• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The present invention relates to a security system (4) for avoiding an undesirable event when piloting an aircraft (1). According to the invention, this system is remarkable in that it comprises a calculator (8) which makes it possible, at any time t, to generate a three-dimensional envelope (2) of foldback paths (3) of the aircraft ( 1), said envelope (2) being obtained by calculating, at time t, a set of positions attainable by the aircraft (1) during a predetermined flight duration, said computer (8) being previously parameterized with relative data the flight capabilities of the aircraft (1) including at least one of the following capabilities: maximum velocities and accelerations in all three directions of space, minimum rotational radius of yaw, dive and / or nose-up, maximum mass of the load transported and maximum loads.
    公开号:FR3032302A1
    申请号:FR1500167
    申请日:2015-01-29
    公开日:2016-08-05
    发明作者:Konstanca Nikolajevic；Nicolas Belanger；Nicolas Damiani；Arnaud Violette
    申请人:Airbus Helicopters SAS；
    IPC主号:
    专利说明:

    [0001] BACKGROUND OF THE INVENTION The present invention relates to the field of aeronautics and flight aids for an aircraft, whether fixed or rotary wing. like a helicopter. More particularly, it relates to a safety system designed to avoid an undesirable event such as a collision with the external environment and is based on the observation of the reduction of the possible trajectory field for an aircraft as a function of time. In fact, an aircraft equipped with such a security system is safer because it limits the risk of accidents. In addition, such an aircraft can be remotely controlled, such as a drone, or can board a pilot and / or a crew. The invention also relates to a method making it possible to limit the risks of accidents during the flight of an aircraft, and unfortunately, when a collision with the terrain or obstacle can not be avoided, such a method can make it possible to limit the consequences of this accident. In general, known security systems and methods for such applications merely evaluate a risk by using a database in which data relating to past accidents are stored. Such a system has notably been described in document US Pat. No. 6,940,426. However, this type of security system is not efficient in the event that an undesirable event not listed in its database arises. In addition, the adverse events are often complex because they emanate from a series of several undesirable events contributing to degrade the current situation of flight, or even in the worst case, to an accident of the aircraft. However, it is not possible to identify, and to identify, all the effects produced by the various possible combinations of adverse events leading to an accident.
    [0002] A first object of the invention is therefore to provide a simple, safe and effective solution for identifying an accident risk and to try to avoid it. Moreover, as disclosed in US 2002 0055809, it is also known to use the fuzzy logic principle to evaluate risks depending on the current flight situation. However, in this case, the risk avoidance trajectories are predicted standard trajectories, that is to say prerecorded in a memory. Moreover, these trajectories are carried out while keeping the current speed of the aircraft, which may, in certain cases, increase the risk of an accident and in any case not limit its consequences. The object of the present invention is therefore to propose a safety system making it possible to overcome the limitations mentioned above, this system, and the corresponding method, making it possible to improve the safety of an aircraft confronted with one or more adverse events combined. Moreover, in the case where the accident can not be avoided, this safety system makes it possible to limit the consequences of the accident for example by performing the fallback trajectory in which a variation in the speed of the aircraft occurs. The invention therefore relates to a safety system designed to avoid an undesirable event when flying an aircraft. According to the invention, the security system is remarkable in that it comprises a computer which makes it possible, at any time t, to generate a three-dimensional envelope of the aircraft foldback trajectories, such an envelope being obtained by computing at time t, a set of positions attainable by the aircraft during a predetermined flight duration, the computer being previously parameterized with data relating to the flight capabilities of the aircraft including at least one of the following capabilities: and maximum accelerations in the three directions of space, derived from higher orders of at least one of the maximum velocities or accelerations in the three directions of space, minimum rotational radius of yaw movement, rising angles or descent, maximum mass of the load carried and maximum loads. In other words, such a calculator makes it possible to carry out in real time a security diagnosis of the flight situation and to provide a set of trajectories adapted to the situation. The safety diagnosis is furthermore based on the analysis of the maneuverability capabilities of the aircraft in the environment in which it operates, taking into account terrain, fixed obstacles and moving obstacles. The safety computer thus continuously generates a set of trajectories that can be achieved by the aircraft in the sense of its dynamic capabilities, that is to say by scanning, from the current position of the aircraft, the space in three dimensions. Thus, the dynamic properties of the aircraft are applied in the same way to all the trajectories of the aircraft regardless of the direction in space. A network of trajectories parameterized according to their dynamic demands is thus obtained. In fact, the computer can generate both trajectories that require little and trajectories that strongly solicit the aircraft in the dynamic sense.
    [0003] A trajectory extrapolation algorithm then generates all the trajectories of the moving objects according to their past evolutions by analyzing data relating to their positions, their orientations, their speeds and their accelerations.
    [0004] The system consequently extracts all the trajectories that are realizable, that is to say those that do not collide with the terrain, nor with the fixed obstacles, nor with the moving obstacles. The set of feasible trajectories Tr by the aircraft is thus formed at time t.
    [0005] Advantageously, the fallback trajectories can belong to at least two groups of trajectories corresponding to two distinct levels of security prepared by the pilot before a mission. In other words, we obtain a network formed by at least two distinct trajectories parameterized according to their dynamic demands. In practice, the computer can identify, among the envelope in three dimensions, foldback paths, at least one preferred fallback trajectory, and the security system may comprise a man-machine interface allowing the pilot to select the preferred fallback trajectory. . Thus, the security system is capable of selecting a trajectory, from among the trajectory network, according to the objectives set in advance, such as, in particular, a limit of dynamic loading of the apparatus, a proximity of the relief or obstacles. , a limit of changes of direction over a short period of time, and a distance from the original route. These trajectories can be directly transmitted via the man-machine interface to the pilot and accompanied by a note whose calculation is based on the respect of the objectives defined in advance. The trajectory with the highest rating is then displayed first, for example on a screen. This preferred trajectory may also be transmitted to the autopilot for automatic use in an emergency. According to another embodiment, the man-machine interface can also make it possible to orient the choice or to make proposals for the choice of the trajectory according to criteria of preference of the trajectory. Furthermore, the safety computer thus has the ability to establish a security diagnosis according to the proximity of the hazard. The objective and formal calculation carried out by the computer makes it possible to estimate the approximation and imminence of the hazard according to a security scale based in particular on: the reduction of the cardinality of Tr or of its derivative corresponding to the speed of decrease of the number fallback trajectories, the increase of the minimum dynamic stress required to avoid the accident, the distance to the obstacle / relief observable on the achievable trajectories. According to a particular embodiment, the system may comprise an emergency device making it possible to emit an alert signal when the number of fallback trajectories is less than a first threshold value. In this way, such a security system makes it possible to implement actions aimed at promoting the rapid arrival of the emergency services at the accident site. Such actions may further consist of an automatic transmission of flight data to the emergency authorities, before the collision with the terrain or an obstacle. Such flight data may be for example the latitude and longitude coordinates from a GPS module, or the speed and direction of flight. Moreover, the first threshold value for triggering the warning signal is advantageously between 10 and 100 fallback trajectories. This first threshold value can be fixed but also, in certain cases, be variable and for example be a function of the decay rate of the number of trajectories. Thus, when the rate of decay is fast, the first threshold value may advantageously be high. On the other hand, when the decay rate is slow, the first threshold value may be low. Likewise and advantageously, the security system may comprise a control member which makes it possible, when the number of fallback trajectories is less than a second threshold value, to implement corrective actions for steering the aircraft to minimize the consequences of an accident on the aircraft. In this case, such a security system makes it possible to implement actions to reduce the energy of the impact transmitted to the crew and the pilot during a crash. To do this, the security calculator identifies when the shock is inevitable. From this moment, the control member receives instructions from the computer and then performs actions to reduce the consequences of the shock. For example, the control member of the safety system can perform emergency deceleration, pitching or any other maneuver to reduce the consequences of the impact with the ground or a platform.
    [0006] Of course, such a second threshold value may be equal to or distinct from the first threshold value for triggering the warning signal. As already mentioned, the invention also relates to a remarkable aircraft in that it comprises a security system as presented above. Such an aircraft may in particular be in the form of a helicopter with a crew onboard it but not necessarily. In fact, the aircraft according to the invention can be controlled remotely, that is to say that its pilot or his crew is deported from it. Finally, the invention also relates to a safety method for avoiding an undesirable event when piloting an aircraft. According to the invention, this method is remarkable in that it comprises at least one step consisting of: prior to a mission of the aircraft, setting up a computer with data relating to the flight capabilities of the aircraft including at least one of the following capacities: maximum velocities and / or accelerations in the three directions of space, higher order derivatives of at least one of the maximum velocities or accelerations in the three directions of space, minimum radii of rotation yaw movement, rising or falling angles, maximum mass of the load transported and maximum stresses, calculating and generating, at any time t, a three-dimensional envelope of trajectories of folding of the aircraft, the envelope being obtained by calculating, at time t, a set of positions attainable by the aircraft during a predetermined flight duration. In other words, at each flight point during a mission, the method generates a set of trajectories candidate for retreat in all directions of space with different levels of stress. The level of stress corresponds to the constraint imposed by the maneuver on the flight capabilities of the aircraft. For example, in the case of a climb path to avoid an obstacle, the pilot can choose to climb gradually "without forcing" on the flight controls, because it is far enough from the obstacle. Alternatively, the pilot may choose to solicit the maximum flight capacity to climb faster because he believes that the obstacle is too close to be avoided in the previous way. Thus, the security method is able to differentiate between these two situations.
    [0007] The set of calculated fallback trajectories represents the projection of the positions attainable by the aircraft in a region of the defined space. For example, this region may correspond to a flight duration of 30 seconds. Thus, the set of fallback trajectories generated for 30 seconds of flight represents the discretized environment of positions that can be reached by the aircraft in the next 30 seconds of flight. The risk diagnosis is initially based on the feasibility of calculated trajectories, ie those that do not lead to a collision with terrain and fixed or mobile obstacles.
    [0008] Moreover, each trajectory corresponds to at least one curve described by the aircraft and calculated with respect to a reference specific to it. Each trajectory consists of a succession of positions of the space, attainable by the aircraft. This set of trajectories is then analyzed, filtered and finally weighted in order to be sorted and made available to the crew as an emergency avoidance maneuver. The purpose of such a maneuver is to put the aircraft and its crew safely. By analogy, an avoidance maneuver decreases the current risk of the mission. In practice, the fallback trajectories can be generated so that they belong to at least two groups of trajectories corresponding to two distinct levels of security prepared by the pilot before a mission. For example, the first group of fallback trajectories may correspond to safe trajectories because they weakly solicit the lift or structural members of the aircraft. The second group may correspond to risky trajectories because it solicits the lift or structural organs of the aircraft more strongly. Of course, intermediate foldstream groups may also be parameterized between the first and second groups to form the entire three-dimensional envelope of the foldback paths. According to a particular embodiment, the method may comprise a step consisting of: identifying, among the three-dimensional envelope of the fallback trajectories, at least one preferred fallback trajectory, and proposing to the pilot, via an interface man-machine, the selection of the preferred fallback path when an undesirable event is detected. Thus, the trajectories are accompanied by a note whose calculation is based on the respect of predetermined objectives before the mission. The fallback path with the highest rating is considered the preferred fallback path and is displayed first on the man-machine interface. The interest of the safety calculator lies in its ability to establish a diagnosis according to the proximity of the danger. Of course, the human-machine interface can be in various forms such as a screen integrated into a helmet visor, an electronic device comprising a touch screen or a holographic projection in three dimensions adapted to allow the display and the manual selection of a trajectory in three dimensions.
    [0009] Advantageously, in the absence of selection of the preferred fallback trajectory by the pilot of the aircraft, the method may comprise a step consisting in automatically implementing the preferred fallback trajectory. In this way, in certain emergency cases, this preferred fallback trajectory can also be transmitted directly to the autopilot to avoid an imminent obstacle. The preferred trajectory is in this case automatically followed without requiring its selection by the pilot of the aircraft. In practice, the method may comprise a step consisting of counting the aircraft's fallback trajectories and identifying the imminence of an undesirable event when the number of fallback trajectories falls below a third predetermined threshold value. In this case, for example, the detection of a sudden decrease in the cardinal of all the trajectories or a subset of the trajectories makes it possible to identify an undesirable event and to send back alerts to the pilot of the aircraft.
    [0010] As before, this third threshold value can be chosen equal to or distinct from the first and / or second threshold value previously described. According to a particular embodiment, the method may comprise a step of transmitting an alert signal when the number of fallback trajectories is less than a first threshold value. In this way and as already indicated above, it can be prevented that an accident will occur a few moments before the impact. The rescues are thus sure to receive information relating to the position of the aircraft which is not yet damaged by a crash. Indeed, with such a method is ensured the integrity of the location system installed inside the aircraft to send the alert signal. However, during an accident it is quite possible that the GPS module of the aircraft is damaged and inoperative, making it more complex and time-consuming to search for the crew or simply to recover the remains of the aircraft. when it comes to a drone. Advantageously, when the number of foldback paths is zero, the method may comprise a step aimed at: inhibiting steering commands from a manual and / or automatic steering member of the aircraft, generating and transmitting new piloting commands of the aircraft, these new piloting commands making it possible to carry out corrective actions to minimize the consequences of an accident on the aircraft. In other words, it is possible, for example, to control a sudden slowing down or a trajectory in ascending or descending by a pitching or dive movement of the aircraft. Such a method thus comprises a step for controlling the trajectory of the aircraft when there is no other alternative. In practice, prior to a mission of the aircraft, the security method may include a step consisting in providing a computer with parameters specific to the flight conditions of the aircraft, the parameters being chosen from the group including in particular the mass of the aircraft. the load transported by the aircraft, the positioning of its center of gravity and its flight autonomy.
    [0011] In other words, the pilot can parameterize the computer so that it generates the envelope of the fallback trajectories as a function of parameters such as, for example, the limit of the dynamic stresses of the aircraft, the minimum distance between the aircraft and terrain, the acceleration limit when changing direction over a short period of time and the distance from the initial trajectory. According to an advantageous embodiment, prior to a mission of the aircraft, the security method may comprise a step of transmitting to a computer control preferences in the case where the undesirable event is identified, the preferences being chosen from the group comprising in particular the limit of the dynamic stresses of the aircraft, the proximity of the terrain and / or fixed or mobile obstacles, the limit of changes of direction over a short period of time and the distance from an initial route. Indeed, the computer is parameterized by the crew beforehand so as to allow the display of the fallback paths on the man-machine interface according to predetermined display preferences. For example, the pilot may choose to favor the display of low-load paths of the aircraft or paths that respect a minimum distance to the ground. Of course, such display preferences from the pilot or crew may also be changed during the mission.
    [0012] Obtaining an image of the fallback trajectories by the aircraft in the short term, in real time, is a considerable advantage. Not only, the crew can visualize different alternative fallback paths to the current flight path, but in addition such an avionics function ensures, at each stage of the flight, a quantification of the current risk according to the specific capabilities of the aircraft without departing from the flight envelope and respecting the flight preferences of the crew in terms of safety, flight comfort and mission characteristics. Moreover, in order to treat an undesirable event and to choose an appropriate fallback trajectory, it is necessary to constantly know the external environment around the aircraft such as the terrain, the danger zones and the fixed or mobile obstacles, such as for example other aircraft. To do this, several techniques can be used independently or in combination. Thus, according to a first embodiment, the method may include a step for transmitting to a computer data from a sensor for reconstructing a three-dimensional image of the external environment.
    [0013] In this case, the sensor makes it possible to probe the relief in order to determine the presence of a fixed or mobile obstacle. Such a sensor can be in various forms, and in particular in the form of a radar embedded on the aircraft.
    [0014] According to a second embodiment, the method may include a step of transmitting to a computer data from a database stored in a memory, the data consisting of a three-dimensional mapping of the external environment. In this other case, the information relating to the external environment is thus prerecorded in the memory and can be consulted at any time by the computer.
    [0015] Of course, it is also conceivable according to a third embodiment to combine the two embodiments described above. In this way, new fixed obstacles, that is to say non-mapped, or mobile obstacles such as aircraft can be avoided by means of a sensor. The computer receives in this case both information from the memory and information on the immediate environment of the aircraft generated by the sensor. The invention and its advantages will become more apparent in the following description with examples given by way of illustration with reference to the appended figures in which: FIG. 1 is a diagrammatic representation of an envelope of trajectories of FIG. 2, a schematic representation of a security system according to the invention. As already mentioned, the invention relates to a security system for avoiding an undesirable event. It further comprises a calculator for generating a three-dimensional envelope of the foldback trajectories corresponding to all the trajectories that can describe the aircraft. Such an envelope is schematically represented in two dimensions in FIG.
    [0016] This system, and the corresponding method of avoidance, thus make it possible to materialize an environment attainable by the aircraft during a predetermined flight duration. The set of achievable solutions begins on the left of Figure 1 at a current position of the aircraft. The envelope 2 of the fallback paths 3 is generated according to the data received in real time by the decision and / or control elements. Thus, a physical projection of the future positions achievable by the aircraft 1 is formed. This makes it possible to anticipate and instantly determine whether the calculated trajectories are possible. One is thus, permanently certain, to be able to select an alternative security maneuver. In addition, such a system or method makes it possible to provide several types of possible fallback trajectories, such as, in particular, the avoidance trajectories in a plane. Such trajectories can then be part of a horizontal plane, such as, for example, control of a roll motion (more simply called roll control), or in a vertical plane such as a climb path. Avoidance trajectories may also follow a three-dimensional curve. So this curve is not contained in a plane. Typically, such trajectories combine both a climb command and a roll command. A representation of the position reachable by the aircraft 1 through different types of trajectories has the advantage of allowing the construction of a multidirectional representation of the possible trajectories. It is therefore possible to envisage changes of direction during the same fallback trajectory. For example, in the short term, such as for a period of 20 to 30 seconds, an aircraft 1 can successively roll 5 in a segment 5 in the horizontal plane, then, in a second segment 6, climb vertically and finally in a third segment 7 to combine a rise and a turn in the opposite direction to that of the first segment 5. Thus, in order to be representative of the various possible cases, a folding trajectory 3 as described above is decomposable into several segments. independent 5, 6 and 7 connected by transitions. According to a first variant of the invention, the segments 5, 6 and 7 of each trajectory 3 can be calculated using primitives representative of the dynamic capabilities of the aircraft. These primitives are mathematical curves such as arcs, clothoid arcs, straight lines, helical arcs, helical transitions, or generalized Euler spirals, for example. The fallback trajectories are then calculated with respect to curvature, torsion, angle of climb, and respective derivative characteristics so as not to leave the flight envelope. According to a second variant of the invention, the trajectories can also be constructed by introducing different control laws and calculating the consecutive positions by means of a dynamic model. As noted above, two consecutive segments do not necessarily have the same curvature, direction, or twist value.
    [0017] We also consider trajectories in which there is a rapid deceleration / acceleration on at least one section of the fallback trajectory. The combination of the segments then makes it possible to achieve a relevant discretization of the space.
    [0018] Thus, it is more likely to find a trajectory sneaking through a chaotic relief. The aircraft can thus for example be able to fly in a mountainous or hilly region during a mission of public transport of passengers or during a tactical flight.
    [0019] As represented in FIG. 2, the security system 4 comprises a computer 8 making it possible to generate the envelope 2 of the fallback paths 3. Such a computer makes it possible in particular to implement a security method designed to avoid an undesirable event when In fact, this method comprises in particular a step of counting the trajectories of withdrawal of the aircraft and identifying the imminence of an undesirable event when the number of trajectories of fall passes below a third predetermined threshold value. To do this, at each instant of the flight, the computer 8 allows the crew to know a value representative of the current risk of the flight. The computer 8 then generates a security note specific to each of the possible fallback trajectories 3, ie for the trajectories allowing the aircraft not to collide with the ground and to pass at a sufficiently safe distance from the aircraft. relief and obstacles. The thresholds taken into account by the calculator 8 are parameters that can be adjusted according to the mission practiced and according to the preferences of the crew. The fact that the risk score is quantified and updated in real time does not necessarily mean that it is explicitly displayed to the crew. The notes thus determined by the computer 8 can however, in certain cases, be transmitted to the crew via a man-machine interface 9. The risk diagnosis is based mainly on the analysis of the environment 5 that can be reached. by the aircraft 1, for a given flight time, and is shown by a display of the fold paths 3, around the current position of the aircraft. The computer 8 then generates all the positions that can be reached in the short term by the aircraft 1 in the form of 10 trajectories, for example for a period of 20 to 30 seconds, and this, in all the directions of the space. Thus, when the aircraft 1 approaches the terrain, the number of attainable positions decreases and trajectories 3 are no longer possible. Indeed, the fallback trajectories 3 are projections of the positions possibly attainable by the aircraft 1 in the future. Thus, they also testify to its approach to the ground or to fixed or movable obstacles. Furthermore, such an approximation can be materialized progressively by steps of height relative to the relief. For example, taking as reference the current height of the flight, it can be considered that the aircraft 1 is safe when it is at a minimum distance of 300m from the ground, terrain or fixed or mobile obstacles. This means, in terms of safety / risk, that no trajectory of the space achievable within the next 30 seconds of flight is at a distance less than 300m from the terrain. This reasoning can be reproduced in increments of 50m for example in order to deduce more effectively the degradation of the current situation of the flight. Thus, as the aircraft moves towards the terrain, the trajectories discretizing the reachable space around the current flight point lead the aircraft to meet the relief and are therefore either purely and simply eliminated by the computer 8, or are noted by the computer 8 with a higher risk score according to the height step in which they are. Moreover, the overall risk also increases because the trajectories considered as safe gradually disappear, which degrades the safety of the flight. The still safe fallback trajectories 3 are stored in a central database and the most relevant are proposed to the crew as alternative trajectories to the current trajectory. The less secure trajectories, because they are at a distance less than 300m from the relief, are also stored but assigned a lower rank, which places them lower in the list of choices of the calculator 8. This reasoning makes the progressive disappearance of the trajectories predictable. 3 because of the gradual disappearance of the number of fallback trajectories first of all by degradation of their individual security and then by increasing the overall risk. It can thus be seen that several objective safety barriers fall successively during the flight. At this height parameter with respect to the relief, it is also possible to add other parameters such as, for example, the degree of solicitations of the aircraft 1. For example, the course of a flight can begin at the moment to correspond to a safe position of the aircraft 1, that is to say being at an acceptable distance from the relief. The level of risk is then at an acceptable value, and all fallback trajectories 3 are at a distance greater than 300m from the ground. There is then a large number of possible fallback trajectories. At a time t = t0 + 6T, the aircraft 1 approaches the relief in front, the relief culminating at an altitude higher than the current altitude 5 of the aircraft 1. The risk increases because the number of fallback trajectories allowing to avoid the relief decreases. In addition, the detection of the approach of the relief can be realized in various ways. As already mentioned, according to a first embodiment, the security system 4 may comprise a sensor 10 such as a radar making it possible to make a topographic survey of the external environment. The data from this sensor 10 is then transmitted to the computer 8. According to a second embodiment, the security system 4 may include a memory 11 for storing a three-dimensional map of the overflown area. Data stored in this memory 11 is then constantly transmitted to the computer 8 so that it generates the fallback paths according to the relief. Finally, according to a third embodiment and as represented in FIG. 2, the security system 4 may comprise both a sensor 10 as previously described and a memory 11 capable of storing a map of the area overflown. The safety system 4 then displays to the crew, via the man-machine interface 9, a selection of fallback paths 3. The computer 8 enabling this display has been parameterized by the crew beforehand. For example, the crew may prefer the display of trajectories with low stresses of the aircraft 1 or paths that respect a minimum distance from the terrain. These crew preferences are editable during the mission. Moreover, as the aircraft 1 approaches the front elevation the number of retraction paths 3 decreases uniformly until there are no more trajectories of withdrawal 3 at low loads. In other words, to avoid the short-term relief, only high-load folding trajectories remain compatible with the dynamic flight characteristics of the aircraft, such as in particular the solution of stopping which is a strong trajectory. deceleration. If the aircraft 1 continues to advance as it has since time to, there will finally be no possible fallback trajectory 3 for the aircraft 1. In the event that the pilot does not make decisions to avoid relief, it is envisaged that the security system replaces the pilot to secure the flight. This substitution of the flight controls can notably consist in the hovering of the aircraft 1, that is to say to a stop facing the terrain when, for example, the aircraft is a helicopter or a rotary wing drone. . Another solution may be to borrow the preferred retraction trajectory 3 determined by the computer 8. In all cases, the crew can replace the security system 4 just after the corrective action of the latter. Having an image of the fallback paths 3 achievable by the aircraft 1 in the short term, and this in real time, is a considerable advantage. Not only, the crew has a display of fallback trajectories 3 alternatives to the current trajectory of the flight, but such a security system also ensures, at each step of the flight, a quantification of the current risk. As already seen above, such a risk is a function of the aircraft's own capabilities and is determined by respecting the flight preferences of the crew in terms of safety, comfort of flight and the characteristics of the mission. Moreover, by having a physical representation of the positions attainable by the aircraft 1, a real importance is given to the calculated current risk. Indeed, beyond an immediate safety related to the possible trajectories, this risk makes it possible to testify to the recovery capacity of the aircraft 1 in the face of danger. For example, if the aircraft 1 can reach a number of positions at a time t and if this number is degraded, an estimate of the chances of returning to an acceptable risk threshold can be given. Such an aircraft thus has resilience properties capable of guaranteeing a stable level of security for it. Finally, considering that the impact with the terrain is unavoidable or that the number of fallback trajectories 3 is smaller than a first predetermined threshold value and that the aircraft 1 has not been able to replace the control of the crew, for example because the pilot does not give him permission, it is conceivable that the security system 4 comprises an emergency member 12 20 able to send an alert signal. In this way, the nearest relief can be informed before the occurrence of the accident of the aircraft 1. The rescue can thus deploy the appropriate means to rescue him as soon as possible. Such an emergency organ 12 also makes it possible to guide safety actions according to the current risk. Of course, the parameters chosen in this example such as the minimum height of 300m, or 50m steps are only illustrative and may vary either by preference of the crew, or for safety reasons defined by the manufacturer or 30 by regulation.
    [0020] Naturally, the present invention is subject to many variations as to its implementation. Although several embodiments have been described, it is well understood that it is not conceivable to exhaustively identify all the possible modes. It is of course conceivable to replace a means described by equivalent means without departing from the scope of the present invention.
    权利要求:
    Claims (17)
    [0001]
    REVENDICATIONS1. Security system (4) to avoid an undesirable event during the piloting of an aircraft (1), characterized in that said security system comprises a computer (8) which allows, at any time t, to generate an envelope in three dimensions (2) of folding paths (3) of the aircraft (1), said envelope (2) being obtained by calculating, at time t, a set of positions attainable by the aircraft (1) during a predetermined flight duration, said computer (8) being previously parameterized with data relating to the flight capabilities of the aircraft (1) including at least one of the following capabilities: maximum velocities and accelerations in the three directions of space, derived higher order of at least one of the maximum velocities or accelerations in the three directions of space, minimum rotational radius of the yaw motion, climb or descent angles, maximum mass of the load carried and maximum quotations.
    [0002]
    2. Safety system according to claim 1, characterized in that said fold paths (3) 20 belong to at least two groups of trajectories corresponding to two distinct levels of security prepared by the pilot before a mission.
    [0003]
    3. Security system according to one of claims 1 or 2, characterized in that said computer (8) identifies among said three-dimensional envelope (2) foldback paths (3), at least one preferred fallback trajectory , and in that said security system comprises a man-machine interface (9) allowing the pilot to select said preferred fallback trajectory.
    [0004]
    4. Security system according to at least one of claims 1 to 3, characterized in that said security system comprises an emergency member (12) for issuing an alert signal when the number of fallback trajectories. (3) is less than a first threshold value.
    [0005]
    5. Security system according to at least one of claims 1 to 4, characterized in that said security system comprises a control member which, when the number of fallback paths (3) is less than a second value of threshold, to implement corrective actions of piloting the aircraft (1) to minimize the consequences of an accident of the aircraft (1).
    [0006]
    6. Aircraft characterized in that said aircraft comprises a security system (4) according to one of the preceding claims.
    [0007]
    7. Safety method for avoiding an undesirable event when piloting an aircraft (1), characterized in that said method comprises at least the steps of: prior to a mission of the aircraft, parameterizing a computer ( 8) with data relating to the flight capabilities of the aircraft (1) including at least one of the following capabilities: maximum velocities and / or accelerations in three directions of space, higher order derivatives of one at least maximum velocities or accelerations in the three directions of space, minimum rotational radius of yaw movement, climb or descent angles, maximum mass of the load carried and maximum loads, - calculate and generate, at any time t, a three-dimensional envelope (2) of folding trajectories (3) of the aircraft (1), said envelope (2) being obtained by calculating, at time t, a set of positions attainable by the ronef (1) during a predetermined flight time.
    [0008]
    8. Method according to claim 7, characterized in that said retrieval paths (3) 10 are generated so that they belong to at least two groups of trajectories corresponding to two distinct levels of safety pre-set by the pilot before a mission.
    [0009]
    9. Method according to one of claims 7 or 8, characterized in that said method comprises steps of: - identifying, from said envelope in three dimensions (2) trajectories of folding (3), at least one trajectory preferred fallback; and, - providing the pilot, via a man-machine interface (9), the selection of said preferred fallback path when an undesirable event is detected.
    [0010]
    10. Method according to claim 9, characterized in that in the absence of selection of said preferred flight path by the pilot of the aircraft (1), said method comprises a step of automatically implementing said preferred fallback trajectory.
    [0011]
    11. Method according to at least one of claims 7 to 10, characterized in that said method comprises a step of counting the trajectories of folding (3) of the aircraft and identifying the imminence of an undesirable event when the number of fallback paths (3) falls below a third predetermined threshold value.
    [0012]
    12. Method according to at least one of claims 7 to 7, characterized in that it comprises a step of transmitting an alert signal when the number of fallback paths (3) is less than a first threshold value.
    [0013]
    13. Method according to at least one of claims 7 to 12, characterized in that, when the number of fold paths (3) is zero, said method comprises steps of: inhibiting steering commands from a manual and / or automatic control member of the aircraft, generating and transmitting new commands for piloting the aircraft (1), said new pilot commands enabling corrective actions to be taken to minimize the consequences of an accident of the aircraft. aircraft (1).
    [0014]
    14. Method according to at least one of claims 7 to 13, characterized in that, prior to a mission of the aircraft (1), said security method comprises a step of providing a computer (8) with parameters specific to the flight conditions of the aircraft (1), said parameters being chosen from the group comprising: the mass of the load transported by the aircraft, the positioning of its center of gravity and its flight autonomy.
    [0015]
    15. Method according to at least one of claims 7 to 14, characterized in that, prior to a mission of the aircraft (1), said security method comprises a step of transmitting to a computer (8) preferences in the case where said undesirable event is identified, said preferences being chosen from the group comprising: the limit of dynamic stresses of the aircraft, the proximity of the terrain and / or fixed or mobile obstacles, the limit of changes of direction over a short period of time and distance from an initial route.
    [0016]
    16. Method according to at least one of claims 7 to 15, characterized in that said security method comprises a step for transmitting to a computer (8) data from a sensor (10) for reconstituting a three-dimensional image of the external environment. 20
    [0017]
    17. Method according to at least one of claims 7 to 15, characterized in that said security method comprises a step of transmitting to a computer (8) data from a database stored in a memory (11). ), said data consisting of three-dimensional mapping of the external environment.
    类似技术:
    公开号 | 公开日 | 专利标题
    EP3051519A1|2016-08-03|A safety system, a helicopter fitted with such a system, and a safety method seeking to avoid an undesirable event
    US8744738B2|2014-06-03|Aircraft traffic separation system
    EP0802469B1|2001-08-01|Device for aircraft ground collision avoidance with turn prediction
    EP1891618B1|2008-10-22|Method and system for assisting flight control of a low-flying aircraft
    EP2629052B1|2016-12-28|Detection of a descent abnormality of an aircraft
    EP2555179A2|2013-02-06|Aircraft traffic separation system
    FR2913781A1|2008-09-19|Anti-collision alarm filtering method for e.g. helicopter type aircraft, involves calculating weighting coefficient of extrapolated duration according to obstacle density data of topographical data bases in determined perimeter
    WO2004102296A1|2004-11-25|Automatic flight protection system for an aircraft
    FR2932895A1|2009-12-25|METHOD AND SYSTEM FOR AIDING AIR NAVIGATION TO MAINTAIN VERTICAL MARGINS
    WO2004010079A2|2004-01-29|Aircraft navigation assistance device and method
    EP2450868B1|2017-10-11|Method and device for detecting possible collisions to be implemented in an aircraft
    EP3048503B1|2019-09-04|Method for avoidance of one or more obstacles by an aircraft, related computer program product, electronic system and aircraft
    FR3023014A1|2016-01-01|METHOD OF DETERMINING THE VERTICAL TIP POINT OF A MANUAL CONTROL MODE TO A GUIDE MODE
    EP3489929A1|2019-05-29|Electronic system for remote control of drones, associated method and computer program
    EP3451314A1|2019-03-06|Method and device for avoidance of an object by detection of its proximity to an aircraft
    FR3018364A1|2015-09-11|METHOD OF DETERMINING AN OBSTACLE AVIATION GUIDANCE LAW BY AN AIRCRAFT, COMPUTER PROGRAM PRODUCT, ELECTRONIC SYSTEM AND AIRCRAFT
    FR3037413A1|2016-12-16|ELECTRONIC DEVICE AND METHOD FOR AIDING THE CONTROL OF AN AIRCRAFT WITH CALCULATION AND DISPLAY OF AT LEAST ONE ROLL MARGIN, COMPUTER PROGRAM PRODUCT
    FR3069946A1|2019-02-08|METHOD FOR ANTICIPATING THE DISPLACEMENT OF A WAKE TOURBILLON IN A FLIGHT IN THE FORMATION OF TWO AIRCRAFT
    FR3087915A1|2020-05-01|ANTI-COLLISION DEVICE, AVIONIC PROTECTION SYSTEM, ANTI-COLLISION METHOD AND COMPUTER PROGRAM THEREOF
    FR3080678A1|2019-11-01|METHOD FOR PLANNING AN AIRCRAFT FOR AN AIRCRAFT, ASSOCIATED PLANNING SYSTEM AND AIRCRAFT EQUIPPED WITH SUCH A SYSTEM
    EP3537107A1|2019-09-11|Operator terminal of an avionics system for piloting an aircraft
    CA3047766C|2021-04-20|Piloting assistance system for an aircraft, associated aircraft and process to assist with piloting of this aircraft
    EP3502820B1|2020-04-22|Method and automatic system to assist with piloting an aircraft
    JP2021535034A|2021-12-16|Piecewise recovery system
    FR2859177A1|2005-03-04|Low-altitude flight guidance system for aircraft, includes warning generator which generates warning based upon aircraft reaching, approaching, or exceeding warning altitude limit
    同族专利:
    公开号 | 公开日
    EP3051519A1|2016-08-03|
    US20160225269A1|2016-08-04|
    FR3032302B1|2020-10-16|
    IL243831D0|2016-07-31|
    US10062293B2|2018-08-28|
    IL243831A|2020-09-30|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    EP0790487A2|1996-02-19|1997-08-20|GEC-Marconi Limited|Aircraft terrain advisory system|
    US20020055809A1|2000-09-18|2002-05-09|Eads Deutschland Gmbh|Flight control system|
    EP1369665A2|2002-06-07|2003-12-10|EADS Deutschland GmbH|Method for avoiding aircraft terrain collisions|
    US6940426B1|2003-09-05|2005-09-06|Ridgeback Systems Llc|Aircraft flight risk measuring system and method of operation|
    EP1517211A1|2003-09-18|2005-03-23|Airbus France|Ground avoidance device and method for an aircraft|
    US20060158350A1|2004-02-19|2006-07-20|Honeywell International Inc.|Systems and methods for determining best path for avoidance of terrain, obstacles, or protected airspace|
    EP1891618B1|2005-06-14|2008-10-22|AIRBUS France|Method and system for assisting flight control of a low-flying aircraft|
    EP1832850A1|2006-03-06|2007-09-12|Honeywell International Inc.|Sytstems and methods for selectively altering a ground proximity message|CN105427678A|2015-12-02|2016-03-23|上海航空电器有限公司|Helicopter forward-looking forecast ground proximity warning envelope modulation method based on height and descending speed|
    FR3083910A1|2018-07-16|2020-01-17|Airbus Helicopters|ASSISTANCE SYSTEM FOR THE PILOTAGE OF AN AIRCRAFT, ASSOCIATED AIRCRAFT AND METHOD FOR ASSISTING THE PILOTAGE OF THE AIRCRAFT|
    CN106394555A|2016-08-29|2017-02-15|无锡卓信信息科技股份有限公司|Unmanned automobile obstacle avoidance system and method based on 3D camera|
    CA3050098A1|2017-01-17|2018-07-26|Alarm.Com Incorporated|Dynamic drone navigation|
    US10228692B2|2017-03-27|2019-03-12|Gulfstream Aerospace Corporation|Aircraft flight envelope protection and recovery autopilot|
    US10424211B1|2018-03-12|2019-09-24|Kitty Hawk Corporation|Aircraft cockpit display and interface|
    BR112021003681A2|2018-08-27|2021-05-18|Gulfstream Aerospace Corporation|method of precomputing a recovery trajectory for an aircraft autopilot and apparatus for precomputing a recovery trajectory for an aircraft autopilot system|
    CN111311968B|2020-03-30|2021-06-04|中国人民解放军陆军航空兵学院陆军航空兵研究所|Ground proximity warning method and device for helicopter|
    法律状态:
    2016-01-21| PLFP| Fee payment|Year of fee payment: 2 |
    2016-08-05| PLSC| Publication of the preliminary search report|Effective date: 20160805 |
    2017-01-20| PLFP| Fee payment|Year of fee payment: 3 |
    2018-01-19| PLFP| Fee payment|Year of fee payment: 4 |
    2020-01-21| PLFP| Fee payment|Year of fee payment: 6 |
    2021-01-21| PLFP| Fee payment|Year of fee payment: 7 |
    2022-01-19| PLFP| Fee payment|Year of fee payment: 8 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1500167A|FR3032302B1|2015-01-29|2015-01-29|SECURITY SYSTEM, AIRCRAFT EQUIPPED WITH SUCH A SYSTEM AND SECURITY PROCEDURE AIMED AT AVOIDING AN UNDESIRABLE EVENT|FR1500167A| FR3032302B1|2015-01-29|2015-01-29|SECURITY SYSTEM, AIRCRAFT EQUIPPED WITH SUCH A SYSTEM AND SECURITY PROCEDURE AIMED AT AVOIDING AN UNDESIRABLE EVENT|
    EP16152090.3A| EP3051519A1|2015-01-29|2016-01-20|A safety system, a helicopter fitted with such a system, and a safety method seeking to avoid an undesirable event|
    IL243831A| IL243831A|2015-01-29|2016-01-28|A safety system, an aircraft fitted with such a system,and a safety method seeking to avoid an undesirable event|
    US15/008,780| US10062293B2|2015-01-29|2016-01-28|Safety system, a helicopter fitted with such a system, and a safety method seeking to avoid an undesirable event|
    [返回顶部]