• 专利附录
  • 专利说明
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    • 专利摘要:
    The invention relates to a flight management and guidance method for an aircraft executed by an FMS flight management system comprising the steps of: -generating (310), a reference trajectory (TRAJref) - generating (320) a short-term trajectory (TRAJCT), - periodically transmitting (330) the short-term trajectory (TRAJCT) - generating (340) a long-term trajectory (TRAJLT), - formatting (350) the segments of the long-term trajectory - transmitting (360) ) periodically the long-term trajectory (TRAJLT) -memorize (370) the transmitted long-term trajectory (TRAJLT), -test (380) the validity of the subset FMS, * when the subset FMS is valid: - identify (390), by the autonomous guidance module (TAG), the active segment of the short-term trajectory, - generating (400), by the autonomous guidance module (TAG), a first guidance instruction (CG1) from the active segment of the short-term trajectory, * when the FMS subset is not as valid: -identify (410), by the autonomous guidance module (TAG), the active segment of the stored trajectory, -generate (420), by the autonomous guidance module (TAG), a second guidance setpoint (CG2 ) from the active segment of the stored path.
    公开号:FR3030794A1
    申请号:FR1402971
    申请日:2014-12-23
    公开日:2016-06-24
    发明作者:Michel Roger；Mathieu Orvain
    申请人:Thales SA；
    IPC主号:
    专利说明:

    [0001] FIELD OF THE INVENTION The present invention relates to a method and system for guiding an aircraft by a flight management system. More particularly, the invention relates to a guidance method of which part of the steps is performed by an external autonomous guidance module at the heart of the flight management system.
    [0002] STATE OF THE ART A flight plan is the detailed description of the route to be followed by an aircraft as part of a planned flight. The flight plan is commonly managed on board civil aircraft by a system designated by the English terminology of "Flight Management System", which will be called FMS thereafter which provides the path to follow available to the staff on board and available to other embedded systems. This FMS system also allows a navigation aid, by displaying information useful to pilots, or by the communication of guidance instructions to an autopilot system. FIG. 1 presents a synthetic diagram illustrating the structure of an FMSO known from the state of the art. A known FMSO type system has an HMI human-machine interface comprising for example a keyboard and a display screen, or simply a touch display screen, and at least the following functions, illustrated in a generic manner. by an associated module, described in the ARINC 702 standard: - Navigation LOC performs the optimal location of the aircraft according to GEOLOC geolocation means such as satellite or GPS geo-positioning, VHF radionavigation beacons, inertial units. This module communicates with the aforementioned geolocation devices. Thus the module LOC calculates the position (latitude, longitude, altitude) and the speed of the aircraft in the space. - FPLN flight plan captures the geographical elements constituting the skeleton of the route to be followed, such as the points imposed by the departure and arrival procedures, the waypoints, the air routes or airways according to the Anglo-Saxon denomination; - Navigation Database NAVDB contains waypoints, geographical routes, procedures and beacons - PERFDB Performance Database contains aerodynamic performance parameters and aircraft engines; - TRAJ lateral trajectory, built by calculation a continuous trajectory from the points of the flight plan, using the performances of the aircraft and respecting the constraints of confinement (RNP); Predictions PRED, builds an optimized vertical profile on the lateral trajectory and provides predictions in time of passage, remaining fuel quantity, altitude and speed of passage at each point of the flight plan. - Guidance GUID establishes, from the position and the calculated trajectory, guidance instructions to guide the aircraft in the lateral planes, vertical and speed to follow its three-dimensional trajectory, while optimizing its speed. The guidance instructions are transmitted to the autopilot. When the aircraft is equipped with a PA autopilot and is operating, it is he who transforms the guidance instructions into flight controls. - Linking digital data DATALINK communicates with the air traffic control centers, the operational centers on the ground and in the future the other aircraft 13. The flight plan is entered by the pilot, or by data link, from data contained in the navigation database.
    [0003] The pilot then enters the aircraft parameters: mass, flight plan, cruising range, as well as one or a plurality of optimization criteria, such as the Cost Index C1. These inputs allow the TRAJ and PRED modules. calculate respectively the lateral trajectory and the vertical profile, that is to say the flight profile in terms of altitude and speed, which for example minimizes the optimization criterion. Thus conventionally a flight management system: - calculates a position of the aircraft (LOC) from data from onboard sensors listed above, - determines a trajectory (module TRAJ / PRED) with the bases of DB PERF data, in accordance with the flight plan defined from NAV DB. provides, from the position and the trajectory, guiding instructions (GUID module), ("flight guidance target" in English) to follow this trajectory. In a conventional manner, the calculated aircraft position makes it possible to identify a possible deviation with the trajectory or a change (turn, climb, acceleration, deceleration) to come from the trajectory. From this lateral deviation, GUID will establish a guidance instruction CG, declining in: lateral roll, vertical pitch or slope, speed or thrust level 15 in speed. In the following description, the term "guidance guidance" ("flight guidance target" in English) covers all guidance instructions as defined above. More specifically, the GUID module of the FMS elaborates the guidance instructions from the position of the aircraft, the part of the calculated trajectory that the aircraft is flying and the guide laws available in the autopilot. and specific to each aircraft. Among the laws of the autopilot, the FMS uses, for example, lateral heading, vertical slope holding, capturing and holding altitude, speed of holding 25 speed or thrust. The trajectory calculated by the FMS has three components: a lateral trajectory (latitude, longitude) a trajectory or vertical profile a longitudinal axis-speed profile The calculated trajectory is always the same whatever the aircraft while the enslavement on this trajectory is a function of the characteristics of each type of aircraft. Lateral guidance is used for the lateral guidance of the aircraft, along a vertical axis for the altitude guidance of the aircraft and along a longitudinal axis for the guidance in speed.
    [0004] The trajectory of the aircraft calculated by the FMS consists of an ordered series of segments that the aircraft travels as it progresses. The current segment that the aircraft is flying is called active segment.
    [0005] The enslavement, that is to say the actual guidance of the aircraft, is performed on the calculated part of trajectory constituted by the active segment. "Sequencing" means the identification of the active segment. This identification, carried out by the FMS, is essential for the generation of the guidance setpoint associated with the active segment.
    [0006] As illustrated in FIG. 2, the guidance instructions generated by the GUID module of the FMS are transmitted to the automatic pilot PA. The PA converts the guidance instructions sent to it into CV flight orders that can be directly applied to the aircraft symbolized by AC in FIG. 2. In a conventional manner, the autopilot generates and possibly sends to the control surfaces of the aircraft. plane: the position (angle) for the ailerons and elevators, the thrust for the engines .... On the other hand, these flight controls are presented to the pilot via the flight director DV (Flight Director in English) in the form for example vertical and lateral bars 20 (which the pilot must try to follow by hand when the autopilot is not engaged) on a display DIS P. A PA autopilot can guide an aircraft automatically from instructions provided either by the pilot ("tactical") through an interface called FCU (AIRBUS) or MCP (BOEING) (so-called "selected" mode) or by a system of FMS type ("strategic" mode called "managed") . We will focus here on guidance from the FMS. In a conventional manner, the autopilot determines the difference between the current attitude (roll, pitch) of the aircraft and the desired set point (pilot selection or command control of the FM) and generates from a piloting law. a flight control CV. An autopilot operates in different modes, depending on the distribution of guidance between the PA and the pilot.
    [0007] In the manual mode, the pilot guides the aircraft sideways and vertically by providing flight controls with his stick and guides the aircraft in speed by providing thrust commands with the throttle. The AP is not paired. When the AP is paired it is said "committed".
    [0008] In the so-called "selected" mode, the pilot delegates the guidance of the aircraft to the autopilot and the autothrottle. It selects guidance instructions (heading, altitude, slope, speed) through a control panel that the autopilot turns into flight controls for the lateral and vertical, and thrust for speed. In the "managed" mode, called "managed lateral and vertical and speed" also says "full managed", the guidance is performed both laterally from the lateral trajectory and vertical and speed, from the vertical profile at altitude 15 and speed. The pilot delegates the selection of instructions to follow the flight plan to the FM. The FM automatically selects the guidance instructions to follow the flight plan and sends them to the autopilot and autothrottle which transforms them into flight and thrust commands. According to a "lateral managed, selected vertical, selected speed" mode, the guidance of the AP is a lateral guidance only, from the lateral trajectory, the pilot remaining command master for the altitude and the speed of the aircraft. According to the state of the art, there are different types of automatic pilots, more or less elaborate: some autopilots only accept FMS roll and pitch inputs. Others in addition to these basic entries, offer access to higher instructions such as heading, altitude, slope. Still others take responsibility for all the servo laws including that which the FMS uses to provide roll and pitch, the FMS then providing only deviations from the reference path. Thus, most FMS are nowadays designed to automatically prepare and enslave an aircraft on a complete reference trajectory ("managed" mode see above). Unfortunately, if the complete trajectory (also called 4D profile) from one aircraft to another is always characterized by the succession of straight or curved segments, the enslavement on this trajectory is eminently different. Consequently, the current flight management systems must always modify their guiding function to take into account not only the specificity of the aircraft's performance, but also the aircraft manufacturer's philosophy characterized by the interface between the system. management of the flight and the autopilot and thus the perimeter that it grants to each of these systems.
    [0009] The problem that arises is that each time the FMS is developed for a new aircraft or a new aircraft manufacturer, it is necessary not only to modify the guidance function to adapt it to its new environment, but also to fully certify the FMS since this function is internal to this system.
    [0010] Some procedures require a higher level of accuracy on aircraft guidance. For example, towards the end of the cruise phase and a few minutes before starting the descent, the pilot selects via the FMS the approach procedure he will use to land the aircraft on the runway of his destination airport. . The approach procedure for some airports is RNP AR with RNP <0.3 NM. The RNP concept used in the aviation industry is, firstly, in the ability of the aircraft's navigation system to monitor its performance (accuracy) and to inform the pilot whether or not operational requirements (error) are being met during the flight. operation, and secondly in the optimization of approach procedures based on the navigation performance of the aircraft. This concept makes it possible to reduce the spacings between cruising and terminal aircraft, to optimize take-off and landing procedures. It also reduces the minima associated with the approach procedures as well on non-precision approaches as on classical RNAV approaches. An RNP procedure refers to a specific procedure or block of space. For example, an RNP procedure xx means that the navigation systems of the aircraft must be able to calculate the position of the aircraft in a circle of xx Nm, for example an RNP 0.3 in a circle of 0.3 Nm.
    [0011] RNP AR type approaches require continuity and guidance integrity even after a single failure. Apart from a problem inherent in the conventional FMS system is that the calculation of a flightable trajectory by the aircraft (consistent with its performance) and accurate predictions use complex algorithmic calculations, and that this complexity is a source of failure called reset. These failures lead to the loss of the FMS, and in the current state not only the trajectory is lost but also the guidance on this trajectory since these two functions are managed by the single FMS system.
    [0012] Thus, this type of approach requires FMS architectures that make more robust and available the guidance function that enslaves the aircraft on the reference trajectory, a particularly important trajectory in the procedures with RNP AR with RNP <0.3nm. In the state of the art, there is a solution to reduce the loss and increase the integrity of the guidance function. This solution is based on an architecture with 3 FMS and therefore has a much higher cost, with the purchase of a third instance of FMS, and a higher power consumption, due to the power consumption of this additional equipment.
    [0013] An object of the present invention is to overcome the aforementioned drawbacks by providing a method and an aircraft guidance system for performing independent guidance of the functional heart of the FMS. DESCRIPTION OF THE INVENTION The subject of the present invention is a flight management and guidance method for an aircraft executed by a flight management system, the flight management system comprising an FMS sub-assembly and an autonomous guidance module. independent of the subset FMS, the method comprising the steps of: -generating, by the subassembly FMS, a reference trajectory along three lateral, vertical and longitudinal axes and comprising an ordered series of segments, the aircraft flying sequentially segments as it progresses, the current segment being stolen so-called active segment, - periodically generating, from the reference trajectory, a short-term trajectory, the short-term trajectory comprising a predefined number of segments between 1 and 5, and comprising the active segment, - periodically transmitting the short-term trajectory to the autonomous guidance module 5, - gen periodically, from the reference trajectory, a long-term trajectory, the long-term trajectory comprising a predefined number of segments greater than 10 and including the active segment, -format the segments of the long-term trajectory so as to ensure a long-term synchronization between the three axes, - periodically transmitting the long-term trajectory to the autonomous guidance module, -memorizing, by the autonomous guidance module, the transmitted long-term trajectory called the memorized trajectory, 15 -test, by the guidance module autonomous, the validity of the subset FMS, When the subset FMS is valid: - identify, by the autonomous guidance module, the active segment of the short-term trajectory, 20 - generate, by the autonomous guidance module, a first instruction from the active segment of the short-term trajectory, the first guidance instruction (CG1) being able, via an autopilot, to guide the aircraft on the short-term trajectory along the three axes, 25 When the FSM subset is not valid: -Identify, by the autonomous guidance module, the active segment of the stored trajectory, -generate, by the module a second guidance instruction from the active segment of the stored trajectory, the second guidance instruction being able, via an autopilot, to provide an autonomous guidance of the aircraft along at least the lateral axis of the aircraft. the memorized trajectory.
    [0014] 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 as non-limiting examples and in which: FIG. 1 already mentioned describes the structure of an FMS known from the state of the art. FIG. 2 already mentioned describes a flight management and guidance architecture of an aircraft according to the state of the art, FIG. 3 illustrates the method according to the invention. FIG. 4 illustrates a flight management system according to the invention. DETAILED DESCRIPTION OF THE INVENTION The flight management and guidance method 300 of an aircraft according to the invention is described in FIG. 3. The method is executed by an FMS flight management system. Here we mean by FMS a global system, capable of performing all the functions described in the state of the art, but in a different manner as described below. The FMS flight management system according to the invention comprises a first module called subset FMS, s-FMS (sub-FMS) corresponding to a modified subset of a complete FMS of the state of the art, which is capable of generating a reference trajectory along the three lateral, vertical and longitudinal axes, and an autonomous guidance module called TAG (for "Trajectory Autonomous Guidance"), independent of s-FMS. Thus the s-FMS is part of the global FMS, including LOC, TRAJ, PRED, FPLN, NAVDB, PERF DB, DATALINK, but the GUID function. The method 300 according to the invention comprises a first step, operated by s-FMS consisting of generating a reference trajectory TRAJref along the three lateral, vertical and longitudinal axes and comprising an ordered series of segments, the aircraft flying successively the segments as it progresses, the current segment being stolen being referred to as the active segment. The reference trajectory TRAJref generated by s-FMS is a trajectory as described in the state of the art. It includes a lateral trajectory (latitude, longitude), a vertical trajectory commonly called vertical profile (altitude), and a speed profile. The lateral trajectory is decomposed into an ordered series of lateral segments, corresponding to straight lines or curves (lateral axis).
    [0015] The vertical profile is broken down into vertical segments typically corresponding to slopes allowing the aircraft to reach the calculated target altitudes (vertical axis). The velocity profile is broken down into segments called longitudinal segments, comprising constant velocity segments separated by acceleration and deceleration segments making it possible to reach the calculated target velocities (longitudinal axis). The reference trajectory therefore comprises all the segments. , lateral, vertical and longitudinal. Typically all the segments (lateral, vertical and longitudinal) are referenced in distance with respect to the destination, which is the reference common to all the axes. A step 320 periodically generates, from the reference trajectory TRAJref, a short-term trajectory TRAkT comprising a predefined number 20 NcT of segments between 1 and 5, and comprising the active segment. The short-term trajectory is preferably a complete trajectory comprising lateral, vertical and longitudinal segments. A step 330 periodically transmits the short-term trajectory TRAkT to the autonomous guidance module TAG. Typically, a short-term trajectory is generated and then transmitted to the TAG at each publication of the reference trajectory. Its refreshment is fast. A step 340 periodically generates, from the reference path TRAJref, a long-term path TRAJLT comprising a predefined number Nur of segments greater than 10 and including the active segment. According to one option, the long-term trajectory is equal to the reference trajectory. According to another option, the long-term trajectory comprises a number of Nur segments between 50 and 100. Preferably, the long-term trajectory preferably comprises segments along the three axes. Thus the short-term and long-term trajectories are both extracted from the reference trajectory by s-FMS. A step 350 formats the segments of the TRAJLT long-term trajectory to provide long-term synchronization between the three axes. The purpose of the formatting is to enable the TAG, under certain conditions, and as described below, to generate from a long-term trajectory transmitted to the TAG, a guidance instruction. For this, the purpose of formatting is to retrieve all information useful for guidance. It is necessary to ensure synchronization so that during sequencing (moving from one active segment to the next during guidance), it is the right lateral, vertical and longitudinal segment that is taken into account. For example, when taking a corner, the correct speed is applied. The formatting consists for example of a rearrangement of the initial segments and additions of elements in the long-term trajectory. These elements contain information enabling the TAG to ensure at all times the coherence of the different segment types between them. Indeed, without formatting the TAG can not anticipate a change of speed and consequently could trigger a cornering at the wrong moment leading the aircraft to deviate from the reference trajectory For example, for lateral segments, formatting includes an addition 25 in some cases of the original leg, which allows on certain forms of trajectory such racetracks to know on which rectilinear portion the plane is For the vertical and longitudinal segments, often coupled in profile (altitude speed), formatting includes, for example, early acceleration or deceleration start type segments to identify when the gearshift must be implemented during a turn and a turn in. Formatting has added information in the transmitted path to allow autonomous guidance. However, the latency due to the transmission of a large data stream must not be increased. Another contribution of formatting is to remove information such as that associated with the sequencing of a leg, information useful to the FPLN but not useful to an autonomous GUID.
    [0016] The synchronization between the different lateral, vertical, longitudinal segments of the short-term trajectory is ensured by its rapid refresh, so there is no need to format it. A step 360 periodically transmits the long-term trajectory TRAJLT to the TAG autonomous guidance module. Transmission of the short-term trajectory takes place at a relatively fast first F1 frequency, typically some 2 to 3 seconds in the approach phase, and transmission of the long-term trajectory takes place at a second frequency F2 less than first frequency, typically some 10 to 20 seconds in the approach phase. The short-term trajectory is for tactical purposes because it concerns the immediate guidance of the aircraft, the long-term trajectory is for strategic purposes and typically includes information associated with the destination as the time of arrival and the remaining fuel. In a step 370, the autonomous guidance module TAG stores the long-term trajectory transmitted to it by the s-FMS. The formatted long-term trajectory, transmitted to the TAG and memorized by it, is called the trajectory stored in the rest of the presentation. In step 380, the TAG tests the validity of, typically the TAG tests the validity of receiving the short-term trajectory. When s-FMS is valid, according to the example the reception is valid, the TAG identifies, in 390, the active segment of the short-term trajectory and generates at 30 400 a first guidance instruction CG1 from the active segment of the trajectory short term. The first guidance instruction CG1 is able to guide the aircraft on the three lateral, vertical and longitudinal axes from the short-term trajectory, via an automatic pilot PA and according to known modes of the state of the art.
    [0017] Preferably, at s-FMS level, a component remains in charge of detecting the events leading to sequence legacies of the flight plan as well as detecting events leading to an update of the reference trajectory. The TAG consumes the new short-term trajectories produced. When s-FMS is not valid, according to the example the reception is not valid, the TAG identifies at 410 the active segment of the stored trajectory and generates at 420 a second guidance set CG2 from the active segment of the memorized trajectory. The second guidance instruction CG2 being adapted, via an autopilot, to achieve an autonomous guidance of the aircraft along at least the lateral axis of the stored trajectory. The guidance from the stored trajectory, which is not refreshed as often as the short-term trajectory, is not as complete as guiding guidance on the short-term trajectory. Indeed, the autonomous guidance will suffer the weather effects such wind changes without any anticipation, so it is in reactive mode and it will be more difficult to maintain the aircraft on this path stored. In the method according to the invention, it is the TAG which tests the validity of s-FMS, and which, when it detects an anomaly, switches to guidance on the stored trajectory. According to the example, an invalid reception of the short-term trajectory means that the s-FMS became invalid following a failure.
    [0018] Thus the stored long-term trajectory is used by the TAG for the case in which s-FMS is invalid. Preferentially, the TAG continues to use the same setpoint calculation logic as in the nominal mode (valid s-FMS), with the exception of the speed and next altitude step instructions that the TAG identifies itself.
    [0019] Thus the autonomous guidance function TAG has two modes of operation. -A nominal mode for which the FMS core system is valid, and s-FMS valid. In this mode, the functional core calculates the reference 3D trajectory 35 to the destination, periodically updates it and transmits the short-term portion, typically the 2 or 3 legs or segments in all the lateral, vertical and longitudinal axes in front of it. the plane, towards outsourced TAG guidance. The TAG performs the calculation of instructions for following this trajectory and ensures the sequencing of the segments of this trajectory. A degraded mode in which the FMS core system is invalid, which has the consequence that it no longer delivers a short-term trajectory. In this mode, the TAG module uses the long-term 3D trajectory provided regularly by the s-FMS system and recorded. In the same way as the nominal mode, it performs the calculation of instructions for following the memorized trajectory and ensures the sequencing in the 3 lateral, vertical and longitudinal axes of the segments of this stored 3D trajectory. The instructions to the PA, nominally identified by TRAJ (120) (Speed and Altitude of next landing) will, in degraded mode, be identified by the TAG. As a result, they will come from the stored trajectory that is no longer updated especially with respect to the weather, but also with respect to the actual trajectory followed by the aircraft. The TAG receives the position, the altitude, the speed, in other words the vector of the aircraft, independently of the s-FMS, and determines guidance instructions with respect to the stored trajectory, using the guiding laws. Thus the method according to the invention proposes a solution for outsourcing the guiding function, by making this function by an autonomous guiding application, which has several advantages.
    [0020] When s-FMS fails, the TAG is set to switch to degraded mode. The existence of this mode makes it possible to provide continuity of the guidance. In fact, the TAG module is a dissimilar system of the sFMS system, which can be ported to a hardware platform independent of that of s-FMS, and when the s-FMS application or the hardware platform that supports the s-FMS fails. FMS, the TAG with its memorized reference path offers the ability to continue to maintain the aircraft on the reference trajectory in automatic mode. This continuity is of interest in the case of critical procedures such RNP AR type approaches with RNP <0.3nm, for which it is required on the one hand to mount the integrity of the guidance (for example by doubling the FMS and the PA) and on the other hand to ensure continuity of the guidance. Another advantage is to free the functional core of the FMS from the variability inherent in the guiding function. An evolution of the interface or the perimeter of the guidance function does not lead to an evolution of the functional core FMS. This makes it possible to limit the cost of adapting the guidance function encountered for each new aircraft or aircraft manufacturer, whether in the interface with the autopilot or on the definition of the respective perimeters of the autopilot and the guidance function. of the FMS. Another advantage of this outsourced guidance is to make it easier to increase the integrity of the associated software, in fact the level of development of an FM will not exceed the level of integrity said Hazardous and which requires software DAL B, then that it will be possible if the need arises to certify this TAG at the level of catastrophic integrity and which requires DAL software A. According to a preferred variant, the method according to the invention further comprises a step of formatting the short-term trajectory . Preferably the formatting is identical to the formatting of the long-term trajectory, so that the autonomous guidance module TAG uses the same reading process for the two trajectories. According to one embodiment, the AGC CG2 in degraded mode is only able to guide the aircraft along a lateral axis. Preferably in this mode the pilot remains master of the altitude and the speed of the aircraft. Indeed the lateral guidance does not have the same variability as the vertical guidance. Lateral guidance consists of guiding the aircraft in the horizontal plane and in the case where the aircraft deviates from the memorized lateral trajectory, there is only one strategy to bring the airplane back onto the lateral trajectory, while the vertical guidance which can be implemented in the descent and approach phase according to different descent strategies, must know how to guide the plane in 2 planes the vertical plane (altitude) and the longitudinal plane (speed), in other 35 terms must know how to manage the energy of the plane.
    [0021] An example of operational implementation is an RNP AR type approach with an RNP of less than 0.3NM. Indeed for this type of approach a high level of integrity and continuity are required on the lateral guidance because any error endangers the aircraft, while on the vertical guidance, in case of problems it is sufficient to mount for s To move away from the danger According to another embodiment, the second guidance instruction CG2 is also capable of providing an autonomous guidance of the aircraft along the vertical and longitudinal axes of the memorized trajectory.
    [0022] Typically, the TAG is capable of providing autonomous guidance on all the axes insofar as the aircraft is actually on the reference trajectory when switching to autonomous (degraded) mode. If this is not the case, it is up to the pilot to return the aircraft to the reference trajectory, both laterally and vertically, before being able to return to the degraded managed mode, that is to say effective guidance via the PA from the CG2 setpoint. Indeed, in the approach phase, even in the case where s-FMS would transmit all the constraints, binding or not, the TAG does not create a new trajectory.
    [0023] According to another example in the case where the vertical profile is simple (succession of slopes without any landing) and the aircraft is above or below the profile, the TAG is able, in autonomous mode, to provide guidance. vertical because the strategy to implement is simple, with below a constant and low descent (typically 500 Feet / minutes) that can find the profile, and above a steeper slope would do the same. According to another aspect, the invention relates to an FMS flight management system illustrated in FIG. 4 comprising an FMS subassembly called s-FMS 30 comprising an FMS core called FMScore, and an independent TAG guidance module independent of s-FMS. FMScore is configured to generate a reference trajectory TRAJref along three lateral, vertical and longitudinal axes, comprising an ordered series of segments, the aircraft successively flying the segments as it progresses, the current segment being in the process of being stolen so-called active segment. The subset FMS s-FMS is configured to: periodically generate, from the reference trajectory TRAJref, a short-term trajectory TRAJcT, the short-term trajectory comprising a predefined number NcT of segments comprised between 1 and 5, and comprising the active segment, - periodically transmitting the short-term trajectory TRAkT to the autonomous guidance module TAG, 10 - periodically generating, from the reference trajectory TRAJref, a long-term trajectory TRAJLT, the long-term trajectory comprising a predefined number of segments NILT greater than 10 and including the active segment, - format, by a formatting module 4, the segments of the long-term trajectory so as to ensure a long-term synchronization between the three axes, - periodically transmit the long-term trajectory TRAJLT to autonomous guidance module TAG. Thus, the FMS subassembly constitutes a part of the global FMS, including the LOC, TRAJ, PRED, FPLN, NAVDB, PERF DB, DATALINK functions, but also the GUID function. Preferentially s-FMS comprises a trajectory management module 42 configured to manage secondary, temporary and active trajectories (reference trajectory). s-FMS retains its ability to sequence the active trajectory, that is to say to identify the point of passage of the WP or "waypoint" that has just been crossed by the aircraft. The concept of WP sequencing should not be confused with the sequencing of the active segment for guidance. The autonomous guidance module TAG is configured to store the long-term trajectory transmitted TRAJLT called stored trajectory and test the validity of the reception of the short-term trajectory. when the reception is valid, the autonomous guidance module is configured to identify the active segment of the short-term trajectory and to generate a first guidance instruction CG1 from the active segment of the short-term trajectory, the first guidance instruction CG1. being able, via an automatic pilot PA, to guide the aircraft on the short-term trajectory along the three axes, * when the reception is not valid the autonomous guidance module is configured to identify the active segment of the stored trajectory and generate a second guide setpoint CG2 from the active segment of the stored trajectory, the second guide setpoint CG2 being able, via an automatic pilot PA, to provide an autonomous guidance of the aircraft along at least the lateral axis of the memorized trajectory. The TAG regularly informs the FMS subset of the state of the guidance with data GS (for "Guidance State" in English). According to a preferred embodiment, the formatting module 41 is also configured to format the short-term trajectory. Preferably the formatting is identical to the formatting of the long-term trajectory, so that the autonomous guidance module uses the same reading process for the two trajectories.
    [0024] According to one embodiment, the TAG module is carried by a specific partition of a common hardware platform with the s-FMS. According to another preferred embodiment, the TAG is mounted on a hardware platform different from that of the s-FMS, which frees the autonomous guidance of a common hardware failure with the s-FMS.
    [0025] According to another aspect, the invention relates to a computer program product comprising code instructions for carrying out the steps of the method according to the invention. The method can be implemented from hardware and / or software elements. The method may be available as a computer program product on a computer readable medium. The method can be implemented on a system that can use one or more dedicated electronic circuits or a general purpose circuit. The technique of the method according to the invention can be carried out on a reprogrammable calculation machine 35 (a processor or a microcontroller for example) executing a program comprising a sequence of instructions, or on a dedicated computing machine (for example a set of logical gates such as an FPGA or an ASIC, or any other hardware module). The different modules of the system according to the invention can be implemented on the same processor or on the same circuit, or distributed over several processors or several circuits. The modules of the system according to the invention consist of calculation means including a processor. The reference to a computer program that, when executed, performs any of the functions described above, is not limited to an application program running on a single host computer. On the contrary, the terms computer program and software are used herein in a general sense to refer to any type of computer code (for example, application software, firmware, microcode, or any other form of computer code). computer instruction) that can be used to program one or more processors to implement aspects of the techniques described herein.
    权利要求:
    Claims (10)
    [0001]
    REVENDICATIONS1. A method of flight management and guidance of an aircraft executed by a flight management system, the flight management system comprising an FMS subset (s-FMS) and a self-contained autonomous guidance module (TAG) FMS, the method comprising the steps of: -generating (310), by the subset FMS, a reference trajectory (TRAJref) along three lateral, vertical and longitudinal axes and comprising an ordered series of segments, the aircraft flying successively the segments as it progresses, the current segment being stolen so-called active segment, - generating (320) periodically, from the reference trajectory (TRAJref), a short-term trajectory (TRAJcT) , the short-term trajectory comprising a predefined number (Nc-r) of segments between 1 and 5, and comprising the active segment, - transmitting (330) periodically the short-term trajectory (TRAJcT) to the automatic guidance module me (TAG), - generating (340) periodically, from the reference trajectory (TRAJref), a long-term trajectory (TRAJLT), the long-term trajectory comprising a predefined number (N1LT) of segments greater than 10 and comprising the active segment, - format (350) the segments of the long-term trajectory so as to ensure a long-term synchronization between the three axes, - transmit (360) periodically the long-term trajectory (TRAJLT) to the autonomous guidance module ( TAG) -memorize (370), by the autonomous guidance module (TAG), the long-term trajectory transmitted (TRAJLT) called stored trajectory, -tester (380), by the autonomous guidance module (TAG), the validity of the sub together FMS, 30 * when the FMS subset is valid: - identify (390), by the autonomous guidance module (TAG), the active segment of the short-term trajectory, - generate (400), by the autonomous guidance module (TAG), a first guidance instruction (CG1 ) from the active segment of the short-term trajectory, the first guidance instruction (CG1) being adapted, via an autopilot, to guide the aircraft on the short-term trajectory along the three axes * when the subassembly FSM n ' is not valid: -Identifier (410), by the autonomous guidance module (TAG), the active segment of the stored trajectory, -generate (420), by the autonomous guidance module (TAG), a second guidance instruction ( CG2) from the active segment of the stored trajectory, the second guidance setpoint (CG2) being able, via an autopilot, to provide an autonomous guidance of the aircraft along at least the lateral axis of the stored trajectory.
    [0002]
    2. Method according to claim 1, in which the transmission of the short-term trajectory takes place at a first frequency and the transmission of the long-term trajectory takes place at a second frequency lower than the first frequency.
    [0003]
    3. A method according to claims 1 or 2 further comprising a step of formatting the short-term trajectory, said formatting being identical to the formatting of the long-term trajectory, so that the autonomous guidance module uses the same process of reading for both trajectories.
    [0004]
    4. Method according to one of the preceding claims wherein the number (NcT) of segments of the short-term trajectory is equal to 2 or 3. 30
    [0005]
    5. Method according to one of the preceding claims wherein the number (NLT) of segments of the long-term trajectory is between 50 and 100.
    [0006]
    6. Method according to one of the preceding claims wherein the validity test step is to test the validity of the reception of the short-term trajectory.
    [0007]
    7. Method according to one of the preceding claims wherein the second guidance set (CG2) is also capable of achieving an autonomous guidance of the aircraft along the vertical and longitudinal axes of the stored trajectory.
    [0008]
    A flight management system (FMS) comprising: an FMS subset (s-FMS) comprising an FMS core (FMScore) configured to generate a reference trajectory (TRAJref) along three lateral, vertical and longitudinal axes, comprising a an ordered series of segments, the aircraft successively flying the segments as it progresses, the current segment being stolen, so-called active segment, and comprising an autonomous guidance module (TAG) independent of the subset FMS the subset FMS being configured to: -generate periodically, from the reference trajectory (TRAJref), a short-term trajectory (TRAJcT), the short-term trajectory comprising a predefined number (NcT) of segments between 1 and 5, and comprising the active segment, - periodically transmitting the short-term trajectory (TRAJcT) to the autonomous guidance module (TAG), - generating periodically, from the reference trajectory (TRAJ) ref), a long-term trajectory (TRAJLT), the long-term trajectory comprising a predefined number (NLT) of segments greater than 10 and including the active segment, - format the segments of the long-term trajectory so as to ensure a long synchronization term between the three axes, - periodically transmitting the long-term trajectory (TRAJLT) to the autonomous guidance module (TAG) -the autonomous guidance module (TAG) being configured to memorize the long-term trajectory transmitted (TRAJLT) called stored trajectory 35 and test the validity of the subset FMS, * when the subset FMS is valid, the autonomous guidance module is configured to identify the active segment of the short-term trajectory and generate a first guidance set (CG1) from the active segment of the short-term trajectory, the first guidance instruction (CG1) being able, via an autopilot, to guide the aircraft on the short-term trajectory according to the s three axes, * when the FMS subset is not valid the autonomous guidance module is configured to identify the active segment of the stored trajectory and generate a second guidance setpoint (CG2) from the active segment of the stored trajectory , the second guidance instruction (CG2) being adapted, via an autopilot, to perform an autonomous guidance of the aircraft along at least the lateral axis of the stored trajectory.
    [0009]
    The FMS flight management system according to claim 8 wherein the subset FMS (s-FMS) is configured to format the short-term trajectory, said formatting being identical to the formatting of the long-term trajectory, so that the Autonomous guidance module uses the same reading process for both trajectories.
    [0010]
    A computer program product, said computer program comprising code instructions for performing the steps of the method according to any one of claims 1 to 7.25.
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    法律状态:
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    2016-06-24| PLSC| Publication of the preliminary search report|Effective date: 20160624 |
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    2021-11-26| PLFP| Fee payment|Year of fee payment: 8 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1402971A|FR3030794B1|2014-12-23|2014-12-23|METHOD AND SYSTEM FOR GUIDING AN AIRCRAFT|FR1402971A| FR3030794B1|2014-12-23|2014-12-23|METHOD AND SYSTEM FOR GUIDING AN AIRCRAFT|
    US14/978,812| US9666082B2|2014-12-23|2015-12-22|Method and system for guidance of an aircraft|
    CN201510980459.7A| CN105717938B|2014-12-23|2015-12-23|Method and system for aircraft guidance|
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