• 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 subject of the invention is a method for predicting a short-term trajectory of an aircraft, the trajectory of the aircraft being associated at each time instant with a vector comprising at least one component from a position of the aircraft, aircraft attitudes and time derivatives of orders 1 and 2 of said positions and attitudes, the short-term trajectory being the trajectory of the aircraft for a time period of up to 30 seconds from a date of calculation of said path, the method comprising: - a step (100) of acquisition of a control signal representative of a movement of a primary control member of the aircraft; a step (105) of prediction at a later prediction date of at least one component of the short-term trajectory of the aircraft, the prediction step being carried out at the calculation date.
    公开号:FR3022354A1
    申请号:FR1401357
    申请日:2014-06-16
    公开日:2015-12-18
    发明作者:Sylvain Lissajoux；Alexandre Badatcheff；Matthieu Claybrough
    申请人:Thales SA；
    IPC主号:
    专利说明:

    [0001] The present invention relates to a method for predicting a short-term trajectory of an aircraft, a computer program product, a prediction device, a guidance method, a guidance system and an associated aircraft. an aircraft, the trajectory of the aircraft being associated at each time instant with a vector comprising at least one component from a position of the aircraft, attitudes of the aircraft and time derivatives of order 1 and 2 of said position and attitudes, the short-term trajectory being the trajectory of the aircraft for a time period of up to 30 seconds from a date of calculation of said trajectory, the method comprising: a step of acquiring a signal of control representative of a deflection of a primary control member of the aircraft; a prediction step at a later prediction date of at least one component of the short-term trajectory of the aircraft, the prediction step being carried out at the date of calculation. The invention also relates to a computer program product comprising software instructions which, when implemented by a computer, implement such a method.
    [0002] The invention also relates to a prediction device implementing such a method. The invention also relates to a method for guiding an aircraft. The invention also relates to a guidance system implementing such a guide method.
    [0003] The invention also relates to an aircraft comprising such a device. The invention applies to the field of guidance aids of an aircraft, including the prediction of a short-term trajectory. "Aircraft trajectory" is understood to mean a vector comprising at least one of aircraft position, aircraft attitudes and first and second order time derivatives of said positions and attitudes. These derivatives of order 1 and 2 then correspond to translation speeds, angular velocities, accelerations and angular accelerations. "Prediction of a short-term trajectory" means the prediction on a calculation date T of all or part of the components of the vector associated with the trajectory of the aircraft at a prediction date T 'after the date of calculation T, the prediction date T 'being within a time period of up to 30 seconds from the calculation date T of said trajectory. Conventionally, the pilot of an aircraft controls the aircraft using mainly one or more primary control members, generally a handle (or "yoke" in English) or a mini-stick (or "side-stick" in English). ) and / or one or more throttles. Via the actuation of the or each primary control member, the pilot commands a change of attitude of the aircraft, or causes an increase in the thrust of one or more reactors of the aircraft, which has the effect of change the trajectory of the aircraft.
    [0004] Generally, the pilot uses his own sensations, for example the acceleration he feels during the actuation of the primary control organs or the evolution of his visual references, as well as his flight experience to anticipate the trajectory to come and to rectify this trajectory to bring the aircraft to the desired trajectory.
    [0005] However, the pilot generally has no explicit indication of the short-term consequence, on the flight path of the aircraft, of an action on the primary control members. US 8,086,362 B2 describes a method of predicting the trajectory of an aircraft from instructions from a pilot of the aircraft, and display of the predicted trajectory.
    [0006] During the implementation of this method, the value of the setpoints for calculating the trajectory is considered constant and equal to the value of the setpoint at a given calculation date. When the maneuver is not performed at constant setpoint, for example constant rolling, the predicted trajectory sometimes differs significantly from the actual trajectory to come. An object of the invention is therefore to improve the prediction of the trajectory of the aircraft, in particular the prediction of the short-term trajectory. For this purpose, the subject of the invention is a method of the aforementioned type, in which the prediction step furthermore comprises the calculation, from the control signal, of an estimate, between the calculation date and a date of calculation. subsequent prediction of at least one time derivative of at least one predicted component, the or each estimated time derivative depending on the prediction date and the deflection of each primary control member. Indeed, the calculation, from the control signal, of an estimate of the variations over time of a time derivative of the or each predicted component provides a more reliable prediction of the short-term trajectory of the aircraft.
    [0007] According to other advantageous aspects of the invention, the method comprises one or more of the following characteristics, taken in isolation or in any technically possible combination: the prediction step comprises the calculation of at least one component of the short-term trajectory of the aircraft from the calculated estimate of the or each corresponding time derivative; the prediction step furthermore comprises calculating an estimate of the variation between the calculation date and the prediction date, of at least one component of the roll angle, the longitudinal speed and the vertical speed of the the aircraft, and / or at least one additional quantity relative to the aircraft such as a turning radius, a speed relative to the air, or a slope of the aircraft; the prediction step comprises transforming a first signal dependent on the control signal into a second signal representing an estimate of the value of the first signal in at least one date after the calculation date, starting from the value of the first signal in at least one date prior to or equal to the date of calculation; the transformation of the signal dependent on the control signal is the application to said signal of a filter having a transfer function whose phase is greater than or equal to zero in a predetermined band of frequencies; the filter transfer function varies as a function of time, preferably as a function of the type of the aircraft and / or of the quantities dependent on time measured by at least one sensor of the aircraft; the prediction step comprises modifying the estimate of the variation of at least one component of the short-term trajectory of the aircraft and / or of at least one additional quantity, such as a turning radius, an air speed, or a slope of the aircraft, based on at least one estimate of the variation of another component of the short-term trajectory of the aircraft and / or of another additional magnitude such as a turning radius, a relative air speed, or a slope of the aircraft. The invention also relates to a computer program product comprising software instructions which, when implemented by a computer, implement the method as defined above. The subject of the invention is also a device for predicting a short-term trajectory of an aircraft, the trajectory of the aircraft being associated at each time instant with a vector comprising at least one component from a position of the aircraft, aircraft attitudes and time derivatives of orders 1 and 2 of said positions and attitudes, the short-term trajectory being the trajectory of the aircraft for a time period of up to 30 seconds from a date of calculation of said trajectory, the device comprising: means for acquiring a control signal representative of a command applied by a user to a control member of the aircraft; at least one prediction module, on the date of calculation of at least one component of the short-term trajectory of the aircraft; wherein the or each prediction module is further adapted to calculate, from the control signal, an estimate, between the calculation date and a subsequent prediction date, of at least one time derivative of the or each predicted component , the or each estimated time derivative depending on the subsequent prediction date. The subject of the invention is also a method for guiding an aircraft comprising the following steps: the prediction of a short-term trajectory according to the method as defined above; the servocontrol of at least one component of the trajectory of the aircraft relative to the corresponding component of the predicted trajectory. According to other advantageous aspects of the invention, the guidance method comprises one or more of the following characteristics, taken in isolation or in any technically possible combination: the or each predicted component of the trajectory is no longer modified during the servo-control step and then forms a setpoint intended to be transmitted to a device for controlling the trajectory of the aircraft; the or each primary control member is associated with at least one component of the trajectory, the or each primary control member has a neutral zone, the neutral zone representing a predefined range of movement of the primary control member around a predetermined position of the primary control member, and, when a primary control member is positioned in a neutral position in one or more directions, the component or components of the trajectory of the aircraft associated with said directions are slaved with respect to the corresponding predicted component of the short-term trajectory. The invention also relates to a system for guiding an aircraft, comprising: a prediction device as defined above, capable of predicting a short-term trajectory of the aircraft; a servo device adapted to enslave the trajectory of the aircraft with respect to the predicted short-term trajectory. The invention also relates to an aircraft comprising at least one control member and a prediction device as defined above for predicting the short-term trajectory of the aircraft from a command applied by a user to the each control member. According to another advantageous aspect of the invention, the aircraft further comprises a servo device for controlling the short-term trajectory of the aircraft relative to the predicted short-term trajectory.
    [0008] The invention will be better understood from the following description, given solely by way of nonlimiting example, and with reference to the appended drawings, in which: FIG. 1 is a diagrammatic representation of a system for guiding an aircraft according to the invention, the guidance system comprising three modules for predicting the short-term trajectory; FIG. 2 is a schematic representation of one of the prediction modules of FIG. 1; FIG. 3 is a flowchart of a method for guiding the aircraft, implemented by the system of FIG. 1; FIG. 4 is a detail of a step of the method of FIG. 3; and FIG. 5 is a schematic representation of the projections of the vectors of a base linked to the aircraft in a reference base. In FIG. 1, an aircraft 1 comprises a guidance system 2, primary control members 3 and a plurality of sensors 4.
    [0009] The guidance system 2 shown in FIG. 1 is adapted to control the trajectory of an aircraft 1 with respect to a predetermined short-term trajectory. Preferably, the guidance system 2 is embarked on board the aircraft 1. The guidance system 2 comprises a device 5 for predicting the short-term trajectory of the aircraft 1, also called a predicted short-term trajectory. The guidance system 2 also comprises a device 6 for controlling the trajectory of the aircraft 1 on the short-term trajectory predicted by the prediction device 5. The primary control members 3 comprise one or more sleeves or mini-sleeves 8 and one or more thrust control members 10 and optionally the halftone of the aircraft 1. Thereafter, the term "sleeve" will denote indifferently a handle or a mini-stick.
    [0010] Each primary control member 3 comprises an acquisition device 11 able to convert a command applied by a user to the primary control member 3 into a control signal representative of the command applied. Such a command is for example a variation control of a component of the trajectory of the aircraft 1. Such a system is commonly called "flyby wire". In a variant, the primary control members 3 are adapted to convert an action exerted by the user on the primary control members 3 into a mechanical action on an actuator of the aircraft 1. Such an actuator is for example an aerodynamic control surface. Such a system is commonly called "mechanical flight control". The aircraft 1 then comprises conversion systems (not shown) suitable for converting a command applied by a user to the primary control member 3 into a control signal representative of the command applied. The handle 8 is adapted to allow a user to control the attitudes of the aircraft 1, for example by controlling a roll rate and a load factor of the aircraft 1. By "roll rate" is meant the speed angular associated with the roll angle, i.e. the time derivative of the roll angle, the roll angle being defined later.
    [0011] "Load factor" means the ratio between the apparent weight of the aircraft 1 and the standard of its actual weight, projected on a vertical reference axis z1 defined later. Conventionally, the handle is adapted to be operated in transverse movements, longitudinal movements or any combination of transverse and longitudinal movements. More specifically, the handle 8 is adapted to allow a user to control the roll rate by transverse movements of the handle 8. In addition, the handle 8 is adapted to allow a user to control the load factor by longitudinal movements. of the handle 8.
    [0012] Conventionally, the control member 10 is adapted to allow the user to set a power via, for example, a thrust level, a motor speed, a fuel flow, a propeller pitch or rotor. For example, the thrust control member 10 comprises one or more throttles. The sensors 4 are each adapted to provide at least one piece of data relating to the configuration of the aircraft 1 or to the physical parameters of the air in the vicinity of the aircraft 1, for example the air temperature, its pressure, or again its speed relative to the aircraft 1. Advantageously, the sensors 4 comprise sensors capable of providing information relating to the position of the aircraft 1, to the attitudes of the aircraft 1, to the first and second order derivatives relative to the time of the position and the attitudes of the aircraft 1. For the purposes of the invention, "attitudes" means the oriented angles taken between predetermined axes of the aircraft 1, referred to as aircraft axes, and their projection on reference planes. Among the attitudes, one distinguishes the roll angle, pitch angle and heading, known per se and recalled hereinafter, with reference to FIG. 5.
    [0013] The reference planes are determined from three reference axes. The aircraft axes and the reference axes are concurrent at a predetermined point A of the aircraft 1, for example close to the center of gravity of the aircraft 1. The reference axes are the axes of the local ground reference system and comprise a vertical reference zo, a longitudinal reference axis xo and a transverse reference axis yo, forming a direct orthonormal basis (x0, y0, z0) called the "reference base". The vertical reference axis zo is an axis oriented in the descending direction of the local gravitational field and passing through the predetermined point A of the aircraft 1. The longitudinal reference axis xo is an axis oriented in a predetermined direction, for example example to the magnetic or geographical North, and orthogonal to the vertical reference axis zo. The transverse reference axis yo completes zo and xo to form the "reference base". The reference axes vertical zo and longitudinal xo form a vertical reference plane. The transverse reference axes yo and longitudinal axis xo form a horizontal reference plane.
    [0014] The aircraft axes comprise a longitudinal aircraft axis x1, a vertical aircraft axis z1 and a transverse aircraft axis Yi, forming a direct orthonormal base (xl, yi, zi) called "aircraft base". The longitudinal aircraft axis x1 is a forward-facing axis of the aircraft 1, passing through the predetermined point A and belonging to a plane of symmetry of the aircraft 1. The plane of symmetry of the aircraft 1 is generally related to the geometrical definition of the cell of the aircraft I. The transverse aircraft axis y1 is the axis perpendicular to the plane of symmetry and oriented to the right of the aircraft 1, that is to say the right of an observer aboard the aircraft 1 and looking towards the front of the aircraft 1. The vertical aircraft axis z1 completes y1 and x1 to form the "aircraft base".
    [0015] The angle (1) between the transverse aircraft axis y1 and the horizontal reference plane is the roll angle. The angle θ between the longitudinal aircraft axis x1 and the horizontal reference plane is the pitch angle. The angle y between the longitudinal aircraft axis xl and the vertical reference plane is the heading. cl), 0 and y are generally referred to as Euler angles for passing from the aircraft base to the reference base. Advantageously, the sensors 4 also include sensors capable of providing information relating to the position of mechanical elements of the aircraft 1, for example the position of a rudder, the configuration and the state of the engine or engines. Advantageously, the sensors 4 furthermore comprise sensors capable of making measurements of the relative air speed of the aircraft 1, such as measurements of the true airspeed (TAS), the conventional speed CAS (of the English "Calibrated Airspeed" or "Computed Airspeed") Mach speed or altitudes. Such sensors are, for example, ADU systems (of the "Air Data Unit"). The sensors 4 of the aircraft 1 are for example integrated in a system AHRS (the English "Attitude and Heading Reference System") or IRS (English "Inertiel Reference System"). Advantageously, these sensors are suitable for measuring the speeds in the reference base as well as the geographical position of the aircraft 1. Advantageously, the sensors 4 comprise GPS sensors and / or a radio altimeter. The prediction device 5 comprises a memory 12. The prediction device 5 also comprises a computer 14 for calculating the short-term trajectory of the aircraft 1 from the action of a user on all or part of the primary control members 3, and from data stored in the memory 12 and / or from the or each sensor 4. The prediction device 5 further comprises a display 16 to display, preferably to the user, the Short-term trajectory predicted by the computer 14. As a variant, the display is distinct from the guidance system 2 or the prediction device 5. The memory 12 is adapted to store a plurality of data relating to the aircraft 1, for example data relating to the performance of the aircraft 1, or data relating to one or more configurations of the aircraft 1 that are authorized, also called "flight domain". For example, the flight range comprises the minimum and maximum allowed roll and pitch angles (defined below) for the aircraft 1 at a given instant. The flight range depends, for example, on the flight phase of the aircraft 1, or on the altitude of the aircraft 1.
    [0016] The computer 14 is adapted to calculate, on a calculation date T, a prediction of the trajectory of the aircraft 1 on a prediction date T ', after the calculation date T. The computer 14 comprises a plurality of modules of For example, the computer 14 comprises three prediction modules 22. In a variant, the computer 14 comprises a single prediction module 22. The display 16 is for example a head-up display or viewfinder (HUD or HMD). English "Head-Up Display" or "Helmet Mounted Display"), or any cockpit screen (eg PFD, "Primary Flight Display").
    [0017] The prediction modules 22 are able to communicate with each other, for example via a shared bus. Each prediction module 22 is able to calculate, on the calculation date T, from the control signal or from a control signal transform as defined later, an estimation of the value, on the prediction date T ' subsequent, all or part of the components of the trajectory of the aircraft 1. In particular, at least one prediction module 22 is able to calculate, from the control signal or a control signal transform, an estimate of the value, at the later prediction date T ', of at least one time derivative. Preferably, each prediction module 22 is able to calculate, from the control signal, the variation, between the calculation date T and the prediction date T ', of the roll angle, and / or of the slope and / or the air speed module (TAS or CAS or Mach) and / or the ground speed module of the aircraft 1. By "ground speed" is meant the projection of the vector-speed of the aircraft 1 on the plane (xo, Yo) formed by the axes x0 and yo.
    [0018] "Slope" means the angle between the reference horizontal plane and the ground speed vector of the aircraft 1. In the example of FIG. 1, a first prediction module 22 is adapted to calculate an estimate of the variation of the roll angle. A second prediction module 22 is adapted to calculate an estimate of the variation of the slope. A third prediction module 22 is adapted to calculate an estimate of the variation of the longitudinal velocity. Optionally, each prediction module 22 is able to first calculate a first estimate, called the "preliminary estimate", of the variation over time of the corresponding component of the trajectory of the aircraft 1.
    [0019] Each prediction module 22 is then able to calculate, from all or part of the preliminary estimates, a corrected estimate of the corresponding component of the trajectory of the aircraft 1. Advantageously, each prediction module 22 is able to convert the signal command in a setpoint, then to calculate an estimate of the variation of the corresponding component of the trajectory of the aircraft 1 from the setpoint. Advantageously, each prediction module 22 is able to convert the control signal into a load factor setpoint and / or roll rate and / or longitudinal acceleration, and then to calculate an estimate of the variation of said component of the control signal. trajectory of the aircraft 1 from said one or more instructions. According to the variant where the computer 14 comprises a single prediction module 22, the prediction module 22 is adapted to calculate, from the control signal, an estimate of the variation between the calculation date T and the prediction date T. ', longitudinal acceleration and load factor and roll rate.
    [0020] The single prediction module 22 is further adapted to calculate, from the control signal, the variation, between the calculation date T and the prediction date T ', of the longitudinal speed, and / or of the slope and / or the roll angle, respectively from the predicted variation of the longitudinal acceleration and / or the load factor and / or the roll rate.
    [0021] In the embodiment described, each prediction module 22 comprises a memory 24, a processor 26 and a transceiver 28, the memory 24 and the processor 26 forming an information processing unit 30. The memory 24 is suitable for storing a software 32 for reading data, a conversion software 34, a processing software 36, an estimation software 38, a software 40 for receiving an estimate, and a software for correction 42. The processor 26 is capable of loading and executing each of the software programs 32, 34, 36, 38, 40, 42. The transceiver 28 is able to transmit estimates calculated by the corresponding prediction module 22 to a computer. another prediction module 22 and / or to the display 16. The transceiver 28 is further adapted to receive estimates calculated by other prediction modules 22, and to receive data from the memory 12 and The reading software 32 is adapted to read the data stored in the memory 12 and the data transmitted by the sensors 4, as well as to read the control signal transmitted by each of the primary control members 3.
    [0022] The conversion software 34 is suitable for converting each control signal into a setpoint, such as a longitudinal acceleration setpoint, or a load factor setpoint, or a roll rate setpoint, from read data. by the reading software 32 in the memory 12 and / or from the sensors 4.
    [0023] The processing software 36 is able to calculate, from the control signal converted by the conversion software 34, an estimate of the variation over time, from the calculation date T to the prediction date T ', the magnitude corresponding to the control signal. The processing software 36 is also able to calculate the transformation of the control signal via a predetermined transformation. Such a transformation is intended to provide a signal representative of an estimate in at least one later date T * at the calculation date T, such as at dates before and after the prediction date T ', of the future evolution of the control signal from the value of the control signal in at least one date prior to or equal to the calculation date T.
    [0024] For example, a filter is applied to the control signal. For example, in the case of continuous signals, the filter is a predetermined transfer function linear filter H. For example, in the case of discrete signals, each sample of the control signal transform is a function of one or more samples of the control signal and one or more preceding samples of the control signal transform. Advantageously, the transfer function H is the transfer function of a filter having a positive phase in a predetermined frequency band. Advantageously, the transfer function filter H has a positive phase in the frequency band between 0 Hz and 20 Hz, preferably between 0 Hz and 10 Hz, more preferably between 0 Hz and 5 Hz. The function of transfer H is for example the transfer function of a high-pass filter. For example, in the case of continuous signals, in the Laplace domain, a simple expression of a high-pass filter H is written: GH (p) = 1+ Kp where the coefficients G, K are the coefficients of the transfer function H. The value of all or part of the coefficients G, K of the transfer function H varies as a function of the data provided by the sensors 4. The different values allowed for the coefficients G, K are stored in the memory 12.
    [0025] For example, for the prediction of the roll rate or the load factor, the transfer function H is written as follows: 1 H (p) = 1 + p In the case of discrete signals, the relationship between the input and output samples filter output is conventionally derived from previous expressions of the transfer function H. When executed, the processing software 36 is adapted to modify the values of the coefficients G, K according to the data provided by the sensors 4 and read by the reading software 32. The processing software 36 is further adapted to calculate a time integral of a signal dependent on the control signal, and to add the value of the calculated integral to the current value of the magnitude. corresponding. The transmission software 38 is able to send an estimate from the prediction module 22 corresponding to another prediction module 22. Preferably, the software 38 is able to issue a preliminary estimate to the other prediction modules 22. The software 40 of a given prediction module 22 is able to receive an estimate from another prediction module 22. The correction software 42 is adapted to correct the estimate calculated by the processing software 36 of the module. corresponding prediction 22, on receipt of an estimate from another prediction module 22. Such a correction notably reflects the variation over time of the angles between the aircraft axes and the reference axes, and therefore the variation at the course of time of the projection of the velocity vectors of the aircraft in the reference base. Such a correction also reflects the variation over time of the modules of the speeds of the aircraft 1. For example, such a correction takes into account the relationship between the vertical speed and the slope, and the relationship between the vertical speed and the ground speed. Such a correction also reflects, for example, the relationship between the roll angle, the ground speed and a turning radius, the turning radius being a notion known to those skilled in the art. The correction software 42 is also adapted to correct the calculated estimate in case of variation of the measured value by one or more predetermined sensors 4. The operation of the guiding system 2 will now be described, with reference to FIGS. 3 and 4.
    [0026] During the flight phase of the aircraft 1, the user actuates, during a first step 100, the handle 8 or the thrust control member 10. The acquisition device 11 converts the manual control of the user into a control signal.
    [0027] During a subsequent step 105, the computer 14 calculates at the calculation date T, and from the control signal, a prediction of the short-term trajectory of the aircraft 1 at the subsequent prediction date T '. In particular, the computer 14 calculates a prediction of the longitudinal speed, the slope and the roll angle of the aircraft 1 at the prediction date T '.
    [0028] As shown in Figure 4, step 105 includes a plurality of sub-steps. During a sub-step 110, the reading software 32 of each prediction module 22 reads the control signal delivered by the primary control member 3 associated with the prediction module 22.
    [0029] In addition, during the sub-step 110, the reading software 32 reads the data provided by the sensors 4. The reading software 32 then reads in the memory 12 the predetermined coefficients G, K which correspond to the data received since the 4. Thereafter, the processing software 34 converts the control signal into a setpoint of the parameter associated with the control signal, that is to say for example a longitudinal acceleration setpoint, or a charge factor setpoint or a setpoint. roll rate. During a subsequent substep 115, the reading software 32 reads from the memory 12 the predetermined coefficients of the transfer function H, corresponding to the data received from the sensors 4 during the step 110.
    [0030] Then, the processing software 36 applies, to the setpoint, the predetermined filter, whose coefficients are the coefficients read in the memory 12 by the reading software 32, to calculate an estimate of the variation of the component of the trajectory corresponding to the prediction module 22 among the longitudinal acceleration, the load factor and the roll rate.
    [0031] In a next substep 120, the estimate issuing software 38 transmits the estimate calculated in step 110 to the other prediction modules 22. In a next substep 125, and if the estimate receiving software 40 has received an estimate from another prediction module 22, the processing software 36 corrects the previously calculated estimate.
    [0032] During a subsequent substep 130 of integration, the processing software 36 calculates the time integral of the estimate of the component of the trajectory corresponding to the prediction module 22 to obtain a longitudinal speed variation. or slope or roll angle.
    [0033] For example, for the prediction module 22 capable of calculating the variation of the slope, at the end of the substep 130, the processing software 36 will have calculated the variation of the slope of the aircraft 1 between the date calculation T and the prediction date T '. During a following substep 135, the processing software 36 calculates the estimate of the corresponding component of the trajectory of the aircraft 1 at the prediction date T 'by adding the predicted variation of said component to the value current, at the calculation date T, of the said component. The current value of the component corresponding to the prediction module 22 is provided by the sensors 4 and read by the reading software 32. Advantageously, if the predicted component is outside the flight envelope, the processing software 36 corrects the value of the variation predicted so that the corresponding predicted component is no longer outside the flight envelope. During a next step 140, the display 16 displays all or part of the predicted short-term trajectory calculated by the calculator 14 at the end of step 105. If, after the step of display 140, the user places, during a step 145, the primary control members 3 in a predetermined neutral position, then, during a subsequent step 150, the control device 6 controls the aircraft 1 to enslaving its trajectory relative to the predicted trajectory calculated by the computer at the end of step 105. The predicted trajectory then forms a guidance instruction intended to be transmitted to the servocontrol device 6.
    [0034] Advantageously, the predicted trajectory is fixed, that is to say that it is no longer modified, since it forms a guidance instruction. In a variant, the handle 8 comprises a longitudinal neutral zone and a transverse neutral zone. The longitudinal neutral zone, or the transverse neutral zone, represents a predefined range of deflection of the handle 8 around its equilibrium point in a longitudinal direction, transverse respectively, such that a range of 5 ° centered on the point of equilibrium , that is to say around the position of the handle 8 when no force is exerted on the handle 8. If the handle 8 is in the longitudinal neutral zone, then in the next step 150, the control device 6 controls the aircraft 1 to control the slope with respect to the predicted slope, calculated by the computer at the end of step 105. If the handle 8 is in the transverse neutral zone, then during the next step 150, the control device 6 controls the aircraft 1 to control the roll angle with respect to the predicted roll angle, calculated by the computer at the end of step 105. Alternatively , the thrust control member 10 comprises a neutral zone. The neutral zone represents a predefined range of travel of the control member 10 around a predetermined position, such as a range of 5 ° centered on the predetermined position. If the control member 10 is in the neutral zone, then during the next step 150, the control device 6 controls the aircraft 1 to slave the longitudinal speed with respect to the predicted longitudinal speed, calculated by the calculator at the end of step 105.
    [0035] Otherwise, the prediction device 5 again calculates an estimate of the short-term trajectory of the aircraft 1, during the step 105. As a variant, the integration substep 130 precedes the estimation sub-step. Therefore, during the estimation step 115, the processing software 36 applies the filter H to the integral with respect to the time of the control signal. At the end of the estimation sub-step 115, the processing software 36 will then have calculated the variation of the trajectory of the aircraft 1. As a further variant, the integration sub-step 130 precedes the substep 125. Thus, the calculation, from the control signal, of an estimate of the variations over time of time derivatives of predicted components of the trajectory of the aircraft 1 provides a steering aid and improves the safety of the flight. In addition, the calculation of an estimate of the variation over time of at least one component among the roll rate, the load factor and the longitudinal acceleration of the aircraft 1 provides an even more reliable prediction in the short run. term, the trajectory being in fact calculated from the predicted variations and not from a constant setpoint as is done in the state of the art. In addition, the use of a transformation of the control signal, for example by a filter whose transfer function has a phase greater than or equal to zero in a frequency band of interest, outputs a signal in advance of phase by report to the control signal. This makes it possible to anticipate the variations of the control signal and leads to a better prediction of the short-term trajectory. In addition, the fact that the transfer function H of the filter varies as a function of time, in particular as a function of parameters depending on the type of the aircraft 1 and / or on the quantities measured by the sensors 4 of the aircraft 1, makes it possible to improve the prediction of the trajectory by adapting the filter to the flight conditions of the aircraft 1.35
    权利要求:
    Claims (15)
    [0001]
    CLAIMS1.- A method for predicting a short-term trajectory of an aircraft (1), the trajectory of the aircraft (1) being associated at each time instant with a vector comprising at least one of a position of the aircraft (1), aircraft attitudes (1) and time derivatives of order 1 and 2 of said positions and attitudes, the short-term trajectory being the trajectory of the aircraft (1) for a time period up to 30 seconds from a date of calculation (T) of said trajectory, the method comprising: - a step (100) of acquisition of a control signal representative of a movement of a primary control member (3) , 8, 10) of the aircraft (1); a step (105) of prediction at a later prediction date (T ') of at least one component of the short-term trajectory of the aircraft (1), the prediction step being carried out at the calculation date ( T); characterized in that the step of predicting (105) further comprises calculating (115), from the control signal, an estimate, between the calculation date (T) and a prediction date (T ') subsequent, at least one time derivative of at least one predicted component, the or each estimated time derivative depending on the subsequent prediction date (T ') and the travel of each primary control member (3, 8, 10) .
    [0002]
    2. Method according to claim 1, characterized in that the prediction step (105) comprises calculating (130, 135) at least one component of the short-term trajectory of the aircraft (1) from the calculated estimate of the or each corresponding time derivative.
    [0003]
    3. A method according to claim 1 or 2, characterized in that the prediction step (105) further comprises calculating (115) an estimate of the variation between the calculation date (T) and the date of prediction (T ') of at least one component of the roll angle, the longitudinal speed and the vertical speed of the aircraft (1), and / or at least one additional quantity relative to the aircraft ( 1) such as a turning radius, a speed relative to the air, or a slope of the aircraft (1).
    [0004]
    4. Method according to any one of the preceding claims, characterized in that the prediction step (105) comprises the transformation (115) of a first signal dependent on the control signal into a second signal representative of an estimation of the value of the first signal in at least one date (T1 after the calculation date (T), from the value of the first signal in at least one date prior to or equal to the calculation date (T).
    [0005]
    5. Method according to claim 4, characterized in that the transformation (115) of the signal dependent on the control signal is the application to said signal of a filter having a transfer function whose phase is greater than or equal to zero in a predetermined band of frequencies.
    [0006]
    6. Method according to claim 5, characterized in that the transfer function (H) of the filter varies as a function of time, preferably according to the type of the aircraft (1) and / or measured time-dependent quantities. by at least one sensor (4) of the aircraft (1).
    [0007]
    7. Method according to any one of the preceding claims, characterized in that the prediction step (105) comprises the modification (125) of the estimate of the variation of at least one component of the short-term trajectory of the aircraft (1) and / or at least one additional quantity, such as a turning radius, a speed relative to the air, or a slope of the aircraft (1), depending on at least an estimate of the variation of another component of the short-term trajectory of the aircraft (1) and / or of another additional quantity, such as a turning radius, a speed relative to the air, or a slope of the aircraft (1).
    [0008]
    8. Computer program product comprising software instructions which, when implemented by a computer, implement the method according to any one of the preceding claims.
    [0009]
    9. Device (5) for predicting a short-term trajectory of an aircraft, the trajectory of the aircraft (1) being associated at each time instant with a vector comprising at least one component from a position of the aircraft ( 1), attitudes of the aircraft (1) and the time derivatives of order 1 and 2 of said positions and attitudes, the short-term trajectory being the trajectory of the aircraft (1) for a time period of up to 30 seconds from a calculation date (T) of said trajectory, the device comprising: - means (11) for acquiring a control signal representative of a command applied by a user to a control member ( 3, 8,
    [0010]
    10) of the aircraft (1); at least one prediction module (22), at the calculation date (T) of at least one component of the short-term trajectory of the aircraft (1); characterized in that the or each prediction module (22) is further adapted to calculate, from the control signal, an estimate, between the calculation date (T) and a subsequent prediction date (T '), d at least one time derivative of the or each predicted component, the or each estimated time derivative depending on the subsequent prediction date (T '). 10. A method for guiding an aircraft (1), characterized in that it comprises the following steps: - the prediction of a short-term trajectory according to the method according to any one of claims 1 to 7; the servocontrol of at least one component of the trajectory of the aircraft (1) with respect to the corresponding component of the predicted trajectory.
    [0011]
    11. A method according to claim 10, characterized in that the or each predicted component of the path is no longer modified during the servo-control step and then forms a setpoint intended to be transmitted to a device (6) of servocontrolling the trajectory of the aircraft (1).
    [0012]
    12.- Method according to claim 10 or 11, characterized in that the or each primary control member (3, 8, 10) is associated with at least one component of the path, in that the or each primary control member (3, 8, 10) has a neutral zone, the neutral zone representing a predefined range of travel of the primary control member (3, 8, 10) around a predetermined position of the primary control member (3, 8, 10). , 8, 10), and in that, when a primary control member (3, 8, 10) is positioned in a neutral position in one or more directions, the component or components of the flight path of the aircraft (1) associated with said directions are slaved with respect to the corresponding predicted component of the short-term trajectory.
    [0013]
    13.- System (2) for guiding an aircraft (1), characterized in that it comprises: - a prediction device (5) according to claim 9, capable of predicting a short-term trajectory of the aircraft ( 1); - A servo device (6) adapted to enslave the trajectory of the aircraft (1) relative to the predicted short-term trajectory.
    [0014]
    14.- Aircraft, characterized in that it comprises at least one control member (3, 8, 10) and a prediction device (5) according to claim 9 for predicting the short-term trajectory of the aircraft (1) from a command applied by a user to the or each control member (3, 8, 10).
    [0015]
    15.- Aircraft according to claim 14, characterized in that it further comprises a servo device (6) for controlling the short-term trajectory of the aircraft (1) relative to the predicted short-term trajectory. 10 15
    类似技术:
    公开号 | 公开日 | 专利标题
    EP2957871B1|2017-05-03|Method of prediction of an aircraft short term flight path, computer program product, associated prediction device, guidance method, guidance system and aircraft
    EP2693285B1|2018-06-27|Method and device for assisting the flight management of an aircraft
    CA2637106C|2015-11-24|Method and system to control operation of a device using an integrated simulation with a time shift option
    FR2988868A1|2013-10-04|METHOD FOR CONTROLLING A MULTI-ROTOR ROTOR SAILING DRONE WITH ESTIMATION AND SIDE WIND COMPENSATION
    EP2722721B1|2016-11-30|Method for piloting an aircraft during landing and assisted-piloting system suitable for carrying out said method
    FR3031402A1|2016-07-08|METHOD OF AUTOMATICALLY CONTROLLING A ROTARY SAILING DRONE FOR OPERATING CAMERA MOVEMENTS BY AN EMBEDDED CAMERA
    FR3009117A1|2015-01-30|AUTONOMOUS AUTOMATIC LANDING METHOD AND SYSTEM
    EP2048475A1|2009-04-15|Method of determining the attitude, position and velocity of a mobile unit
    FR3018364A1|2015-09-11|METHOD OF DETERMINING AN OBSTACLE AVIATION GUIDANCE LAW BY AN AIRCRAFT, COMPUTER PROGRAM PRODUCT, ELECTRONIC SYSTEM AND AIRCRAFT
    FR3022340A1|2015-12-18|METHOD AND DEVICE FOR DETERMINING AN AIRCRAFT CONTROL INSTRUCTION, COMPUTER PROGRAM PRODUCT AND ASSOCIATED AIRCRAFT
    WO2017009471A1|2017-01-19|Method for automatically assisting with the landing of an aircraft
    WO2015193125A1|2015-12-23|Method and device for generating a set flight path resulting from an aircraft, and related computer programme product and aircraft
    EP3388914A1|2018-10-17|Target tracking method performed by a drone, related computer program, electronic system and drone
    CA2361727A1|2000-08-10|Apparatus with gyroscopes and accelerometers for determining the attitudes of an aerodyne
    FR3016872A1|2015-07-31|ANTI-BALLING CONTROL METHOD WITH ADJUSTABLE ASSISTANCE FOR TRANSPORTING A SUSPENDED LOAD
    FR3016449A1|2015-07-17|AIRCRAFT AIRCRAFT GUIDING METHOD, COMPUTER PROGRAM, AND DEVICE THEREOF
    FR3022355A1|2015-12-18|METHOD AND DEVICE FOR CONTROLLING AT LEAST ONE ACTUATOR CONTROL SYSTEM OF AN AIRCRAFT, COMPUTER PROGRAM PRODUCT AND ASSOCIATED AIRCRAFT
    FR2995415A1|2014-03-14|METHOD AND SYSTEM FOR AUTOMATICALLY MANAGING THE SPACING OF AT LEAST ONE REFERENCE AIRCRAFT BEHIND AT LEAST ONE TARGET AIRCRAFT.
    CA2935753A1|2017-01-10|Automatic pilot system for aircraft and associated process
    EP3392728A1|2018-10-24|Method for piloting a rotary wing drone, related computer program, electronic apparatus and drone
    FR3033403A1|2016-09-09|SYSTEM FOR PROVIDING AND MONITORING FLIGHT PARAMETERS OF AN AIRCRAFT
    EP3070435B1|2018-06-27|Method and device to assist with piloting an aircraft during parabolic flight
    FR3108413A1|2021-09-24|Method and electronic system for generating at least one guidance instruction for an aircraft, computer program and associated aircraft
    FR3063911A1|2018-09-21|METHOD FOR OPTIMIZING THE FLIGHT INCLINATION OF A DRONE, ELECTRONIC DEVICE, ELECTRONIC APPARATUS AND DRONE THEREFOR
    FR3022356A1|2015-12-18|METHOD AND DEVICE FOR GENERATING AT LEAST ONE SETPOINT AMONG A FLIGHT CONTROL SET, A MOTOR CONTROL SET AND AN AIRCRAFT GUIDANCE SET, COMPUTER PROGRAM PRODUCT AND ASSOCIATED AIRCRAFT
    同族专利:
    公开号 | 公开日
    FR3022354B1|2016-07-15|
    CA2893734A1|2015-12-16|
    US9824594B2|2017-11-21|
    EP2957871B1|2017-05-03|
    US20150364046A1|2015-12-17|
    EP2957871A1|2015-12-23|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US5920321A|1996-09-30|1999-07-06|Rockwell International Corporation|Flight management system with 3-dimensional flight path display|
    US20080161982A1|2006-12-21|2008-07-03|Thales|Method for improving route and 4d prediction calculations by fms for atc tactical instructions|
    US8086362B2|2007-08-22|2011-12-27|Airbus Operations Sas|Method and device for aiding the piloting of an aircraft|
    US20110196549A1|2010-02-11|2011-08-11|The Boeing Company|Vertical Situation Awareness System for Aircraft|
    US5722620A|1995-05-15|1998-03-03|The Boeing Company|Aircraft pitch-axis stability and command augmentation|
    US6456905B2|1999-12-22|2002-09-24|Honeywell International, Inc.|Method and apparatus for limiting attitude drift during turns|
    US6522958B1|2000-10-06|2003-02-18|Honeywell International Inc.|Logic method and apparatus for textually displaying an original flight plan and a modified flight plan simultaneously|
    US6922631B1|2000-10-06|2005-07-26|Honeywell International Inc.|System and method for textually displaying an original flight plan and a modified flight plan simultaneously|
    FR2945622B1|2009-05-15|2012-04-27|Thales Sa|METHOD FOR SHORT TERM JOINING A RADAR GUIDED FLIGHT PLAN OF AN AIRCRAFT|EP3415868A3|2015-07-14|2018-12-26|The Boeing Company|Method and system for autonomous generation of shortest lateral paths for unmanned aerial systems|
    KR101700535B1|2015-11-10|2017-01-26|한국항공우주연구원|Unmanned Aerial Vehicle|
    US10228692B2|2017-03-27|2019-03-12|Gulfstream Aerospace Corporation|Aircraft flight envelope protection and recovery autopilot|
    US10693578B1|2017-08-02|2020-06-23|Rockwell Collins, Inc.|Predictive radio tuning systems and methods for aircraft|
    EP3710901A4|2017-11-14|2021-09-22|Gulfstream Aerospace Corporation|Potential aircraft trajectory wind effect computation|
    CN109191919B|2018-08-01|2020-12-04|清华大学|Four-dimensional track speed adjusting method and device based on required arrival time limit|
    法律状态:
    2015-06-30| PLFP| Fee payment|Year of fee payment: 2 |
    2015-12-18| PLSC| Search report ready|Effective date: 20151218 |
    2016-07-08| PLFP| Fee payment|Year of fee payment: 3 |
    2017-06-30| PLFP| Fee payment|Year of fee payment: 4 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1401357A|FR3022354B1|2014-06-16|2014-06-16|METHOD OF PREDICTING A SHORT-TERM TRACK OF AN AIRCRAFT, COMPUTER PROGRAM PRODUCT, PREDICTION AVAILABLE, GUIDING METHOD, GUIDE SYSTEM AND AIRCRAFT|FR1401357A| FR3022354B1|2014-06-16|2014-06-16|METHOD OF PREDICTING A SHORT-TERM TRACK OF AN AIRCRAFT, COMPUTER PROGRAM PRODUCT, PREDICTION AVAILABLE, GUIDING METHOD, GUIDE SYSTEM AND AIRCRAFT|
    EP15170522.5A| EP2957871B1|2014-06-16|2015-06-03|Method of prediction of an aircraft short term flight path, computer program product, associated prediction device, guidance method, guidance system and aircraft|
    CA2893734A| CA2893734A1|2014-06-16|2015-06-04|Process for predicting the short-term trajectory of an aircraft, associated computer software, prediction device, guidance process, guidance system and aircraft|
    US14/739,303| US9824594B2|2014-06-16|2015-06-15|Method for predicting a short term flight path of an aircraft, computer program product, associated prediction device, guidance method, guidance system and aircraft|
    [返回顶部]