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    • 专利摘要:
    The invention relates to a method (30) for determining a vertical tipping point (DeSel) from which an aircraft (101), having a current position, and flying a current vertical trajectory according to a manual piloting mode having a setpoint of altitude (ClrA), called target altitude, loaded by the pilot, switches to a pilot mode guided by a flight management system (FMS), to join a predefined flight plan (PV) presenting a set (Cini ) of initial altitude constraints, said method comprising the steps of: -calculating (100) a first predicted vertical trajectory (Tp1), -determining (200) a first intersection point (11) between the first predicted trajectory ( Tp1) and the target altitude (ClrA), -determining (300) a second predicted trajectory (Tp2) -determining (500) said vertical tipping point (DeSel) belonging to the first predicted vertical trajectory (Tp1), starting from 'Eve ntuelle incompatible constraints, and as the intersection between said first predicted vertical trajectory (Tp1) and a predicted vertical trajectory (Tp2, Tp3) calculated by integrating dynamic flight equations by applying assumptions of calculation of a pilot mode guided by a flight management system called FMS.
    公开号:FR3023014A1
    申请号:FR1401454
    申请日:2014-06-27
    公开日:2016-01-01
    发明作者:Castaneda Manuel Gutierrez；De Coquereaumont Bertrand Caudron；Xavier Jeanjean
    申请人:Thales SA；
    IPC主号:
    专利说明:

    [0001] FIELD OF THE INVENTION The invention lies in the field of flight management of an aircraft, and more particularly in the passage between different types of aircraft. piloting modes of an aircraft, according to flight constraints. More particularly, the invention lies in the field of trajectory management and vertical predictions.
    [0002] STATE OF THE ART It is known from the state of the art, flight management systems designed to prepare a flight plan, and enslave the aircraft on it. During the preparation of the flight or during a diversion, the crew enters its flight plan on a dedicated computer: the FMS (Flight Management System). FIG. 1 represents the various components of an FMS having the functions listed below, described in the ARINC 702 standard (Advanced Flight Management Computer System, Dec 1996): They normally perform all or some of the functions of: - Navigation LOCNAV, 170 , to perform the optimal location of the aircraft according to the means of geo-location (GPS, GALILEO, VHF radio beacons, inertial units); - FPLN flight plan, 110, to capture the geographical elements constituting the skeleton of the route to be followed (departure and arrival procedures, waypoints, airways); - Navigation database NAVDB 130, to build geographic routes and procedures from data included in the bases (points, tags, interception legacy or altitude ...); - Performance database, PRF DB 150, containing the aerodynamic and engine parameters of the aircraft. - Lateral trajectory TRAJ, 120: to build a continuous trajectory from the points of the flight plan, respecting the airplane performances and the confinement constraints (RNP); PRED predictions, 140: to build an optimized vertical profile on the lateral trajectory; - Guidance, GUID 160, to guide the aircraft in its 3D trajectory in the lateral and vertical planes, while optimizing the speed; - DATALINK digital data link, 180 to communicate with control centers and other aircraft.
    [0003] A flight plan consists of a list of legacies in AEEC ARINC 424 format. A leg consists of a termination (which may be a waypoint navigation point, a termination altitude, an Interception of a other leg, a radial beacon, a distance from a beacon) and a means of tracking to arrive at the termination (great circle, loxodrome, arrival cap imposed for example). A flight plan is developed from procedures and points, stored in the navigation database 130, structured according to the aforementioned ARINC 424 standard. The procedures consist of a set of legacies. These digital procedures are derived from data provided by the states, corresponding to the procedures in force in the airspace traversed. For example to build a flight plan, the pilot chooses different procedures indexed by a name, and different points. The FMS then extracts these procedures and points from the database, then performs a chaining of the successive procedures to generate the flight plan. A flight plan can be used by the FMS to calculate the trajectories and predictions, and to enslave the aircraft. In a flight plan, the state of the art cites 2 particular points: - The next waypoint, called "TO waypoint", corresponding to the first leg in front of the plane - The previous waypoint, called "FROM waypoint" , corresponding to the last point that was passed (thus, when the plane passes a "TO waypoint", it becomes FROM and the point after the TO (often called "NEXT waypoint" becomes the new "TO waypoint".
    [0004] Thus, from the flight plan defined by the pilot, the lateral trajectory is calculated by the FMS. On this lateral trajectory, the FMS optimizes a vertical trajectory (in altitude and speed), passing through possible constraints of altitude, speed, time. An example of a vertical trajectory 20 is given in FIG. 2. A vertical trajectory is illustrated by an evolution of the altitude h as a function of a curvilinear abscissa x along the trajectory. A vertical trajectory is a valuable forecasting tool for the crew.
    [0005] The vertical predictions made by the FMS are made from the initial data: - Current state aircraft (altitude, speed, position, fuel on board and weight of the aircraft ...) - Flight plan present in front of the aircraft - Current guidance mode ("managed" or "selected" see below) Predictions are calculated step by step, along the pre-calculated lateral trajectory, and until the end of the flight plan, for example by integration. Equations of the dynamic characteristics of the aircraft, with integration step sizes designed to obtain the correct accuracy. These predictions typically calculate: The predicted transit altitude - The predicted transit speed (predicted time is deduced) The predicted wind at the waypoint The remaining fuel predicted (and therefore the weight of the aircraft).
    [0006] According to the state of the art, the complete calculated vertical profile is broken down into three phases: a climb phase 10 from the departure airport to a first altitude level is calculated from the take-off runway and up to at the point called "Top of Climb" (T / C), which corresponds to the achievement of the cruise start level. This first part is determined by integrating the dynamic equations (necessary reference) along the lateral trajectory and in the anterograde direction (predictions starting from the track, until the (T / C): one speaks then of predictions "Forward". a cruising phase 11 consisting of a succession of altitude levels to be reached and associated altitude change points, referred to as "steps", generally marked as curvilinear abscissa x along the vertical profile, for example with respect to distance to destination ("distance to destination") The cruise is calculated from the T / C to the point of descent, referred to as "Top of Descent" (T / D) which corresponds to the end of the This part is determined by integrating the dynamic equations along the lateral trajectory and in the anterograde direction (predictions starting from the T / C, up to the T / D). These are referred to as "Forward" - a descent phase 12 from the last altitude level to the arrival airport calculated from the T / D to the final destination. It is calculated in two parts. A first part consists of a calculation of a Prof descent profile (altitude / speed) starting from the destination and integrating backwards until the end of the cruise, referred to as "backward" predictions. This profile Prof is frozen to ensure that the aircraft that follows it will complete its flight on the track (altitude / speed). This calculation makes it possible to determine the times and fuel consumed "backwards" as well as the wind. A second part consists of "forward" predictions from the airplane state to the destination. They include predictions of altitude, speed, time, fuel and "forward" wind propagating the airplane state. As long as the aircraft is not in the descent phase (ie as long as it is climbing and cruising), the descent profile and the descent predictions are identical (ie the aircraft is predicted along the profile ), provided that the profile 25 is thievery. With regard to the servo control of the aircraft, there are several flight plans managed by the FMS. The active flight plan is the flight plan on which the FMS is likely to guide the aircraft when coupled to the autopilot. The effective servocontrol of the aircraft on the active flight plan is obtained by coupling with the autopilot. The automatic guidance mode of the aircraft on the active flight plan is also known as the "managed guidance mode". There are situations in which the aircraft is not enslaved on the active flight plan. For example, the air traffic controller on the ground may have to ask the aircraft to leave its flight plan, for example to ensure proper separation of the aircraft. In the example illustrated in FIG. 3, the aircraft 101 is in the descent phase or downstream of the T / D, and it has left its pre-calculated descent profile Prof for any reason (ATC setpoint, wind effect, etc.). When the aircraft leaves its flight plan, the pilot enters the so-called "guided guidance mode" mode, corresponding to a manual vertical steering mode, 5 still via the automatic pilot PA. In this case the FMS calculates predictions by considering that the aircraft always immediately joins the lateral and vertical trajectory, according to a predetermined hypothesis. Typically, if the aircraft is not on its lateral trajectory (i.e. it is offset with respect to this trajectory), an immediate rejoining lateral trajectory is calculated, according to preestablished hypotheses. For example, an FMS may assume a great deal between the airplane and the "TO waypoint", another may assume a join of the leg 15 formed by the "FROM-TO" with a 45 ° interception of this leg , or at 90 °, or the shortest distance that joins the TO, while integrating the turn to be made, or a rejoin at the shortest of the flight plan (the join is not necessarily then necessarily on the TO waypoint Also typically, if the aircraft is not in its vertical trajectory (ie it is above or below), an immediate rejoin is calculated according to equally pre-established assumptions, for example, for the descending phase, and for an aircraft under its vertical trajectory, an FMS can predict that the aircraft will remain level (ie at constant altitude) until it intercepts the vertical trajectory in question.Another FMS may have a descent hypothesis at low angle or low vertical speed to be able to intercept the trajectory as well. Still for the descending phase, and for an aircraft above its vertical trajectory, an FMS can predict that the aircraft will pitch by taking a predetermined attitude, greater than the current attitude. Another 30 can predict a join with a given aerodynamic slope, stronger than the current slope, and this up to intercept the vertical trajectory. The disadvantage of this situation is that the pre-established assumptions of FMS vertical rejection rarely correspond to the manual vertical guidance mode. The integration of the equations according to the pre-established mode thus gives erroneous results in relation to reality.
    [0007] The manual vertical guidance mode is characterized by an altitude or target altitude, called "altitude clearance", chosen by the pilot to which the aircraft is heading. To reach it, several driving modes exist: constant vertical speed servo, denominated VS for Vertical Speed in English, constant angle servo called FPA for Fligth Path Angle in English, constant altitude servicing, called ALT for Altitude, -service in thrust, called "Thrust" or "OPEN". In the real world, the crew only pilot a certain time with the current manual vertical mode, because at a given moment, this current mode will be modified to follow the flight plan (and its altitude constraints). The return to a guidance mode enslaved on the flight plan is commonly called "deselection". In situations in which the pilot has left the guided guidance mode ("managed") and the aircraft is manually guided ("selected") and 20 therefore no longer follows his flight plan, several problems arise: firstly, the aircraft is still obliged to respect a certain number of altitude constraints associated with its flight plan remaining to fly (we speak of the flight plan "in front of" the aircraft). These altitude constraints are each characterized by an altitude AO 25 to be respected associated with a time, expressed as curvilinear abscissa x. The constraint can be of the type: - "at": the aircraft must reach the altitude AO for a given x0, symbolized by a two triangles head to tail, - "at or above": the aircraft must pass over the altitude AO for 30 a given x0, symbolized by a triangle head up, - "at or below": the aircraft must pass below the altitude AO for a given x0, symbolized by a triangle upside down. - "Window": the aircraft must pass between 2 altitudes at the given point. This type of constraint corresponds to an "at or above" and an "at or 35 below" on the same point The pilot flying in "selected" mode is in uncertainty about the respect of these constraints. Indeed, the predictions made by the FMS become erroneous because they do not take into account the change of guidance mode and do not correspond to what the aircraft actually flies, as explained above. An object of the invention is to overcome the aforementioned drawbacks, by proposing to determine a vertical tilting point from which the pilot can switch from manual mode to FMS guided mode in compliance with the 10 constraints imposed on him. DESCRIPTION OF THE INVENTION The object of the present invention is, according to a first aspect, a method of determining a vertical tilting point from which an aircraft, having a current position, and flying a current vertical trajectory according to a manual piloting mode. presenting an altitude instruction called target altitude, loaded by the pilot, switches to a flight management mode guided by a flight management system, in order to join a predefined flight plan presenting a set of initial altitude constraints, the method comprising the steps of: calculating a first vertical trajectory predicted by integrating dynamic flight equations from the current position of the aircraft, extrapolating the current trajectory and applying calculation hypotheses corresponding to the piloting mode manual of the aircraft, -determine a first point of intersection between the first predicted trajectory and the target altitude, having a first abscissa, the abscissa altitude constraints lower than said first abscissa being referred to as anterior constraints, the abscissa altitude constraints greater than said first abscissa being referred to as the posterior constraints, -determining a second trajectory predicted by integrating dynamic equations of forward flight from said first intersection point and applying assumptions for calculating an FMS-guided driving mode, - determining a subset of altitude constraints to be respected 35 indexed by an index i, the index 1 corresponding to the constraint closest to the current position of the aircraft, chosen from the set of initial altitude constraints, each altitude constraint to be respected having an abscissa, -determine the previous constraints incompatible with the first predicted trajectory and the posterior constraints incompatible with the predicted second trajectory, -determining said vertical tilt point belonging to the first predicted vertical trajectory, from possible incompatible constraints, and as the intersection between said predicted first vertical trajectory and a predicted vertical trajectory computed by integration of dynamic flight equations by applying assumptions for calculating a flight mode guided by a flight management system called FMS. According to one embodiment, the step of determining the vertical tilting point comprises the following sub-steps: when no constraint is incompatible, the vertical tilting point is equal to the first point of intersection, when at least one altitude constraint is incompatible, determining said vertical tilt point as the intersection between the predicted first trajectory and a predicted vertical trajectory calculated by integrating the dynamic backward flight equations from an incompatible constraint associated, by applying assumptions of calculation of a mode of piloting guided by FMS. According to one embodiment, the step of determining the tipping point comprises, the sub-steps consisting of: For each incompatible constraint: determining a third predicted trajectory associated by integration of the dynamic equations of theft flight towards from the associated incompatible constraint and applying assumptions for calculating a FMS-guided driving mode, * determining a second associated intersection point corresponding to the intersection between the first predicted vertical trajectory and the associated third predicted trajectory -determine the vertical tilt point, equal to the second closest intersection point closest to the current position of the aircraft. Advantageously, the manual control mode is chosen by the group: constant vertical speed servo; servo constant angle; enslavement constant altitude; servoing on thrust; Advantageously, the method further comprises a step of graphically displaying the vertical tipping point. According to one variant, the aircraft is in a climbing phase and the FMS-guided driving mode calculation assumptions include a servo-type operational criterion. on push or altitude holding type. According to another variant, which the aircraft is in the descent phase and must join a predetermined altitude profile, and the FMS-guided steering mode calculation assumptions include an operational criterion depending on the position of the aircraft relative to to the predetermined altitude profile. According to one embodiment, the aircraft is situated below the predetermined altitude profile, and the operational criterion is of the constant vertical speed or elevation holding type servo type. According to another embodiment, the aircraft is situated above the predetermined altitude profile and the operational criterion is of the thrust control type, the criterion being parameterizable by a position of the airbrakes 25 chosen from the group: no airbrakes ; airbrakes half-way out; airbrakes completely out. According to a variant, the method according to the invention further comprises a step of calculating a global trajectory predicted from the concatenation of at least two portions: a first portion equal to the first predicted trajectory, up to the point vertical tilt and -a second portion, from the vertical tipping point, equal to: * the second predicted trajectory when no altitude constraint 35 is incompatible, * the third predicted trajectory associated with the vertical tilting point when at least one altitude constraint is incompatible. According to a variant, the method according to the invention further comprises the 5 steps of: -selecting a chosen point belonging to the first predicted trajectory, -replacing the vertical tipping point by the selected point, -calculating a global trajectory predicted to from the concatenation of at least two portions: a first portion equal to the first predicted trajectory, to the chosen point, a second portion, starting from the chosen point, corresponding to a trajectory calculated by integration of the dynamic equations forward flight according to an FMS-guided piloting mode. Advantageously, the step of selecting the selected point is performed by a pilot. According to one embodiment, the aircraft is in the descent phase and must join a predetermined altitude profile, and the method according to the invention further comprises the steps of: - determining a third point equal to the intersection between the first predicted trajectory and said predetermined altitude profile, when said third point is reached before the calculated vertical tilting point: calculating an overall trajectory predicted from the concatenation of at least two portions: a first portion equal to the first predicted trajectory, up to the third point, a second portion, starting from the third point, corresponding to a trajectory calculated by integrating the dynamic flight equations according to a steering mode guided by an FMS according to the profile predetermined altitude.
    [0008] According to one embodiment, the method according to the invention further comprises a step of calculating predictions of aircraft state parameters from a predicted global trajectory. Advantageously, the aircraft state parameters comprise: the predicted passage altitude, the predicted transit speed, the remaining fuel predicted. According to another aspect, the invention relates to a prediction calculation device and a flight management system of an FMS type aircraft comprising the device according to the invention. Finally, according to a last aspect, the invention relates to a computer program product, the computer program comprising code instructions for performing the steps of the method according to the invention. Other features, objects and advantages of the present invention will appear on reading the detailed description which follows and with reference to the appended drawings given by way of non-limiting examples and in which: FIG. 1 already cited represents the different components of an FMS. FIG. 2 already cited illustrates an example of a vertical trajectory. FIG. 3 already cited illustrates a situation in which an aircraft in the descent phase has left its flight plan. FIG. 4 illustrates the method according to the invention. FIG. 5 illustrates the predicted trajectory in manual mode of an aircraft guided in manual flight mode and subjected to altitude constraints in the climb phase. FIG. 6 illustrates the trajectory predicted in manual mode of an aircraft in manual piloting mode and subjected to altitude constraints during the descent phase. FIG. 7 illustrates the determination of incompatible stresses, from the predicted trajectories Tp1 and Tp2 for an aircraft in the climb phase. FIG. 8 illustrates the determination of the incompatible constraints, based on the predicted trajectories Tp1 and Tp2 for an aircraft in the descent phase and located above the predetermined descent profile. FIG. 9 illustrates the determination of the incompatible constraints, from the predicted trajectories Tp1 and Tp2 for an aircraft in the descent phase and located below the predetermined descent profile. FIG. 10 illustrates an embodiment of the method according to the invention. FIG. 11 illustrates a preferred embodiment of the method according to the invention. FIG. 12 illustrates the calculation mode of the vertical tilting point from rearwardly calculated trajectories Tp3 for an aircraft in the climb phase. FIG. 13 illustrates the method of calculating the vertical tilt point from trajectories Tp3 calculated towards the rear for an aircraft in the descent phase and located above the predetermined descent profile. FIG. 14 illustrates the method of calculating the vertical tilt point from backward calculated trajectories Tp3 for an aircraft in the descent phase and located below the predetermined descent profile. FIG. 15 illustrates choice variants of the subset of constraints to be respected. FIG. 16 illustrates various operational criteria for the parameterization of the calculation of Tp3. FIG. 17 illustrates another embodiment of the method according to the invention. FIG. 8 illustrates a variant of the method according to the invention. FIG. 19 illustrates another variant of the method according to the invention. FIG. 20 schematizes the case in which the trajectory Tp1 intersects the predetermined descent profile before reaching the DeSel. FIG. 21 illustrates another preferred embodiment of the method according to the invention. FIG. 22 schematizes a device according to another aspect of the invention. DETAILED DESCRIPTION OF THE INVENTION The method of determining a vertical DeSel tipping point from which an aircraft 101 switches to a pilot mode guided by an FMS flight management system to join a predefined flight plan PV 35 presenting a set Cini of initial altitude constraints is illustrated in FIG. 4. The aircraft 101 has a current position Pcour and flies a current vertical trajectory according to a manual steering mode described below, presenting an altitude setpoint CIrA called altitude target and loaded by the pilot.
    [0009] The method according to the invention comprises the following steps: A first step 100 calculates a first predicted vertical trajectory Tp1 by integrating the dynamic equations of flight from the current position of the aircraft, by extrapolating the current trajectory and by applying hypotheses calculation corresponding to the manual control mode of the aircraft. The trajectory Tp1 is illustrated in large dashed Figure 5 for an aircraft 101 uphill and Figure 6 for a descending aircraft. By way of example, in FIG. 5 the manual mode is of the FPA type, controlled at an angle of 3 ° and in FIG. 6 the manual mode is of VS type servo-controlled at a descent speed of 600 feet per minute. Preferably, the assumptions for calculating the manual control mode correspond to the modes implemented to date in the FMS according to the state of the art. The mode is selected from the group: constant vertical speed VS servo; servo constant angle FPA; enslavement constant altitude ALT; THRUST thrust control. A second step 200 consists in determining a first point of intersection 11 between the first predicted trajectory Tp1 and the target altitude CIrA, also illustrated in FIGS. 5 and 6. It has a first curvilinear abscissa x1. The curvilinear abscissa x1 divides the space of the abscissae into two zones. A first zone of abscissas between the current abscissa of the aeroenf) (yard and x1 and a second zone of abscissae greater than x to the arrival. first abscissa being referred to as anterior constraints, the abscissa altitude stresses x greater than the first abscissa being referred to as posterior stresses:) (yard <x <x1 anterior stress x> x1 posterior stress A third step 300 determines a second predicted trajectory Tp2 by integrating dynamic equations of forward flight from the first intersection point 11 and applying assumptions of calculation of an FMS-guided driving mode ("managed" mode) Tp2 is calculated according to the state of art taking into account all the initial constraints, and predefined hypotheses, for example an option 1/2 AB (of the English half Air Brakes) for the descent, which means a rofreins half out. Tp2 The calculated trajectory is illustrated in Figure 7 for an aircraft 101 uphill and Figures 8 and 9 for an aircraft in descent in small dotted lines. FIG. 8 illustrates an aircraft 101 flying above the pre-calculated descent profile Prof described in the state of the art, FIG. 9 an aircraft 101 flying below Prof. The arrow orientation of the trajectories Tpl and Tp2 illustrates the fact that these trajectories are calculated in "forward" mode, towards the front.
    [0010] A step 350 determines a subset of altitude constraints to be respected Ci indexed by an index i, the index 1 corresponding to the constraint closest to the current position of the aircraft and the index i increasing as and when as one moves away from the aircraft. The constraints C1, C2 ... Cn are chosen from the set Cini of initial altitude constraints, each altitude constraint to be respected having an abscissa xi: (C1, x1), (C2, x2) ... ( Cn, xn). This step 350 can be performed from the outset, the choice of the constraints to be respected Ci being independent of the calculation of Tpl and 11.
    [0011] The constraints to respect C1 to C6 for the example of the rise are illustrated in FIGS. 5 and 7, the constraints to be respected C1 to C4 for the example of the descent are illustrated in FIGS. 6 and 8 for a descent above Prof. , and figure 9 for a descent below Prof.
    [0012] The subset of the constraints to be respected can be determined according to several variants or according to different criteria. By way of example, according to a first variant, the subset of constraints to be respected Ci is equal to the set of initial constraints Cini of the flight plan located downstream of the current position Pcour of the aircraft.
    [0013] According to a second variant, the set of constraints to be respected is empty.
    [0014] According to a third variant, the subset comprises only constraints beyond a given initial constraint. For example downhill all the stresses from the approach landing. According to a fourth variant downhill, the subset comprises only the constraint of the final approach called FAF. These different variants are illustrated below in FIG. 15. According to one embodiment, the subset is determined by the pilot. For example, when a pilot is in manual mode "cleared" down to the airport by air control at a low altitude, according to an imposed descent mode, he can decide to ignore the intermediate constraints and join directly the altitude of the FAF, if the altitude constraints do not correspond to safety altitudes with respect to terrain or other open lower airspaces. In the case of descent on more rugged terrain for example, the pilot can decide to respect all altitude constraints. According to one embodiment, when the pilot wishes to add a constraint in the subset, he first inserts the constraint to be added in the flight plan, which thus enters the set of initial constraints Cini, then in a second time the driver chose this constraint to be part of the subset. According to another embodiment the subset is determined by an external equipment.
    [0015] According to one example, the subset of the constraints that must imperatively be met is provided by digital data link (DATALINK) via an on-board communication equipment. According to another example, the constraints to be respected can also be imposed by an on-board field monitoring system or on-board weather system, asking to pass over a danger altitude. In a step 400 the system determines the incompatible constraints. For the previous constraints in zone 1, the incompatibility is determined with respect to the first predicted trajectory Tp1. For the posterior stresses of zone 2, the incompatibility is determined with respect to the second predicted trajectory Tp2. Compatibility of a constraint Ck is done by projecting the curvilinear abscissa xk of this constraint on the predicted trajectory considered. The combination of the value of this projection and the type of constraint (At, At or Above, At or below, Window) makes it possible to deduce the compatibility or not of the constraint. Examples of compatible and non-compatible constraints are given in FIGS. 7 to 9.
    [0016] For example, FIG. 7, the constraint Cl "At" and the constraint C3 "At or Below" are not compatible for the flying aircraft Tpl. Similarly the constraint C4 "at or above" is not compatible with the aircraft flying according to Tp2. In FIG. 8, the C2 constraint "At or Below" and the stress C3 "At" are not compatible for the flying aircraft Tpl. Similarly the constraint C4 "At or Below" is not compatible with the aircraft flying according to Tp2. A last step 500 determines the vertical DeSel tilting point belonging to the first predicted vertical trajectory Tpl (predicted trajectory 20 of the manual type), from possible incompatible constraints when step 350 has identified them, such as the intersection between Tpl and a predicted vertical trajectory calculated by integration of the dynamic flight equations by applying assumptions for calculating a flight mode guided by a flight management system called FMS, ie a predicted vertical trajectory called "guided type". The identification of incompatible constraints allows the method according to the invention to calculate a predicted vertical trajectory guided type adapted to the constraints of the flight. The vertical DeSel tilting point is set, in altitude and curvilinear abscissa, at the point of intersection between the first predicted trajectory Tpl and the predicted vertical path of guided type. The determination of this DeSel point allows the system to calculate an optimized global trajectory that can be used as a basis for more consistent predictions (see below) and gives valuable information to the pilot about the behavior or not. constraints and when it will be able to switch to "guided" mode. In addition, knowledge of DeSel provides the pilot with valuable information for communicating with air traffic control and negotiating its vertical trajectory. According to a preferred embodiment, the method 30 according to the invention further comprises a step 600 of graphical display of the vertical tipping point. The pilot thus has visual information, immediately accessible, of the location information, at altitude and curvilinear abscissa, of the DeSel tipping point. According to an embodiment illustrated in FIG. 10, step 500 of determination of the vertical DeSel tipping point has two options, depending on whether at least one incompatible constraint has been identified at 400 or not. When no constraint is incompatible, the DeSel vertical tilting point is equal to the first intersection point 11. By construction of Tp2, the DeSel point is equal to the intersection between Tp1 (manual and forward mode) 20 and Tp2 (guided and forward mode): DeSel = 11 = Tp1 [manual mode - forward] n TP2 [guided mode - forward]. Tp1: manual mode - forward Tp2: guided mode - forward from 11. This case also applies when the subset of constraints to be met is empty. When at least one altitude constraint is incompatible, the method comprises a sub-step 510 for determining the vertical DeSel tilting point, such as the intersection between the first predicted vertical trajectory Tp1 and a predicted vertical trajectory Tp3 calculated by integration of dynamic equations of flying backwards from an associated incompatible constraint, by applying assumptions of calculation of an FMS-guided driving mode. DeSel = Tp1 n Tp3 [guided mode - backward] 35 Tp1: manual mode - forward Tp3: guided mode - backward from an incompatible constraint. According to a preferred embodiment illustrated in FIG. 11, the sub-step 510 is refined by taking into consideration the temporal distribution of the incompatible stresses. The sub-step 510 comprises the substeps consisting of: Firstly for each incompatible constraint Ck subscript k, the substep 511 determines a third predicted associated trajectory Tp3 (k) by integrating the dynamic equations of backward flight with from the associated incompatible constraint Ck and by applying calculation hypotheses of an FMS-guided driving mode. It is considered here that the index k corresponds to the index of the incompatible constraints detected in step 400: k is a subset of i. For example, in the example of FIG. 7, the incompatible constraints are: C1, C3, (previous constraints) C4 (posterior stress, and k = 1.3.4) In the example of FIG. the following are incompatible: C2, C3 (previous constraints) C4 (posterior stress), and k = 2, 3, 4, and in the example of Figure 9, the incompatible constraints are: C3, (posterior stress) and k = 3 Then, a sub-step 512 determines, for each k, a second associated intersection point I2 (k) corresponding to the intersection between the first predicted vertical trajectory Tpl and the associated third predicted trajectory Tp3 (k). step 513 determines the vertical point of change DeSel, which is equal to the second associated intersection point 12 (k0) closest to the current position of the aircraft, index k 0. The index k 0 is not necessarily the lowest index, as shown in Figure 13, in which 12 (03) is closer the current position of the aircraft 101 as 12 (02). The calculation of the DeSel according to the preferred embodiment is illustrated in FIGS. 12, 13 and 14, taking again the examples of FIGS. 7, 8 and 9. In FIG. 12, backward trailing trajectories Tp3 are calculated for the incompatible constraints C1, C3 and C4. In Fig. 13 backward trailing trajectories Tp3 are calculated for the incompatible constraints C2, C3 and C4. It can be seen in FIG. 13 that the point 12 corresponding to the DeSel I2 (C3), k0 = 3, does not necessarily correspond to the incompatible altitude constraint closest to the current position of the aircraft (C2, k = 2 ). In Fig. 14 backward trailing trajectories Tp3 are computed for the incompatible constraints C1, C3 and C4. As described above, the subset of the altitude constraints to be respected can be chosen according to different variants. Figure 15 illustrates these variants in a descent situation and the impact on DeSel determination. The trajectories Tp3 corresponding to each incompatible constraint are calculated. The DeSel varies according to the choice / criterion: - all constraints or 15 - constraints from the approach step or - only the final FAF constraint Forward "forward" calculations for Tp2 and "backward backward" for Tp3 have parameterizable according to operational criteria. The operational criteria depend for example on the situation of the aircraft, ascent or descent, and the situation of the descent. According to one option the parameterization of Tp2 is fixed in the FMS, while the parameterization of Tp3 is possible. According to another option, the parameterization of the calculations of Tp2 and Tp3 is possible. According to one embodiment, when the aircraft is in the climb phase, the FMS-guided driving mode calculation assumptions include a thrust-type or "OPEN Climb" type-of-thrust operating criterion. holding altitude called 30 "ALT", corresponding to a level of altitude. According to one embodiment, when the aircraft is in the descent phase and must join a predetermined altitude profile Prof, the FMS-guided steering mode calculation assumptions include an operational criterion based on the position of the aircraft. relative to the predetermined elevation profile Prof.
    [0017] For example, for an aircraft located below the predetermined altitude profile Prof, the operational criterion is of the constant vertical speed servocontrol type called "VS managed" type or elevation holding type. According to another example illustrated in FIG. 16, for an aircraft located above the predetermined altitude profile Prof, the operational criterion is of the push-control type called "THRUST Idle Managed" or "OPEN DES", this criterion being parameterizable by a position air brakes selected from the group: no air brakes "no Airbrake"; half airbrakes "1/2 Airbrake"; airbrakes completely out "full Airbrake".
    [0018] According to a preferred embodiment illustrated in FIG. 17, once the DeSel has been determined, the method according to the invention uses this DeSel to calculate an overall predicted trajectory of the aircraft. Thus, the method further comprises a step 700 of calculating an overall predicted trajectory TpG from the concatenation of at least two portions: a first portion equal to the first predicted trajectory Tp1 to the vertical tilting point DeSel and a second portion, from the DeSel vertical tipping point. The second portion is equal to the second predicted trajectory Tp2 when no constraint is incompatible and the third predicted trajectory Tp3 associated with the vertical tilt point when at least one incompatible constraint has been identified at 400. The global predicted trajectory thus takes in fact, the trajectories of the aircraft close to reality, taking into account exactly the mode of guidance selected or managed, the aircraft as a function of time. For the crew, there is only one trajectory, and no longer two trajectories, Tp1 and Tp2 displayed on screens and calculated from different assumptions. According to a variant illustrated in FIG. 18, the method 30 according to the invention further comprises the following steps: a step 710 selects a chosen point P belonging to the first predicted trajectory Tp1, other than the point DeSel determined in step 500 - Then a step 720 replaces the DeSel vertical tipping point with the chosen point P, and according to a variant displays it graphically. and then a step 730 calculates a global predicted trajectory TpG from the concatenation of at least two portions: a first portion equal to the first predicted trajectory Tp1, to the chosen point P, a second portion, starting from selected point P, corresponding to a trajectory calculated by integration of the dynamic equations of forward flight Tp2 according to a steering mode guided by an FMS.
    [0019] The overall predicted trajectory TpG takes into account the chosen point P and not the DeSel calculated at 500. According to a preferred embodiment, the step 710 of selecting the selected point P is performed by the pilot. One advantage is that the pilot can adapt to the context of the day (constraint to ignore because without impact relief or noise), constraint to follow to follow a policy company etc. He can also adapt the point after knowing when he will be "cleared" to join his vertical flight plan, via a communication with the controller. Thus, the method proposes a DeSel point according to its assumptions, but retains flexibility to allow the crew to always be able to adapt to particular cases. According to another variant illustrated in FIG. 19, the aircraft being in the descent phase and having to join a predetermined altitude profile Prof, the method 30 further comprises the following steps: a step 800 determining a third point 13 equal to the intersection between the first predicted trajectory Tp1 and the predetermined elevation profile Prof, When the third point 13 is reached before the calculated vertical tilt point DeSel, a step 820 computes a predicted global trajectory TpG from the concatenation of minus two portions: a first portion equal to the first predicted trajectory Tp1, to the third point 13, a second portion Tp2 ', starting from the third point 13, corresponding to a trajectory calculated by integrating the dynamic equations of flight according to a driving mode guided by an FMS according to the predetermined altitude profile Prof. FIG. 20 schematizes this case in which the trajectory Tp1 intersects the Prof profile before reaching DeSel.
    [0020] The pilot may then prefer to follow the Prof descent profile according to Tp2 'at the earliest, rather than wait for a rejoin later by following Tp1 then Tp2. Indeed, Prof profile is the result of FMS optimization to minimize fuel consumption, it is interesting for the driver to follow him as soon as he intercepted.
    [0021] The calculation of a predicted global trajectory TpG remaining to be stolen, operated by step 700, and / or if necessary by steps 730 and / or 820, enables the system to make a series of predictions based on this trajectory. to provide the pilot with valuable predictive information on the condition of the aircraft and the flight. Thus, according to a preferred embodiment illustrated in FIG. 21, the method according to the invention further comprises a step 900 consisting in calculating predictions of aircraft state parameters from a predicted global trajectory TpG.
    [0022] Preferably, the aircraft state parameters comprise: the predicted passage altitude, the predicted transit speed, the remaining fuel predicted. Thus the method 30 provides the pilot with a frame of realistic predictions taking into account the portion of the flight performed in manual guidance. As the predicted fuel and altitude predictions are more realistic, the situation of the aircraft is secure, as is that of other aircraft, and the air traffic control to which the predictions are communicated is better informed of the actual situation of the aircraft. . According to another aspect illustrated in FIG. 22, the invention relates to a device 31 for calculating predictions from the determination of a vertical DeSel tilting point from which an aircraft 101, having a current position, and flying a vertical trajectory. current in a manual control mode having an altitude command CIrA, called target altitude, loaded by the pilot, switches to a pilot mode guided by an FMS flight management system, to join a predefined flight plan PV presenting a set Cini of initial altitude constraints, said device comprising: a calculation module 301 of the DeSel vertical tilting point comprising: a calculation module 302 of a first predicted vertical trajectory Tp1 by integration of the dynamic equations of flight from the current position of the aircraft, extrapolating the current trajectory and applying calculation assumptions corresponding to the manual flight control method, a determination module 303 of a first intersection point 11 between the first predicted trajectory Tp1 and the target altitude CIrA, having a first abscissa x1, the altitude constraints of abscissa less than said first abscissa being referred to as prior stresses, the abscissa altitude stresses greater than said first abscissa being referred to as posterior stresses, a determination module 304 of a second predicted trajectory Tp2 by integration of the dynamic equations of forward flight from said first intersection point 11 and applying computational assumptions of a FMS-guided driving mode. a determination module 305 of a subset of altitude constraints to be respected Ci indexed by an index i, the index 1 corresponding to the constraint closest to the current position of the aircraft, selected from the set Cini of initial altitude constraints, each altitude constraint to be respected having an abscissa xi, - a determination module 306 of the previous constraints incompatible with the first predicted trajectory Tp1 and the posterior constraints incompatible with the second predicted trajectory Tp2, 30 a determination module 307 of the vertical DeSel tilting point belonging to the first predicted vertical trajectory Tp1 from possible incompatible constraints, calculated as follows: the vertical DeSel tilting point is equal to the first point of intersection 11.1; 'no constraint is incompatible, * the DeSel vertical tipping point being equal to the intersection the first predicted trajectory Tp1 and a predicted vertical trajectory Tp3 calculated by integration of the dynamic equations of theft flight from an associated incompatible constraint, by applying assumptions of calculation of an FMS-guided driving mode, when least one altitude constraint is incompatible, - a calculation module 310 of a global trajectory predicted TpG from the concatenation of at least two portions: a first portion equal to the first predicted trajectory Tp1, to the point DeSel vertical tilting and - a second portion, from the vertical DeSel tipping point, equal to: * the second predicted trajectory Tp2 when no altitude constraint is incompatible, * the third predicted trajectory Tp3 associated with the vertical point of failover when at least one altitude constraint is incompatible. a calculation module (320) for predictions of aircraft state parameters from the predicted global trajectory (TpG).
    [0023] According to one embodiment, the device 31, and therefore the 301 calculation module of DeSel, is integrated in the FMS. More specifically, according to one option, the trajectory calculation module 310 is integrated in the TRAJ module 120 of the FMS and the prediction calculation module 320 is integrated into the PRED module 140 of the FMS.
    [0024] According to another embodiment, the device 31 according to the invention, implementing the method according to the invention, is integrated in any type of computer performing a calculation of predictions, such as an EFB (Electronic Flight Bag), a management system Tactical mission mission, a flight forecasting computer of an air traffic control center (TP for Trajectory Predictor), a touch pad incorporating prediction calculation means ... The invention also relates to a flight management system FMS 35 comprising the device 31.
    权利要求:
    Claims (18)
    [0001]
    REVENDICATIONS1. Method (30) for determining a vertical tipping point (DeSel) from which an aircraft (101), having a current position, and flying a current vertical trajectory in a manual flight mode having an altitude setpoint (CIrA) ), called target altitude, loaded by the pilot, switches to a flight management mode guided by a flight management system (FMS), in order to join a predefined flight plan (PV) presenting a set (Cini) of constraints of initial altitude, said method comprising the steps of: -calculating (100) a first predicted vertical trajectory (Tp1) by integrating the dynamic flight equations from the current position of the aircraft, extrapolating the current trajectory and applying calculation hypotheses corresponding to the manual flight control mode of the aircraft, -determining (200) a first point of intersection (11) between the first predicted trajectory (Tp1) and the target altitude ( CIrA), having a first abscissa (x1), the abscissa altitude constraints lower than said first abscissa being referred to as anterior constraints, the abscissa altitude constraints greater than said first abscissa being referred to as posterior constraints, -determining ( 300) a second predicted trajectory (Tp2) by integrating dynamic equations of forward flight from said first intersection point (11) and applying assumptions of calculation of an FMS-guided driving mode, - determining (350) ) a subset of altitude constraints to be respected (Ci) indexed by an index i, the index 1 corresponding to the constraint closest to the current position of the aircraft, chosen from the set (Cini) of constraints of initial altitudes, each altitude constraint to be respected having an abscissa (xi), -determining (400) the previous constraints incompatible with the first predicted trajectory (T p1) and the posterior stresses incompatible with the second predicted trajectory (Tp2), -determining (500) said vertical tilting point (DeSel) belonging to the first predicted vertical trajectory (Tp1), from possible incompatibility constraints, and as intersection between said first predicted vertical trajectory (Tp1) and a predicted vertical trajectory (Tp2, Tp3) computed by integrating the dynamic flight equations by applying assumptions of calculation of a piloting mode guided by a flight management system referred to as FMS.
    [0002]
    The method of claim 1 wherein the step of determining (500) the vertical tilt point comprises the sub-steps of -when no stress is incompatible, the vertical tipping point (DeSel) is equal to the first intersection point (11), -when at least one altitude constraint is incompatible, determining (510) said vertical tilting point (DeSel) as the intersection between the first predicted trajectory (Tp1) and a predicted vertical trajectory (Tp3) calculated by integrating the dynamic equations of theft flight from an associated incompatible constraint, by applying assumptions of calculation of an FMS-guided driving mode.
    [0003]
    The method of claim 2 wherein the step of determining (510) the tipping point (DeSel) comprises the substeps of: -For each incompatible constraint: * determining (511) a third predicted associated trajectory ( Tp3) by integrating the dynamic equations of theft flight from the associated incompatible constraint and by applying assumptions of calculation of a driving mode guided by FMS, * determining (512) a second associated point of intersection ( 12) corresponding to the intersection between the first predicted vertical trajectory (Tp1) and the third associated predicted trajectory (Tp3), -determining (513) the vertical tipping point (DeSel) equal to the second most associated associated intersection point close to the current position of the aircraft.
    [0004]
    4. Method according to one of the preceding claims wherein the manual control mode is selected by the group: servo constant vertical speed (VS); constant angle servo (FPA); constant altitude servo (ALT); thrust control (THRUST);
    [0005]
    5. Method according to one of the preceding claims, further comprising a step (600) of graphical display of the vertical tipping point.
    [0006]
    6. Method according to one of the preceding claims wherein the aircraft is in the climb phase and in which the FMS-guided driving mode calculation assumptions include a Thrust Climb managed operating criterion or altitude holding type.
    [0007]
    7. Method according to one of claims 1 to 5 wherein the aircraft is in the descent phase and must join a predetermined altitude profile (Prof) and 15 in which the assumptions of calculation of the FMS guided driving mode integrate an operational criterion depending on the position of the aircraft relative to the predetermined altitude profile (Prof).
    [0008]
    8. A method according to claim 6 wherein the aircraft is located below the predetermined altitude profile (Prof), and wherein the operational criterion is of the VSM type, or of the holding type. altitude.
    [0009]
    9. The method of claim 6 wherein the aircraft is located above the predetermined altitude profile (Prof) and in which the operational criterion is thrust control type (THRUST Idle Managed), said criterion being parameterizable by a position of the airbrakes selected from the group: no airbrakes (no Airbrake); half-airbrakes (1/2 Airbrake); airbrakes completely out (full Airbrake). 30
    [0010]
    10. Method according to one of the preceding claims further comprising a step of calculating (700) a predicted global trajectory (TpG) from the concatenation of at least two portions: a first portion equal to the first predicted trajectory. (Tp1), up to the 35 vertical tipping point (DeSel) and a second portion, from the vertical tilting point (DeSel), equal to: * the second predicted trajectory (Tp2) when no altitude constraint n 'is incompatible * the third predicted trajectory (Tp3) associated with the vertical tipping point when at least one altitude constraint is incompatible.
    [0011]
    The method according to one of the preceding claims, further comprising the steps of: -selecting (710) a selected point (P) belonging to the first predicted trajectory (Tp1) -replacing (720) the vertical tilting point (DeSel ) by the selected point (P), -calculating (730) a predicted global trajectory (TpG) from the concatenation of at least two portions: a first portion equal to the first predicted trajectory (Tp1), up to at the chosen point (P), a second portion, starting from the selected point (P), corresponding to a trajectory calculated by integration of forward dynamic flight equations (Tp2) according to a steering mode guided by an FMS .
    [0012]
    12. Proceed according to claim 11 wherein the step of selecting the selected point is operated by a pilot. 25
    [0013]
    13. Method according to one of the preceding claims wherein: the aircraft is in the descent phase and must join a predetermined altitude profile (Prof), and further comprising the steps of: -determining (800) a third point (13) equal to the intersection between the first predicted trajectory (Tp1) and said predetermined elevation profile (Prof), -where said third point (13) is reached before the calculated vertical tilting point (DeSel) : -calculate (820) a predicted global trajectory (TpG) from the concatenation of at least two portions: a first portion equal to the first predicted trajectory (Tp1), to the third point (13), -une second portion, from the third point (13), corresponding to a trajectory calculated by integrating dynamic flight equations according to an FMS guided driving mode according to the predetermined altitude profile (Prof).
    [0014]
    The method of claims 10 to 13 further comprising a step (900) of computing aircraft state parameter predictions from a predicted global trajectory (TpG).
    [0015]
    The method of claim 14 wherein the aircraft state parameters include: the predicted transit altitude, the predicted transit rate, the remaining fuel predicted. 15
    [0016]
    16. Device (31) for calculating predictions from the determination of a vertical tipping point (DeSel) from which an aircraft (101), having a current position, and flying a current vertical trajectory according to a steering mode manual having an altitude command (CIrA), 20 called target altitude, loaded by the pilot, switches to a flight management mode guided by a flight management system (FMS) to join a predefined flight plan (PV) having a set (Cini) of initial altitude constraints, said device comprising: - a calculation module (301) of the vertical tipping point (DeSel) comprising: - a calculation module (302) of a first vertical trajectory predicted (Tp1) by integrating the dynamic equations of flight from the current position of the aircraft, by extrapolating the current trajectory and applying calculation hypotheses corresponding to the manual flight control mode of the aircraft, a determination module (303) a first point of intersection (11) between the first predicted trajectory (Tp1) and the target altitude (CIrA), presenting a first abscissa (x1), the altitude constraints 35 of abscissa less than said first abscissa being called prior constraints, the abscissa altitude constraints greater than said first abscissa being referred to as posterior stresses, - a determining module (304) of a second predicted trajectory (Tp2) by integration of the dynamic equations forward flight from said first intersection point (11) and applying assumptions of calculation of an FMS-guided driving mode. a module for determining (305) a subset of altitude constraints to be respected (Ci) indexed by an index i, the index 1 corresponding to the constraint closest to the current position of the aircraft, chosen among the set (Cini) of initial altitude constraints, each altitude constraint to be respected having an abscissa (xi), - a determination module (306) of the previous constraints incompatible with the first predicted trajectory (Tp1) and the posterior constraints incompatible with the second predicted trajectory (Tp2), - a determination module (307) of the vertical tilting point (DeSel) belonging to the first predicted vertical trajectory (Tp1), from possible incompatible constraints, * the point Vertical tilt (DeSel) is equal to the first point of intersection 11,1where no stress is incompatible, * the vertical tipping point (DeSel) being equal to the intersection between the first predicted trajectory (Tp1) and a predicted vertical trajectory (Tp3) computed by integrating the dynamic equations of theft flight from an associated incompatible constraint, by applying assumptions of calculation of an FMS-guided driving mode when at least one altitude constraint is incompatible, - a calculation module (310) of a predicted global trajectory (TpG) from the concatenation of at least two portions: a first portion equal to the first predicted trajectory (Tp1), up to the vertical tipping point (DeSel) and -a second portion, from the vertical tilt point (DeSel), equal to: * the second predicted trajectory (Tp2) when no altitude constraint is not incompatible, * the third predicted trajectory (Tp3) associated with the vertical tilt point when at least one altitude constraint is incompatible. a module (320) for calculating aircraft state parameter predictions 5 from the predicted global trajectory (TpG).
    [0017]
    A flight management system comprising the device of claim 16.
    [0018]
    18. A computer program product, the computer program comprising code instructions for performing the steps of the method according to claims 1 to 14.
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    优先权:
    申请号 | 申请日 | 专利标题
    FR1401454A|FR3023014B1|2014-06-27|2014-06-27|METHOD OF DETERMINING THE VERTICAL TIP POINT OF A MANUAL CONTROL MODE TO A GUIDE MODE|FR1401454A| FR3023014B1|2014-06-27|2014-06-27|METHOD OF DETERMINING THE VERTICAL TIP POINT OF A MANUAL CONTROL MODE TO A GUIDE MODE|
    US14/747,940| US9360866B2|2014-06-27|2015-06-23|Method for determining the vertical point for switching from a manual piloting mode to a guided mode|
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