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    • 专利摘要:
    The trajectory coming from a planned trajectory, managed by a system, and from at least one trajectory section emitted by a third system (8) towards said system, the method comprises at least: a preliminary step (10) in which is made a database comprising the calculation parameters and their field of use for said mobile, several parameter envelopes being defined within said usage domain corresponding to different operating constraints of said mobile; - A first step (1) wherein said system initializes the planned path according to the parameters of the preliminary step, the calculation parameters of said planned path being included in one of said envelopes; - A second step (2) wherein said system receives a path section emitted by the third party system to be inserted in said planned path to replace a portion of said path; A third step in which the received and accepted section is simplified by segmentation so that its calculation parameters are contained in at least one of said envelopes; the system performing real time calculations based on the simplified trajectory.
    公开号:FR3025920A1
    申请号:FR1402042
    申请日:2014-09-15
    公开日:2016-03-18
    发明作者:Francois Coulmeau；Laurent Deweerdt
    申请人:Thales SA；
    IPC主号:
    专利说明:

    [0001] FIELD OF THE INVENTION The present invention relates to a method for real-time calculation of a planned trajectory, in particular of a planar trajectory, including a flight plan, combining a mission, and a system for managing such a trajectory. flying, combining a mission. It also relates to a management system of such a trajectory. It is particularly in the field of interaction between at least two digital trajectory calculation cores. The invention applies in particular in the field of real-time avionics embedded systems, in particular for a flight management system (FMS). With regard to aircraft systems, the invention is particularly applicable to real-time systems embedded in an aircraft, also called avionics systems. Thus, the invention can be applied to Flight Management Systems (FMS), the custodian of the "flight plan" qualified for flights in non-segregated airspace. Systems dedicated to flight plans such as FMS use the concept of "legacy" in the standard terminology used in the aeronautical world and contained in the international standard AEEC ARINC424. This international standard is intended to provide a framework for the coding of procedures issued by states, such as, for example, departure or arrival procedures.
    [0002] The legacy consists of a termination (known as leg termination in the ARINC standard) and a type characterizing the manner of arriving at the termination (known as Path in the ARINC standard). The terminations can be fixed, that is to say determined by their geographical coordinates on the terrestrial globe, we speak then of "waypoints" or points of passages. They can also be floating, for example corresponding to an altitude attack or interception with another legacy. The paths can be of the orthodrome or loxodromie type. They can also characterize an arrival according to a fixed course ("heading"), an arrival according to a fixed route ("course"), an arc of a circle or even characterize a reversal procedure. The ARINC 424 standard lists 23 types of legacies. It also defines the possible combinations between legacies, two by two. To frame the coding of procedures, and guarantee the flightability according to international civil navigation criteria, ARINC only allows a limited set of combinations.
    [0003] A flight plan is a succession of legacies, that is to say a list of discrete elements. On this list, the FMS systems build a five-dimensional trajectory, called 5D, composed of a lateral trajectory and a vertical trajectory. The lateral trajectory is the continuous "thread" that links the legacies of the flight plan between them, respecting: - The constraints of the "path" of each legacy, defined by the ARINC424; - The envelope certified for the airplane: limitations of engine parameters, roll angles, etc. - Aircraft comfort: limitations of course changes, roll speed, engine thrust changes, etc. The vertical trajectory represents the evolution in altitude, speed, transit time, fuel over time. It must satisfy: - Vertical stresses (altitude, speed, time constraints), The certified vertical flight envelope of the aircraft: flight ceiling altitude, maximum pitch values, incidence, speeds, etc. Aircraft comfort: limitations in incidence, speed changes, altitude variations; The trajectory 5D resulting from the merger of the lateral and vertical trajectories is complex to achieve because the two trajectories are strongly coupled: The lateral trajectory needs data of the vertical trajectory to build itself, in particular the lateral turning radii are a function of the predicted altitude and speed that will determine a maximum roll angle respecting a limit load factor.
    [0004] 30 Some ARINC424 legacy terminations are in "altitude", the leg ending at the point where a target altitude is reached, but the calculation of reaching altitude results from the calculation of the vertical trajectory. The vertical trajectory needs data of the lateral trajectory, in effect the length of the wire between two points which affects the altitude reached at the second point, the beginning and end of turns as well as the associated roll, influencing the lift of the plane, etc. The calculators generally make iterations between the two trajectories until converging. These calculations are complex and expensive in computing time. Third-party trajectory systems do not manipulate flight plan data but directly track data. Given their nature: Surveillance systems (terrain, traffic, weather) calculate by definition a lateral or vertical trajectory or 5D; there is no reason in fact that they rely on the legacy mesh of the airspace, the elements to be avoided being of any geometry and location. These systems do not embark on an ARINC 424 navigation database; Relative navigation systems calculate a trajectory for servoing a target (aircraft in general); they determine for example a vertical trajectory to pass from a given altitude to a target altitude, while remaining distant from a limit distance, of the 20 planes that precede them and whose altitude they cross; The mission or advanced guidance systems perform trajectory patterns, also called "patterns", missions having their own geometry, almost systematically different from the possibilities offered by the ARINC424. The "patterns" of sea buoy tracking, refueling, snail or spiral search, ladder, flower, drop patterns are trajectories that have nothing to do geometrically with ARINC424. They also have the characteristic of not being fixed geometrically in time, but evolutive, indeed the "pattern" of a refueled aircraft must follow the air supply plane, the point of release of a "pattern" of release moves with the wind, the load having to fall at the same place on the ground, the "pattern" of SAR search evolves in real time with what the sensors detect, "patterns" of interception of the hunters within the framework of the police of the sky for example. These trajectories are said to be dynamic.
    [0005] 3025920 4 Since third-party trajectory systems operate in different settings from commercial or other civil flights, the capabilities required of the aircraft (constraints, envelopes, comfort) are different, and these systems therefore produce trajectories according to different modes of calculation.
    [0006] A problem that we are trying to solve is to reconcile the systems dedicated to flight plans and third-party trajectory systems to give operational (crews, ground operators) a coherent global vision of a mission composed of sections of trajectories. from 10 different calculators. In particular, one seeks to: - Allow to calculate the predictions in hours of passage and in fuel on the totality of the flight; - Avoid tedious manual manual connection of the trajectory sections of different computers by the driver, an automatic connection and optimized sections; - Have the ability to handle any type of related sections including flight plans, 2D trajectories, 2D + V trajectories, 3D trajectories, 3D + V trajectories, trajectories with or without transitions, within the same process; 20 - Decoupling the tactical issues (display to the pilot, sending the trajectory to automatic servo-type servo systems in particular) strategic issues (calculation of forecasts in time and fuel in particular); Have the ability to transcribe the different sections of trajectory 25 of a system by that of another system, in particular having the ability to substitute the flight plan of the dedicated flight plan system, a section from a third party system, for example a weather monitoring system which replaces the current flight plan with a weather avoidance trajectory and which after a certain time, taking into account the weather evolution, decreases its avoidance, requiring recovery of the plan initial flight on the liberated area. In current solutions, on recent civil or transport aircraft, the management of the flight plan (resulting from ARINC 424 bequests) is generally separated from the management of mission trajectories, in particular: 3025920 5 The aircraft is either in a "flight plan" mode involving the calculation of the trajectory resulting from this flight plan, the calculation of the deviations to guide the aircraft on the specific trajectory and the display of the trajectory; Or the aircraft is in a "mission" mode: "mission" 5 any alteration of the flight plan by a trajectory such as avoidance (for weather, traffic, terrain or threat for example) or a specific pattern (such as SAR, drop, refuel or field monitoring); the equipment at the origin of the trajectory then directly sends its instructions to the guidance system or the pilot for him to follow them; The systems are therefore segregated, both for the calculations of setpoint trajectories, for the guidance of the aircraft, the selection of the navigation sensors, the display to the crew and the communication with the other ground and board systems.
    [0007] There are aircraft on which a third party system, such as a mission system, is connected to the flight plan system (the FMS for example), and transmits to the latter a "mission" flight plan consisting of points Waypoints ("waypoints") in the standardized format of the FMS, in particular according to the ARINC 702A and ARINC 424 standards. The mission system does not transmit a trajectory directly to the FMS, which is not adapted to manage an external trajectory. ; the mission system must therefore generate a compatible format of a flight plan to interface with the FMS.
    [0008] A document FR 2 984 538 A discloses a solution for managing a mission that does not use the FMS computer, a secondary computer directing the instructions of the FMS and the instructions of the mission system to the guidance system depending on the type of operation. Flight management in non-segregated space or mission in segregated space. This document describes a solution with segregated computers without concatenation of the trajectory. An EP 2 459 963 A describes an architecture comprising a mission system and a civil system, both for navigation and communications, in different partitions, to update the systems independently without recertifying the entire system. . An FMS 3025920 6 controls civil "navigation and communications" partitions. A mission system controls tactical "navigation and communications" partitions. It is also a solution in the context of segregated computers without concatenation of the trajectory.
    [0009] The solutions of the prior art, and in particular those above, are unsatisfactory. In known solutions, a dedicated system processes its flight plan, for example the FMS, while another system processes its trajectory section, for example a tactical mission system or an onboard surveillance system. The two systems do not communicate, forcing the crew to mentally make the connections, to manually switch modes of navigation, communication and guidance as they pass from one section to another. These solutions therefore require long manipulations, often on several systems to coordinate.
    [0010] In other known solutions, the flight plan system requires third-party systems to format their path sections in order to interface with it. This results in many disadvantages: Third-party systems must embark program codes to transcribe according to the rules of the flight plan system 20 often complex, for example to perform the generation of an ARINC 424 FMS flight plan. The cost is high for the development of these functions which also induce a dependence of the third system vis-à-vis the capabilities of the system dedicated to the flight plan. This also limits interchangeability; Third party systems can create data that will not be accepted by the system dedicated to the flight plan for memory capacity issues, the number of "waypoints" being for example usually set at 100 or 250 depending on the versions of the FMS systems. This limits in particular the operational capacity of the function to be performed if the third party system must constrain its trajectory so that it is compatible with the interfaces and calculation capabilities of the system dedicated to the flight plan; There is duplication of information when the third party system generates a trajectory to be inserted into a flight plan, this redundancy being sometimes more inconsistent because the construction assumptions between the two systems are not strictly identical; The trajectory sections can be dynamic, for example in the case of mobile buoys for a search and rescue computer (SAR), requesting periodic transmissions of formatted sections not compatible with the CPU performances of the system dedicated to the flight plan. flight. The trajectory update at a rate greater than 1 Hz (1 trajectory per second) is impossible to integrate with the current embedded technologies and equipment 10 of the systems dedicated to the flight plan; - Systems dedicated to the flight plan constrain the construction of the lateral and vertical trajectory to ensure its "volability". The geometry is made in such a way that the instructions sent to the guidance system, consisting of the autopilot or joystick, for enslaving it are inherently in the flight envelope of the system in question; - The systems dedicated to the flight plan do not have substitution functions to temporarily replace part of the flight plan portion by a section of trajectory; 20 - High additional costs are inevitable so that the system dedicated to the flight plan addresses the particularities of the sections of third-party systems, for example sections with greater dynamics than what the system dedicated to the flight plan can handle, such as a large roll angle or system-specific transitions that do not exist in a system dedicated to the conventional flight plan; An object of the invention is in particular to overcome the aforementioned drawbacks. For this purpose, the object of the invention is a method of real-time computation of a trajectory followed by a mobile, said trajectory coming from a planned trajectory, managed by a system, and from at least one trajectory section. issued by a third party system to said system, said method comprising at least: a preliminary step in which a knowledge base is made comprising the calculation parameters and their field of use for said mobile, at least one parameter envelope 3025920 8 being defined within said usage domain corresponding to different operating constraints of said mobile; A first step in which said system (100) initializes the planned trajectory based on the parameters of the preliminary step, the calculation parameters of said planned trajectory being included in one of said envelopes; A second step wherein said system receives a path section emitted by the third party system to be inserted into said planned path to replace a portion of said path; A third step in which the received and accepted section is simplified by segmentation so that its calculation parameters are contained in said at least one envelope; said system performing calculations based on said simplified section. In a particular embodiment, several envelopes with different levels of constraints being defined, the calculation parameters of said section are contained in one of said envelopes. Said system integrates for example the equations of the dynamics of the mobile according to the parameters of the simplified section reduced to at least one of said envelopes. The stress level of an envelope containing the calculation parameters of said section is, for example, less than the stress level of the envelope containing calculation parameters of said planned trajectory. The calculation results are for example multiplied by the inverse of the contraction rate of said simplified section.
    [0011] In the third step the system calculates for example the connection paths of the portions of said planned trajectory and said section, said section being calculated to be inserted between these parts using the parameters of the preliminary step corresponding to the type of trajectory part. planned replaced.
    [0012] Several geometries of said section being sent successively for insertion, said system performs, for example, a filtering so that it inserts a new section geometry if it differs from the geometry of the current section by a greater difference at a given threshold. The threshold given is for example equal to the simplification rate of said current section. Several geometries of said section being successively sent for insertion, said system performs real time calculations on said section geometries in order to select the section to be inserted according to the result of the calculations. Said section is for example displayed by display means in its actual path, the calculations being performed on the simplified section. Said system retrieves for example the data of the planned trajectory 10 replaced by said section in case of deletion of the latter. Advantageously, the system may be a flight management system, the planned trajectory being a flight plan trajectory followed by an aircraft. Said section is for example a section of mission trajectory. Calculations include, for example, fuel consumption forecasting calculations by the aircraft and aircraft transit times at given points. The transition points between said section and the flight plan trajectory are for example modifiable via an interaction on a display screen. Said method comprises, for example, a step of configuring sensors 20 according to the mission corresponding to said section and as a function of calculation parameters of said database established in the preliminary step. When the aircraft traverses said section, it comprises for example a step of configuring the guidance and steering systems according to calculation parameters of said section. It may also include a step performing a formatting of the trajectory information for sending to the customers having requested the insertion of said section. The invention also relates to an on-board trajectory management system performing real-time trajectory calculations using the method described above.
    [0013] Other features and advantages of the invention will become apparent from the description which follows, given with reference to the appended drawings which represent: FIG. 1, a presentation of the possible steps for carrying out the method according to the invention; FIG. 2, an illustration of three levels of management of trajectory envelopes; Figure 3, an overview of the possible sub-steps of the second step; FIGS. 4a and 4b, an example of a third trajectory to be inserted in the trajectory of the flight plan followed by an airplane; Figure 5, an overview of the possible sub-steps of the third step; FIG. 6, an illustration of the quantity of segments composing a trajectory; FIGS. 7a and 7b, two examples of simplified trajectories; Figures 8a and 8b, an illustration of the end-to-end placement of two trajectories; Figure 9, an overview of different possible stages of custom configurations of third-party systems; FIGS. 10a and 10b, an illustration of interactivity and display as part of the validation of a section of trajectory to be inserted; Figures 11a and 11b, an illustration of interactivity and display in the context of the deletion of an active section; Figure 12, an example of formatting a trajectory; Figure 13, an overview of the different components of a flight management system. Figure 1 shows the possible steps for carrying out the method according to the invention. The invention is described for an avionic application, the method being applicable in particular for the connection of a mission trajectory to a flight plan trajectory. The invention can also be applied in other fields, in particular for naval or automotive applications. In automotive applications, the section paths being for example the alternative routes to avoid for example a plug, a temporary work area or a closed area to traffic. In a preliminary step 10, the configurable calculation parameters and their field of application are established.
    [0014] The system dedicated to the flight plan performs trajectory and prediction calculations by integrating the aerodynamic and motor equations of the aircraft. A usage domain is defined for the parameters involved in the flight plan calculations. It corresponds to the capabilities of the device for a particular purpose, such as certification limits.
    [0015] This field of use defines an envelope of trajectories. In other words, a trajectory belongs to this envelope of trajectories if its calculation parameters remain confined to the domain of use. A field of use can be defined by the following constraints: A civil aircraft embarking passengers must comply with comfort rules that limit the load factors. This affects turn stunts to limit centrifugal force, altitude changes, speed changes, but also sudden changes in trajectory; The aircraft is certified "safe" by the competent authorities in the field of use. Thus, for example, the device is certified over a minimum speed range, to avoid stalls, and over a range of maximum speeds to protect the structure, according to many parameters such as altitude or mass for example. During take-off and landing, the aircraft must respect ranges of 25 speeds and defined thrusts to avoid touching the runway or nearby obstacles. In another context of use, the apparatus may have different constraints: For a hazard avoidance maneuver such as a relief, other apparatus, or weather event, the monitoring systems may need to perform temporary maneuvers beyond the usual margins listed above. The vertical avoidance of an apparatus may temporarily generate large vertical load factor taps for example; 3025920 12 For a mission maneuver such as low altitude flight, SAR search or danger avoidance for example, the aircraft can fly with wider margins on the above parameters, especially for sharp turns, changes very dynamic levels for terrain monitoring, rapid trajectory changes to follow moving buoys or to fly on portions of trajectory with a defined altitude for the proper operation of sensors.
    [0016] In this preliminary step, a knowledge base of the parameters related to the dynamics of the apparatus is created, with configurable margins to respond to the various constraints, in particular those defined above. Algorithms using these parameters are validated and qualified by including said margins. This knowledge base can be stored in a database on board the aircraft, or downloaded from the ground, or directly integrated into the software of the dedicated flight plan system, or any suitable media storage means. . Thus, with an existing system, dedicated to flight plans and without modifying the code and the performance demonstration, it is possible to define three envelope levels of the parameters, or trajectories, used in the calculations, and corresponding to levels of different flight constraints. For avionics applications, from the most restrictive level to the least binding one can be defined: 25 - A minimalist envelope level corresponding to commercial certification, limiting the parameters to values and uses to demonstrate compliance with airworthiness requirements defined by the international civil aviation authorities; - A wider envelope level, corresponding to the aircraft manufacturer demonstration, limiting the parameters to values and uses to demonstrate compliance with the performance requirements of the aircraft manufacturer. This one asks to know the limits in which the algorithms guarantee good properties in terms of precision and reliability in particular. This is generally for the system designer to provide the aircraft manufacturer customer 3025920 13 with a declaration of performance document. An interest for the aircraft manufacturer is also to avoid having to repeat a performance demonstration when slightly modifying a parameter of his aircraft. In the context of product line system development, the designer may also demonstrate a wider flight envelope than the certification envelope in order to reuse trajectory and forecast calculation software bricks on other aircraft without having to repeat the safety demonstration; An even larger envelope level, corresponding to a guaranteed robustness, in which the designer demonstrates the robustness of his algorithms, and in particular the ability to provide a result in this envelope without failing, even with reduced reliability, resulting for example a degraded accuracy.
    [0017] Figure 2 illustrates these three levels of envelope management. The commercial certification envelope 11 is included in the aircraft manufacturer demonstration envelope 12, itself included in the guaranteed robustness envelope 13. When a third party system wishes to request the system dedicated to the flight plan 20 with a parameter P1 located outside 14 of these three envelopes, the system dedicated to the flight plan can use either its limitation by the robustness envelope 13 (parameter P2), or by the aircraft manufacturer envelope 12 (parameter P3), or by the envelope certification 11 (parameter P4).
    [0018] A list below is a non-exhaustive and nonlimiting list of trajectory parameters used by a function dedicated to the flight plan and whose limits can be extended for third-party systems within the limits of the envelopes 12, 13 above. . This list could contain: List of side trajectory geometry authorized and forbidden for a third party system (allows defining the interface between a third party system and the "dedicated flight plan" system: o Latitude / longitude points only o Points defined relatively by other points o Legs Arinc 424 allowed and prohibited 3025920 14 o Straight and arcs of circles including their definition: ^ Right between two Latitudes / Longitudes ^ Right coming from a latitude / longitude, a length and a given heading or of a given ground road 5 ^ Arc characterized by its center (latitude / longitude) its radius, its orientation, its angle of departure (relative to the north for example) and its opening More complex geometries for the arcs: ellipses by 10 examples, stationary points (typically for helicopter hovering) Maximum roll speed maximum roll speed Maximum pitch 15 maximum pitch speed (positive and negative) Max. imum (positive and negative) Maximum impact (positive and negative) Aerodynamic slope "FPA" min and max (positive and negative) Minimum and maximum speeds according to aerodynamic configurations o Speeds are for example: ground speed "GS", airspeed "TAS", mach, conventional speed "CAS", vertical speed "Vz" o Configurations are for example: notches and 25 flaps out, airbrakes, landing gear, elements protrusions (doors, poles, radar pods ...) Minimum and maximum altitudes Turning radiuses (for curves) min and max Maximum acceleration 3025920 15 - Maximum deceleration - Max load factors in lateral and vertical Minimum and maximum thrust Types of mandatory transitions and types of forbidden transitions 5 (among "Fly over", "Fly by", flat finish, flat start Angles of lateral joining max of a transition to the next leg Mandatory mode of cha altitude change, and forbidden altitude change mode o The modes are for example: fixed Vz, fixed FPA, fixed thrust 10 "Open" A non-exhaustive list of the flight plan parameters used by a function dedicated to the flight plan. theft and extending the bounds for third-party systems could contain: List of additional, authorized and prohibited A424 legacies among the 15 13 legacy types Transitions allowed and forbidden transitions between legacies (extension of possible and impossible pairs, defined by Arinc 424 to other pairs) o Ex: Added the Arinc 424 DF-RF (Direct to Fix - 20 Radius to Fix) transition to join an arc by a direct line. Min and max flight plane constraints definable on legacies "flight plan": altitude, speed, time constraints o For example: Adding speed constraints (AT OR 25 FASTER ', while the systems' dedicated plan of flight "can only take into account speed limits 'AT OR LESS' Sequencing rules of the flight plan o For example: blocking the sequencing on a SAR which we made an excursion to see further 3025920 16 A list non-exhaustive navigation parameters used by a function dedicated to the flight plan and which are extended for third-party systems could contain: Sensors and sensors allowed and prohibited (including multi sensor configurations): o For example: civilian GPS, Tactical GPS, Galileo, Gagan, Glonass, ... Radars, Satellite Increments, Inertial Units, VOR, DME, TACAN, ILS, MLS, ADF Radionavigation Tags ... 10 o Mandatory frequency bands or int The parameters listed in the base of the preliminary step 10 have a default value which can be: - defined in advance, in the code; Defined in a default configuration file loaded at airplane start; - Dynamically defined via a load by means of storage or digital data link; - Defined via a human-machine interface by an operator.
    [0019] Returning to FIG. 1, the preliminary step 10 is followed by a first initialization step 1 of the flight plan and the continuous mission trajectory. This step, carried out by the flight plan system, conventionally consists of constructing a trajectory on the basis of the flight plan only, with the parameters defined by default in the preliminary step 10. The system calculates the lateral transitions between legacies. flight plan according to the lateral criteria of trajectory, and flight plan, and performs parallel or in the process of integration of the vertical flight plan according to the chosen vertical parameters.
    [0020] A second step 2 manages the reception of a third trajectory by a third party system, this third trajectory being represented by a section. More precisely in this second step, the system dedicated to the flight plan manages the reception of the section, its modification or deletion if it can not be integrated. After analysis of the section by the system and if it is accepted, the system realizes its formatting to prepare its insertion in the trajectory. For this purpose, the system calculates the terminals, also called pivots, of the flight plan trajectory portion which will be replaced by the section.
    [0021] Figure 3 illustrates this second step 2 by presenting its possible sub-steps. A first sub-step 21 analyzes the section received from the client 8. In this step, the system dedicated to the flight plan receives a trajectory section from a third party system, that is to say the customer 8 of the Figures 1 10 and 2. The analysis concerns in particular the following characteristics: - The issuing system - Type of revision requested by the third-party system: addition of a new section, modification of an existing section (replacement), deletion of a section 15 - Types of geometrical elements used: o 2D trajectory: (legs, straight lines, arcs, ...) o 2D + V (velocity) trajectory: 2D trajectory integrating a specified velocity per segment of the path o 3D trajectory: trajectory 2D integrating the evolution in altitude by 20 segment of segment o trajectory 3D + V: trajectory 3D integrating a speed specified by segment of the segment o trajectory "Vertical only": on the existing flight plan, integration of a speed profile specified (t purely vertical 25, superimposed on the flight plan) o any other combination between the aircraft axes and speed or time axes Parameters from step 0 applicable to the section corresponding to the default transmitter or supplied by it dynamically, such as 30 for example: o sensors to be used on the section o particular guidance parameters to be used on the section 3025920 18 Presence of an initial "flight plan" point (optional) and a "flight plan" end point (optional) indicating respectively how far from the "flight plan" the process is to go to mission mode for the third party system, and how far from "flight plan" the process should terminate the third party mission mode to resume the calculation with the assumptions "flight plan". In a second substep 22, the system calculates the support of the section. In particular, it checks whether the section fulfills the conditions for being integrated into the existing flight plan, these conditions being in particular: Syntax Conditions o Check the values of the parameters with respect to the usage domain defined in step 0 o Checks on the syntax (numbers in the correct format, alphanumeric characters allowed for a parameter) Performance conditions (CPU, RAM / ROM, stack size ...) o Number of geometric elements (straight, arc) added, compared to the max number of authorized trajectory elements at the entry of the "dedicated flight plan" system (ie before the simplification step) Geometric conditions (ability to link the section to the flight plan) o Coherence of the elements used to define the lines and arc (ex: for an arc of circle type RF, the radius is coherent of the distance between the center and the point of exit of the arc) o Coherence in distance with respect to the flight plan: the trajectory section has consistent separation and flight plan crossing conditions, the pivots proposed by the third-party system exist in the flight plan, the pivots are consistent with the flight plan, that is to say in the good order for example ...
    [0022] In a substep 23, the system performs a filtering of the section by the acceptability criteria in the existing flight plan, based on the analysis and the support calculation 22 of the section. More particularly, this sub-step routes the process to one or the other of the two possible next steps 24, 25. In case of refusal to integrate the section into the flight plan, the system 5 notifies 24 to the third system. 8 the rejection of the motion. A status is for example sent to allow the third-party system to adapt the trajectory. This status indicates for example: - A syntax error; A performance problem leading for example to a full flight plan, a full trajectory or a maximum number of sections reached; - An error on a geometric element, the offending element being provided in said status.
    [0023] In a substep 25, in case of acceptance of the section the system, the system identifies in its data structure of the flight plan, the cutting area, in particular the beginning pivot point and the end pivot point. , where will be inserted the trajectory proposed by the third system, a pivot being a transition point between the section of a system, here the flight plane trajectory, and the section of another system, here a third trajectory to insert. These pivot points may or may not correspond to points already identified in the data structure of the flight plan. The result of this substep 25 makes it possible to proceed to the step of inserting the third trajectory in order to constitute the continuous mission trajectory.
    [0024] FIGS. 4a and 4b illustrate the third trajectory to be inserted into the trajectory of the flight plan followed by an aircraft 40. More specifically, FIG. 4a represents the initial trajectory 20 of the flight plan calculated by the system and FIG. third trajectory section 30 opposite the initial trajectory 20. A third party system wishes to insert this section of trajectory 30 in the initial trajectory. FIG. 4a corresponds to the representation of the initial flight plan visualized on a navigation screen ("Navigation Display") comprising points AGN, LAC10, LACS, LAC2, LACOU, FISTO in particular. In Fig. 4b, the system determines the IN point # 1 and the OUT point # 1 of the trajectory and calculates for example the pivots by the projected method. Thus, the input pivot "PIVOT IN # 1" of the third path is for example the point LAC5 on which the IN point of entry # 1 has an orthogonal projection of minimum distance. Likewise, the output pivot "PIVOT OUT 5 # 1" is for example the FISTO point on which the output point OUT # 1 has an orthogonal projection of minimum distance. In an optional embodiment, the pivots may be modified by the pilot, by selecting another element in the cartridge as shown in FIGS. 4a and 4b, or by an appropriate mode of interaction, directly on the the screen (using a cursor, a drop-down menu, a touch interface or any other means of human interaction). Returning to FIG. 1, in a third step 3, the system dedicated to the flight plan calculates the continuous mission trajectory. This step integrates the third leg in the flight plan to deduce the continuous mission trajectory. It therefore consists in particular to hang up the entry and exit of the section to the elements of the present flight plan, and to perform the trajectory calculations and predictions according to the corresponding modes.
    [0025] FIG. 5 illustrates the possible sub-steps of the third step 3. In a first substep 31, the method performs the "flight plan" processing between the pivots. If the input and output pivots are different, as in the case of FIG. 4b, the method saves the intermediate flight plan elements that will be deleted in the third substep 33 to make room for the section in order to recover in case of deletion of the section or modification changing its geometry with respect to the flight plan. In a second substep 32, the section is inserted into the structure.
    [0026] The internal transformation of the trajectory is carried out in order to bring it back into the envelope of trajectories of the system dedicated to the flight plan. The method performs a formatting adapted for forecast calculations by the system dedicated to the flight plan and the internal storage in the system. This trajectory is a third trajectory, for example a mission trajectory, to be connected to the flight plan trajectory. More specifically, this adapted formatting 2125920 21 consists of a simplification of the trajectory section so that the trajectory remains in the defined trajectory envelope, particularly with regard to the calculation and storage parameters by the system dedicated to the plane. flight. This envelope may be the envelope 11 of 5 commercial flight certification, aircraft manufacturer demonstration 12 or robustness 13, depending on the applications, other envelopes trajectories can be defined. Real-time calculations, including prediction calculations, are performed on the basis of the simplified trajectory, and then an estimate can be made if necessary to define the prediction of the actual trajectory. For example, the fuel consumption estimate is calculated on the basis of the simplified trajectory and then the consumption difference with the actual trajectory is estimated to arrive at the consumption forecast calculation that actual trajectory. The method according to the invention thus performs an optimized geometrical processing of a trajectory section enabling it to be inserted into the computer dedicated to the flight plan by guaranteeing at the same time the storage performance of the sections, the CPU performance for the subsequent calculations. and the final precision of the calculations obtained. The sections are simplified from the point of view of trajectory and calculation of predictions to obtain correct forecasts (passage time, fuel consumption, etc.) without calling into question the range of use of the trajectory calculation parameters and system prediction. dedicated to the flight plan. The initial section 30 of this substep 32 may consist of many segments, especially if the expected dynamic is important.
    [0027] Typically, the section 30 may comprise several hundred segments for a mission of a few tens of nautical miles. Figure 6 illustrates this large amount of segments. It has the trajectory section 30 to be inserted with a section 61 on which is zoomed 62. The zoomed part, very small distance relative to the entire section 30, 30 alone has 12 points of breakage. Depending on the choice (configurable, hard, selectable by the driver or the third party system) of envelopes among the available calculation envelopes defined in the preliminary step 10, the method limits the input parameters of the third party system.
    [0028] As a minimum, the method brings back the third-party system data into the robustness envelope 13. Advantageously, the method adjusts the data and parameters of the third-party system to meet a precision requirement: it returns the parameters to the envelope aircraft manufacturer 12 or certification 11, according to the precision required for the calculations. Indeed, although it modifies more strongly the resulting trajectory, to use these envelopes makes it possible to know in a deterministic way the precision which one will have in output of computation. The method thus determines the possible trajectory dynamics for subsequent calculations. For example, for a fixed-wing aircraft, turns to change course are defined by an arc, whose turn radius is: R = V2 / (g * tan (phi)) where V is the speed relative to ground, g the gravitational constant and phi the roll angle. Turning is a function of the Vphi roll speed.
    [0029] The minimum and maximum values of V are in particular dependent on the altitude, the weather (wind speed) and the mass of the aircraft. The maximum values of phi and Vphi are in particular functions of the altitude, the airplane state and the passenger comfort laws (maximum load factor when turning, for example). Thus, the method can calculate the target values of turning radii. R along the section. The method recalculates the turns of the initial section with the assumptions of turning radius. The method then determines the resulting length of the section, and the impacts on the forecasts. In particular, the simplification leads to slightly different projections of the modeled wind, and has an impact on the time and fuel forecasts that can be estimated. For example, the time and fuel forecasts on the section may be those derived from the calculation on the simplified section, multiplied by the inverse of the contraction rate between the length of the initial trajectory and the resulting simplified trajectory length. More generally, the calculation results, in particular the real-time or predicted calculations on the simplified section, are multiplied by the inverse of the contraction rate to obtain a final result specific to the initial trajectory (real trajectory).
    [0030] In an alternative and to decrease the number of segments even more, the method ignores the turns in its calculations. The trajectory becomes a succession of straight lines.
    [0031] FIGS. 7a and 7b show two examples of simplified trajectory, the original trajectory always being the trajectory shown in FIGS. 4a and 6. FIG. 7a shows the simplified trajectory 30 with 68 segments 71 including the arcs. Figure 7b illustrates a larger simplification where the arcs are ignored and the simplified path has 31 segments 72, the 10 segments then being straight line segments. Advantageously, the prediction calculations are performed by the system dedicated to the flight plan on these simplified paths, provided that all the calculations and parameters remain contained in an envelope 11, 12, 13 chosen. In the case of Figure 7a, the difference in length with the trajectory is 1%. In the case of Figure 7b, the difference in length is 5%. The knowledge of this difference can be used for the calculation of the forecasts on the real trajectory from the predictions calculated on the simplified trajectory.
    [0032] The dynamic sections are also treated in this second substep 32. The term dynamic section is understood to mean a section sent by a third party system whose geometry varies periodically, for example a tracking trajectory of buoys at sea or a trajectory of followed by a mobile. In this case, several geometries of the section 30 are successively sent to the system dedicated to the flight plan. A filtering mechanism makes it possible to recalculate a section only if a significant change in geometry is detected. In practice, the geometry is detected a trajectory is detected by its coordinates. The method performs subsequent calculations on a new section only if its geometry differs from a gap greater than a given threshold with respect to the current geometry. This threshold can be taken equal to the rate of simplification of the section. Thus, if, for example, a simplified trajectory of 5% is used, as in the case of FIG. 7b, the method performs the calculations subsequent to this substep 32 only if the new section differs from the current section by a difference of more than 3025920 24 5%. This advantageously makes it possible to maintain the memory and calculation performance of the system dedicated to the flight plan. Although a third trajectory section is filtered, it is nevertheless displayed on the screens for the crew. This doubling of the trajectory, calculated trajectory and displayed trajectory, advantageously allows a third system to gauge several alternative sections. While the actual trajectories are displayed, the third party system can send different sections and retrieve the results of the forecasts (fuel time still available for example) to choose the optimum section. Another advantage is that seen from the aircraft, or from the crew, the trajectory is unique, avoiding problems of coherence. In other words, customers only deal with one path. In a third substep 33, the calculation of the stitches, ie the calculation of the connecting trajectories of the third flight plan trajectory and trajectory portions 30, is carried out, the third trajectory being inserted. between these two parts. Figures 8a and 8b illustrate these stitches. The system calculates the path between the LAC5 input pivot and the IN # 1 input point of the section 30. It uses the parameters of the preliminary step 10, corresponding to the type of flight plan being replaced. In the same way, the system calculates the path between OUT point # 1 of the section and the FISTO output pin. Figure 8a shows the original trajectory of the flight plan 20 and the bounded third trajectory 30. The part of the flight plan between the pivots LAC5 and FISTO is then removed from the trajectory. In an option, this deleted part can be memorized by the method so that it can be retrieved later and reintegrated, if, for example, the mission section that replaces it is deleted. Figure 8b shows the new continuous mission trajectory 80 that is obtained.
    [0033] All types of known stitches can be used. One can use a splice which minimizes fuel consumption, which minimizes the distance or allows to align with the beginning of the section 30 for example. In the example of FIGS. 8a and 8b, the splices were calculated to allow the aircraft to arrive and exit aligned with the inlets 35 and outlets of the section 30.
    [0034] In a fourth substep 34, the trajectory calculation is carried out on the section. For this purpose, the method integrates in particular, on the flight plan, the equations of the dynamics of the airplane according to the parameters of the simplified section, for example brought back to at least the robustness envelope 13. The system takes for example as calculation parameters: The parameters of the certification envelope 11 for initial flight plan parts; The appropriate parameters for the trajectory portions of the section 30, among the guaranteed robustness envelopes 13, aircraft manufacturer 12 or certification 11. In a fifth substep 35, the calculation of the post-section trajectory is carried out. Path simplifications and loopback calculations are done in the same way for all sections.
    [0035] The system integrates the equations of the dynamics on the flight plan by taking as parameters of calculation the parameters of the certification envelope until a next section of trajectory. Thus, at the exit of the third step 3, there is a continuous mission trajectory mixing elements and parameters of the flight plan and the trajectory section 30.
    [0036] Returning to FIG. 1, in a fourth step 4, the custom configuration of the client systems is carried out. At the end of the continuous mission trajectory calculation 80, this calculation including all the predictive calculations, the client systems of this trajectory 80 are configured according to the type of section traveled in flight. After the calculation of the modified flight plan incorporating the different sections 30, this fourth step makes it possible to communicate the result with the right configurations to the client systems of the assembly.
    [0037] Figure 9 illustrates different steps of possible configurations. There is no particular order to carry out these steps. The list is not exhaustive. It is also possible not to perform all these steps, other steps of custom configuration of the client systems are possible. These configurations are for example made by the system dedicated to the flight plan.
    [0038] A first step 41 relates to interactivity and personalized display. The process allows the crew to modify the pivots as shown in Figure 10a. The LACOU output pivot replaces the FISTO pivot calculated during the second step 2. The crew can validate the section. A personalized display shows in FIG. 10b the modified and validated flight plan 100 integrating the section 30 with a personalized display on the screen, with a particular symbolism 101 for the IN # 1 and OUT # 1 entry points. . The method makes it possible to delete a section. In this case, the points of the flight plan included between the pivots and which had been removed are reintegrated in the flight plan to return to the original flight plan, in the case where the memorization has been carried out, according to one of the Sub-step options 33. In the example shown in Figures 11a and 11b, the crew decides to remove the leg during flight on this leg. Point LAC5, forming pivot, and point LAC2 are recalled in the structure of the flight plan. The method creates, for example, a direct trajectory returning to the LAC5 pivot and continuing on the original flight plane as shown in FIG. 11b. Depending on the performance of the display system, it displays the original section 30 or its simplified form, from the third stage. An advantageous presentation consists of displaying the original, actual trajectory while the calculations are performed for the simplified trajectory. Another possible step 42 is the configuration of the sensors. This step is intended in particular, when a section is active, that is to say when the aircraft 25 is between the points IN # 1 and OUT # 1 of the section, to set the sensors in accordance with the mission that corresponds at the stretch. For this purpose, the system retrieves the parameters identified during the first sub-step 21 of the second step, from the parameters defined in the preliminary step and sends them to the corresponding sensor systems.
    [0039] For example, a "sea search" type section may configure optronic sensors, for example visible cameras, infrared cameras, tracking cameras, and / or onboard sonar buoy sensors. A "radar threat avoidance" section may configure the on-board sensors to go into silent mode, the active sensors emitting waves to receive a response are disabled during the section. In the case of a "terrain avoidance" or "low altitude flight" section, a terrain radar can be activated. For a "traffic avoidance" type section, the TCAS mode S radar can be activated to widen the cone of the other aircraft.
    [0040] Another possible step 43 deals with custom guidance. This step 43 is intended in particular, when a section is active, to set the guidance and steering systems. In this step, the parameters identified in the second sub-step 32 are recovered from the parameters defined in the preliminary step 10 and sent to the corresponding client systems 9. These parameters can be of several types: The designation of the characteristics of the section being performed by name or type or the third party system that determined it, the third system 15 "guiding and flying" the aircraft on the section according to its characteristics; The designation of the trajectory parameters of the section being carried out by the system dedicated to the flight plan when the latter holds these parameters, for example the maximum accepted roll; Another possible step 44 performs formatting for sending. In particular, when a client system 9 requires to receive trajectory information in "flight plan" format and / or in simplified format, in the form of arc segments 71 or straight lines 72, the method calculates the segments and the 25 corresponding flight plan. For this purpose, the method uses the simplified trajectory resulting from the third step, either from arcs 71 or from straight segments 72. FIG. 12 illustrates the formatting for the second case, relative to the example of section 30. previous figures. For each breakout point 121, the method creates a waypoint according to the interface standard expected by the client system. For example, for a digital data link exchange with a ground operator (AOC: airline, ATC: air control center, CC: command center for example), the process creates plan-type waypoints 3025920 of flight with their characteristics, these characteristics being in particular the 2D or 3D geographical position or the speed constraints. The invention has been described previously for an avionics application. The method according to the invention can therefore advantageously be implemented by a flight management system called FMS ("Flight Management System"), or in the flight management function (FM) of a computer, in particular dedicated to the plan. flight.
    [0041] Figure 13 shows the functional architecture of an FMS on-board flight management system. This standard architecture, well known, meets the ARINC 702A standard. One of the functions of the FMS is to locate the aircraft using its sensors 171 (inertial units, GPS, radio beacons in particular). This function is performed by a locating function LOC NAV 170. The system comprises the following functions and components: A flight function FPLN 110, to enter the geographical elements constituting the skeleton of the route to be followed (departure and departure procedure). arrival, crossing points ...); A NAVDB navigation database 130, for constructing geographic routes and procedures from data included in the bases (points, tags, interception or altitude bequests ...); A performance database, PRF DB 150, containing the aerodynamic and engine parameters of the aircraft.
    [0042] A lateral trajectory function TRAJ, 120: to construct a continuous trajectory from the points of the flight plan, respecting aircraft performance and confinement constraints (RNP); Prediction function PRED, 140: to build an optimized vertical profile on the lateral trajectory; A guiding function, GUID 200, for guiding the aircraft in its 3D trajectory in the lateral and vertical planes, while optimizing the speed; DATALINK digital data link, 180 to communicate with the control centers 181 and the other aircraft 3025920 29 From the pilot's defined flight plan, characterized by the waypoints, the lateral trajectory is calculated according to the geometry between crossing points corresponding to legacies, and / or according to altitude and speed conditions. On this lateral trajectory, the FMS 5 optimizes a vertical trajectory, in altitude and in speed, passing through possible constraints of altitude, speed and time. All the information entered or calculated by the FMS is grouped on display screens (MFD pages, NTD and PFD visualizations, HUD or other). The HMI part 190 (Human Machine Interface) comprises the HMI component 10 of the FMS which structures the data for sending to display screens, said CDS ("Cockpit Display System"). Several implementations of the process are possible in the FMS. The preliminary step 10 can be done during the design. A programming interface (API) between the flight plan system and the third party systems can be implemented to define the services and the areas of use. It is for example integrated in the FMS, in an intermediate system (AID for "domain interaction agent" for example) or in an IHS (Human Interface System). The FMS as a flight plan system manages the simplified trajectory for predictions and the complete trajectory for display and guidance. In other words, the calculations are made on the simplified trajectory but the screens display the complete trajectory for the crew. The first step 1, the second step 2, the third step 3 and the fourth step 4 are performed in the FMS. In particular: the first step 1 is carried out by the core components of the FMS: FPLN, TRAJ and PRED in particular; The substeps 21, 22, 23, 24 of the second step 2 are carried out for example by the input and output interfaces; The fifth 25 of the second step performing the shaping of the sections and the calculation of the pivots, as well as the third step 3 are performed by the core components of the FMS: FPLN, TRAJ and PRED in particular; - The step 41 of configuring the custom display is performed by the HMI components of the FMS; The step 42 of configuring the sensors is performed by the LOCNAV component of the FMS; The step 43 of configuring the personalized guidance is performed by the GUID components of the FMS; Step 44 of formatting for sending is performed by the DATALINK components of the FMS. In a second possible implementation, the FMS manages the simplified trajectory for predictions. The third party system, transmitter of the path segment to insert, manages the complete trajectory for display and guidance. The different steps and sub-steps are carried out by the same components as in the first implementation, except for: The step 41 of configuring the personalized display which is carried out by the issuing third party system; The step 42 of configuration of the sensors which is carried out by the third party sending system; Step 43 of configuration of the personalized guidance which is carried out by the third party sending system.
    [0043] In a third possible implementation, the FMS manages the simplified trajectory for the predictions. The third party system, transmitter of the path section to be inserted, manages the complete trajectory for the guidance and an integrated IHS manages the continuous global display. The different steps and sub-steps are performed by the same components as in the first implementation except for: - The step 41 of configuring the custom display which is performed by the integrated IHS; The step 42 of configuration of the sensors which is carried out by the third party transmitter system; Step 43 of configuration of the personalized guidance which is carried out by the third party issuing system. Other implementations are possible between the different systems involved.
    [0044] 3025920 31 It should be noted that EFB equipment, ANF, TP ground stations, or tablets in particular also have a similar architecture consisting in particular of a display screen, a heart processor, and a display manager in the core processor or between the core processor and the display screen. They can therefore receive these same types of implementation, especially for non-avionics applications. In the avionics field, in addition to an FMS application, the invention can be applied to real-time systems embedded in an aircraft, in particular in the following systems: The mission management system (MMS) calculating mission trajectories (dropping, refueling, low altitude terrain monitoring, search (SAR), etc.); The guidance system (FG for Flight Guidance or AP for Automatic Pilot) capable in so-called "superior" modes to perform calculations and track 3D geometric trajectories (SAR also); The taxi management system (AOF for "Airport Onboard function) calculating a ground trajectory (called" routing "); 20 The Weather Information Management System (WIMS) calculates geometric trajectories that optimize flight according to the weather (clouds, jets, turbulence ...) The Terrain Awareness System (TAWS) 25 Warning System) calculating a trajectory guaranteeing safety with respect to the relief; The Traffic Collision Avoidance System (TCAS) calculating a lateral or vertical avoidance trajectory of other aircraft; 30 The traffic computer system (Traffic Computer) for performing lateral and or vertical trajectories relating to a target aircraft (maneuvers known by the acronym ASAS or FIM); The Electronic Flight Bag (EFB) allowing a crew or the ground, or via advanced algorithms, to propose 3025920 changes of trajectory to optimize the flight (surfing of the best winds, modifications of trajectory "with the finger" The ground communication system (CMU) for exchanging flight plans and trajectories with the ground An integrated IHS (interactive interface controlling several of the above systems) displaying different sections of different systems. The invention can also be applied in fields other than that of avionics and can be applied in particular for naval or automotive applications, for example for navigation systems. for example, the alternative routes to avoid for example a stopper, a temporary work zone or a closed area to the circu automotive industry.
    [0045] Other applications are possible. In all these other applications, the flight plan trajectory is replaced by another type of planned trajectory, it may be for example an automobile navigation trajectory provided by a navigation aid system.
    [0046] The invention has the particular advantages that it makes it possible to interact between a dedicated flight plan system with demonstrated airworthiness and safety capabilities, in a specific context, with other systems wishing to integrate trajectory alterations within the flight control system. system. It makes it possible to calculate reliable forecasts irrespective of the assembly of the succession of third sections and pieces of flight plan. The mechanism of duplication between the displayed section and the simplified section, intended for calculations, makes it possible to preserve the resources in memory and calculation time of the system dedicated to the flight plan, provided that the simplified section makes it possible to remain in a trajectory envelope. saved. The system dedicated to the flight plan can thus perform calculations without modification of the code or algorithms since the method according to the invention uses the parameters of said envelopes. It is therefore not necessary to proceed to a new certification. Other advantages include, but are not limited to: 3025920 33 The fact that the sections can be dynamic (several sections being sent successively): the filtering mechanism of the second substep 32 of the third step 3 makes it possible to recalculate a new section only if a significant change in the 5 coordinates of the trajectory is detected (if for example a simplified trajectory is used at 5%) the method does not carry out the subsequent calculations at this stage, thus preserving the storage performances and calculation (RAM / ROM / CPU) of the system dedicated to the flight plan; The fact that the mechanism allows a third party system to perform several tests on alternative sections, to gauge the optimality of one section relative to others. The fact that, seen from the aircraft, the trajectory is unique, avoiding the problems of consistency management: the customers only "consume" a single trajectory.
    权利要求:
    Claims (19)
    [0001]
    REVENDICATIONS1. A method of real-time computation of a trajectory followed by a moving body, said trajectory coming from a planned trajectory (30), managed by a system (100), and from at least one trajectory section (30) emitted by a third system (8) to said system (100), characterized in that it comprises at least: - A preliminary step (10) in which a knowledge base is made comprising the calculation parameters and their domain of use for said mobile, at least one envelope of parameters (11, 12, 13) being defined within said usage domain corresponding to different operating constraints of said mobile; A first step (1) in which said system (100) initializes the planned trajectory according to the parameters of the preliminary step, the parameters for calculating said planned trajectory being included in one of said envelopes (11, 12, 13) ; A second step (2) in which said system (100) receives a trajectory section (30) emitted by the third system (8, 9) to be inserted into said planned trajectory (20) in replacement of a portion of said path (20); A third step (3) in which the segment received and accepted is simplified by segmentation so that its calculation parameters are contained in said at least one envelope (11, 12, 13), said system (100) performing calculations based on said simplified section (30).
    [0002]
    2. Method according to claim 1, characterized in that several envelopes of different stress levels (11, 12, 13) being defined, the calculation parameters of said section are contained in one of said envelopes (11, 12, 13). 3025920 35
    [0003]
    3. Method according to any one of the preceding claims, characterized in that said system integrates the equations of the dynamics of the mobile according to the parameters of the simplified section (30) brought to at least one of said envelopes (12, 13).
    [0004]
    4. Method according to any one of the preceding claims, characterized in that the stress level of an envelope (13) containing the calculation parameters of said section is less than the stress level of the envelope (11) containing parameters. calculating said planned trajectory.
    [0005]
    5. Method according to any one of the preceding claims, characterized in that the calculation results are multiplied by the inverse of the contraction rate of said simplified section.
    [0006]
    6. Method according to any one of the preceding claims, characterized in that in the third step (3) the system calculates the connection paths of the portions of said planned path (20) and said section (30), said section being calculated to be inserted between these parts using the parameters of the preliminary step corresponding to the type of replaced planned trajectory part.
    [0007]
    7. Method according to any one of the preceding claims, characterized in that several geometries of said section (30) being sent successively for insertion, said system (100) performs a filtering so that it inserts a new section geometry (30). ) if it differs from the geometry of the current section by a difference greater than a given threshold.
    [0008]
    8. The method of claim 7, characterized in that the given threshold is equal to the simplification rate of said current section (30).
    [0009]
    9. A method according to any one of claims 1 to 6, characterized in that several geometries of said section (30) being successively sent for insertion, said system (100) performs real time calculations on said section geometries to select the section to be inserted according to the result of the calculations. 3025920 36
    [0010]
    10. Method according to any one of the preceding claims, characterized in that said section (30) is displayed by viewing means in its real trajectory, the calculations being performed on the simplified section. 5
    [0011]
    11. Method according to any one of the preceding claims, characterized in that said system (100) retrieves the data of the planned trajectory replaced by said section (30) in case of removal of the latter.
    [0012]
    12. The method according to claim 1, wherein said system is a flight management system, the planned trajectory being a flight plan trajectory followed by an aircraft.
    [0013]
    13. The method of claim 10, characterized in that said section (30) is a section of mission trajectory. 15
    [0014]
    14. Method according to any one of claims 12 or 13, characterized in that the calculations include calculations of fuel consumption forecast by the aircraft and time of passage of the aircraft at given points.
    [0015]
    15. Method according to any one of claims 12 to 13, characterized in that the transition points (PIVOT IN, PIVOT OUT) between said section (30) and the flight plan trajectory (20) are modifiable via a interaction on a visualization screen.
    [0016]
    16. Method according to claim 13, characterized in that it comprises a step (42) of configuration of sensors according to the mission 25 corresponding to said section and according to calculation parameters of said database established in the step preliminary (10).
    [0017]
    17. Method according to any one of claims 12 to 16, characterized in that, when the aircraft traverses said section (30), it comprises a step (43) for configuring the guidance and steering systems as a function of 30 calculation parameters of said section. 3025920 37
    [0018]
    18. Method according to any one of claims 12 to 17, characterized in that it comprises a step (44) performing a formatting trajectory information for sending to customers (8, 9) having requested the insertion of said section . 5
    [0019]
    19. On-board trajectory management system performing real-time trajectory calculations, characterized in that it implements the method according to any one of the preceding claims. 10
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    优先权:
    申请号 | 申请日 | 专利标题
    FR1402042A|FR3025920B1|2014-09-15|2014-09-15|METHOD FOR REAL-TIME CALCULATION OF A PLANNED TRACK, IN PARTICULAR A FLIGHT PLAN, COMBINING A MISSION, AND A SYSTEM FOR MANAGING SUCH A TRAJECTORY|FR1402042A| FR3025920B1|2014-09-15|2014-09-15|METHOD FOR REAL-TIME CALCULATION OF A PLANNED TRACK, IN PARTICULAR A FLIGHT PLAN, COMBINING A MISSION, AND A SYSTEM FOR MANAGING SUCH A TRAJECTORY|
    CN201510578323.3A| CN105425813B|2014-09-15|2015-09-11|Method for real-time calculation of planning tracks, combined tasks and system for managing such tracks|
    US14/852,316| US9607521B2|2014-09-15|2015-09-11|Method for the real time calculation of a planned trajectory, notably of a flight plan, combining a mission, and system for managing such a trajectory|
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