1 and 10 km.
    [0009] In the event that an association could be made with a transmitted identifier, the data that will be extracted from images of the intruder aircraft C or signals subsequently transmitted by the intruder aircraft C will be associated with said identifier.
    [0010] From the data from two successive signals, the Kalman filters of the processing unit 4 are arranged to calculate, from the estimated distances, a speed of approach of the intruder aircraft C and the drone A and a estimated time before a collision between the intruder aircraft C and the drone A. The Kalman filters are arranged to follow the evolution of the data over time, detect errors, smooth the results. The transmitted altitudes, estimated distances, approximation velocities estimated (calculated by differences in distances estimated over a given time), vertical velocities (calculated by difference in altitudes transmitted over a given time), estimated altitudes (calculated from estimated distances and bearing angles) and the estimated elevation speeds are transmitted to the association module of the processing unit 4 which is arranged to associate this information with a data identification code such as the identifier the intruder aircraft (transmitted in the received signal).
    [0011] Thus, the association module is arranged to perform a comparison of altitudes, that is to say: a direct comparison of the altitudes (altitude transmitted and estimated altitude of the intruder aircraft); and / or - a comparison of the elevation speeds (obtained by difference of the altitudes transmitted successively and by difference of the altitudes estimated from two successive images, respectively reported on the time between the receptions of the successive signals and the time between the catches successive images). From the time estimated before collision, the processing unit 4 provides the control device 3 with an avoidance command, the avoidance command can be systematically the same (right turn or left turn) or be adapted for example taking into account the elevation speed of the intruding aircraft C (ascent or descent). It is therefore understandable that the estimated distance validated has been taken into account in the navigation of the drone A.
    [0012] It will be noted that the association module retains as identifier the one for which the estimated altitude is substantially equal to the transmitted altitude (the estimated distance then being validated). In the event that several identifiers could be selected, the association module retains as identifier the one corresponding to the most unfavorable case, that is to say the one leading to the lowest estimated distance and the speed of the highest approximation. If no transmitted altitude is substantially equal to the estimated altitude, the identification code chosen is unique to the association module until the data associated with this identification code can be associated with a forwarded identifier. and the data associated with it. The identification code is thus either specific to the association mode if no signal has yet been received or to the identifier extracted from the received signal if such a signal has been received. It should also be noted that the directional antenna makes it possible to eliminate the ambiguities during the association by making it possible to determine a direction of emission of the signal and to verify its compatibility with the angle of bearing determined in the image. . In this case, it would also be interesting to also extract images from a site angle whose coherence with the transmission direction can be checked. In addition, the elevation angle can be used to determine a trajectory of the intruding aircraft in order to develop an avoidance maneuver and / or to refine the collision prediction. The processing unit 4 is further preferably arranged to determine the approaching speed of the intruder aircraft from a dimension of the aircraft intruded into two successive images captured by the optronic device. For this purpose, the image processing module extracts from each image a solid angle formed by the surface of the aircraft intruded into each image or the pixel size of the aircraft intruding into each image. By comparison with signatures contained in an aircraft signature data bank, it is possible to determine an estimated distance between the drone and the intruding aircraft (it will also be possible to use a size of the aircraft. intruder aircraft obtained from information contained in the signal S mode). The processing unit 4 is arranged to periodically provide approach speeds from the variation of the solid angle or the pixel size of the intruder aircraft obtained by comparing these data of two successive images. Thus, in the absence of a transponder on the intruder aircraft, only the data extracted from the images provided by the optronic detection device are used to determine the risk of collision and the avoidance maneuver to be performed. In addition, if the intruder aircraft is equipped with a transponder, the approximation speeds obtained by image processing can be compared with those obtained as a function of the variation of the estimated distance calculated as a function of the power of the signals received. This makes it possible to validate or correct the results provided by the association module. It is thus possible to compare and analyze the results obtained by using only the data from the optronic device 6 and the results obtained by also using the data extracted from the signals to retain only the least noisy results. As a variant, the processing unit 4 is also connected to an interrogator arranged to interrogate the transponders of the aircraft operating in the vicinity. Of course, the invention is not limited to the embodiments described but encompasses any variant within the scope of the invention as defined by the claims. In particular, the invention can be used with transponders operating in modes other than mode S, for example mode C or the modes of transponders of military aircraft. If the signal has no identifier, information consistent with the received signal is sought to identify the corresponding track.
    [0013] The invention can also be used with the automatic dependent surveillance system ADS-B in which the intruding aircraft periodically transmits an omnidirectional signal including its position and altitude.
    [0014] As a variant, the positioning datum is the angle of bearing of the intruder aircraft, the method thus comprising the steps of: calculating an estimated bearing angle of the intruder aircraft from the altitude of the drone, the transmitted altitude and estimated distance; - compare the estimated bearing angle with the bearing angle determined from the image and take into account the estimated distance for navigation if the estimated bearing angle corresponds substantially to the freeing angle determined at from the image. The processing unit may be arranged to extract from the image other information than those mentioned and for example an elevation angle of the intruder aircraft. In the method described, this angle of elevation is not used because it is considered that the intruder aircraft is heading straight for the drone to take into account the most critical situation in the navigation of the drone. One could imagine using the elevation angle to determine a trajectory of the intruding aircraft in order to refine the collision prediction and the avoidance maneuver to be performed. The altitudes used may be barometric elevations and / or obtained by a satellite geolocation device.
    权利要求:
    Claims (15)
    [0001]
    REVENDICATIONS1. Method for navigating an aerial drone in the presence of at least one intruder aircraft in a zone of space surrounding the drone, characterized in that the method comprises the steps, implemented at the level of the drone, of: receiving at the level of the drone a signal from the intruder aircraft, signal comprising at least one altitude of the intruder aircraft, and calculating an estimated distance between the drone and the intruder aircraft from a power of the received signal; capturing at least one image of the intruder aircraft and determining a bearing angle of the aircraft intruded from this image; extract from the signal the altitude transmitted by the intruding aircraft; calculating, using the estimated distance, an estimated value of a positioning data of the intruder aircraft or the drone; comparing the estimated value of the positioning data with a measured value of the positioning data and taking into account the calculated distance for the navigation if the estimated value substantially corresponds to the measured value.
    [0002]
    2. Method according to claim 1, wherein the positioning data is the altitude of the intruder aircraft, the method thus comprising the steps of: calculating an estimated altitude of the aircraft in- truded from the angle deposit and estimated distance; compare the estimated altitude with the transmitted altitude and take into account the estimated distance for navigation if the estimated altitude corresponds substantially to the altitude transmitted.
    [0003]
    3. The method of claim 1, wherein the positioning data is the bearing angle of the intruder aircraft, the method thus comprising the steps of: calculating an estimated bearing angle of the aircraft intruder from the altitude of the drone, the altitude transmitted and the estimated distance; - compare the estimated bearing angle with the bearing angle determined from the image and take into account the estimated distance for navigation if the estimated bearing angle substantially corresponds to the bearing angle determined from the image.
    [0004]
    4. The method of claim 1, comprising the subsequent step of calculating at least a speed of approach of the drone and the intruder aircraft and an estimated time before collision from the estimated distance calculated on two successive images.
    [0005]
    5. Method according to claim 4, comprising the steps of calculating a speed of approach of the drone and the intruder aircraft from a dimension of the aircraft intruded in two successive images and to compare the closing speed determined from a dimension of the intruder aircraft in two successive images and the approach speed determined from the estimated distance calculated on two successive images.
    [0006]
    6. Aerial drone comprising a control device comprising a data processing unit connected to an altitude measuring instrument, to an opti- cal detection device arranged to determine a bearing angle of an intruder aircraft operating in a zone surrounding the drone, and to a receiver for receiving a signal which is emitted by an intruder aircraft and which contains an altitude of the intruder aircraft, the piloting device being arranged to: - calculate an estimated distance between the drone and a aircraft intruding from a power of a signal received by the receiver; capturing at least one image of the aircraft intruded by the optronic device and determining the freezing angle of the aircraft intruded from this image; extracting from the signal the altitude transmitted by the intruding aircraft; calculate using the estimated distance an estimated value of a positioning data of the intruder aircraft or the drone; comparing the estimated value of the positioning data with a measured value of the positioning data and taking into account the distance calculated for the navigation if the estimated value substantially corresponds to the measured value.
    [0007]
    7. Drone according to claim 6, comprising an interrogator arranged to interrogate a transponder of the intruder aircraft. 20
    [0008]
    8. Drone according to claim 6, wherein the data processing unit comprises a means for estimating a speed of approach of the intruder aircraft.
    [0009]
    The drone according to claim 8, wherein the estimating means is an image processing unit arranged to determine the approach speed of the intruder aircraft based on a size of the aircraft intruding into two images. successive captured by the optronic device. 30
    [0010]
    The drone of claim 8, wherein the estimating means comprises a Kalman filter for calculating the approach velocity from the estimated distances.
    [0011]
    11. The drone according to claim 10, wherein the Kalman filter is arranged to periodically provide estimated distances and approach speeds from the images provided by the optronic device and the altitude transmitted by the aircraft.
    [0012]
    12. Drone according to claim 11, wherein the estimated distances and the approach speeds are associated with an identifier of the identifier being extracted from the landing signal of the drone.
    [0013]
    13. Drone the intruder aircraft, received by the trans- claimed in claim 6, wherein the receiver comprises a directional antenna.
    [0014]
    14. Drone according to claim 6, wherein the positioning data is the altitude transmitted by the intruder aircraft.
    [0015]
    15. Drone according to claim 6, wherein the positioning data is the bearing angle of the intruder aircraft.
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    同族专利:
    公开号 | 公开日
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    RU2016148537A|2018-06-13|
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    WO2015173033A1|2015-11-19|
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    EP3143608A1|2017-03-22|
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    法律状态:
    2015-04-22| PLFP| Fee payment|Year of fee payment: 2 |
    2015-11-13| PLSC| Search report ready|Effective date: 20151113 |
    2016-04-22| PLFP| Fee payment|Year of fee payment: 3 |
    2017-02-17| CD| Change of name or company name|Owner name: SAFRAN ELECTRONICS & DEFENSE, FR Effective date: 20170111 |
    2017-04-21| PLFP| Fee payment|Year of fee payment: 4 |
    2018-04-23| PLFP| Fee payment|Year of fee payment: 5 |
    2019-04-18| PLFP| Fee payment|Year of fee payment: 6 |
    2020-04-22| PLFP| Fee payment|Year of fee payment: 7 |
    2021-04-21| PLFP| Fee payment|Year of fee payment: 8 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1454215A|FR3020892B1|2014-05-12|2014-05-12|METHOD FOR NAVIGATING AN AIR DRONE IN THE PRESENCE OF AN INTRUDED AIRCRAFT AND DRONE FOR IMPLEMENTING SAID METHOD|FR1454215A| FR3020892B1|2014-05-12|2014-05-12|METHOD FOR NAVIGATING AN AIR DRONE IN THE PRESENCE OF AN INTRUDED AIRCRAFT AND DRONE FOR IMPLEMENTING SAID METHOD|
    EP15720330.8A| EP3143608A1|2014-05-12|2015-04-30|Method for navigating an aerial drone in the presence of an intruding aircraft, and drone for implementing said method|
    RU2016148537A| RU2661242C2|2014-05-12|2015-04-30|Method of navigation of an unmanned apparatus in the presence of a foreign flying apparatus and the unmanned apparatus for the implementation of the method|
    MX2016014766A| MX360561B|2014-05-12|2015-04-30|Method for navigating an aerial drone in the presence of an intruding aircraft, and drone for implementing said method.|
    PCT/EP2015/059603| WO2015173033A1|2014-05-12|2015-04-30|Method for navigating an aerial drone in the presence of an intruding aircraft, and drone for implementing said method|
    US15/310,015| US10157547B2|2014-05-12|2015-04-30|Method for navigating an aerial drone in the presence of an intruding aircraft, and drone for implementing said method|
    CN201580024800.XA| CN106463066B|2014-05-12|2015-04-30|Method for maneuvering an aerial drone in the presence of an intruding aircraft and drone implementing the method|
    IL248823A| IL248823D0|2014-05-12|2016-11-08|Method for navigating an aerial drone in the presence of an intruding aircraft, and drone for implementing said method|
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