• 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:
    In an aircraft (1) comprising a cockpit (3), a unit (14) for monitoring the situation of the aircraft and a unit (12) for radiocommunication, the device (10) for assisting taxi is configured to: acquire, from the aircraft situation monitoring unit, aircraft situation information and determine predicted positions of the aircraft for a set of future times, and for each vehicle of a together other vehicles (8, 9a, 9b, 9c) located on the surface of the airport: acquiring, from the radiocommunication unit, vehicle situation information transmitted by the vehicle, determining predicted positions of the vehicle and calculate a distance between the predicted position of the aircraft and the predicted position of the vehicle for each instant of the set of future instants and compare this distance with a predetermined distance threshold (Sd) and, issue an alert in the cockpit if this distance is lower at this distance threshold.
    公开号:FR3034859A1
    申请号:FR1553117
    申请日:2015-04-10
    公开日:2016-10-14
    发明作者:Thibault Lefez；Pierre Scacchi
    申请人:Airbus Operations SAS；
    IPC主号:
    专利说明:

    [0001] Device, system and method for assisting the taxiing of an aircraft. The invention relates to a device, a system and a method for assisting the taxiing of an aircraft, as well as to an aircraft comprising such a device and / or such a system for assisting taxiing. ground. Aircraft, in particular passenger aircraft, are required to taxi on airport surfaces. Taxiing generally takes place between a passenger boarding gate and a runway (or landing) and vice versa. For this, the pilot of the aircraft must maneuver it on the airport surface. In particular, the pilot must pay attention that the aircraft, particularly the extreme parts of it such as the wings, does not come into contact with another vehicle on the surface of the airport. Such another vehicle may correspond to another aircraft or to a service vehicle, for example a passenger transport bus, a refueling truck, a luggage transport cart, etc. To assist the pilot in this task, some aircraft, especially large aircraft, are provided with a camera and a screen in the cockpit to display images captured by the camera. The camera is usually placed on the dagger, which provides images of the top of the fuselage, as well as the environment of the aircraft. These images help the pilot to maneuver the aircraft. The document EP0.980.828 describes a system for assisting the taxiing of an aircraft comprising such cameras. However, the images from the camera generally allow only a limited view of the environment of the aircraft, which does not allow to see vehicles located outside the field of the camera. In addition, the images from the camera have limited value in case of adverse weather conditions, for example in case of fog. It would be interesting to have, on board the aircraft, information to help the pilot to maneuver the aircraft with better anticipation, thanks to an awareness of the presence of vehicles located as well outside the field only in the field of such a camera.
    [0002] SUMMARY OF THE INVENTION The object of the present invention is in particular to provide a solution to these problems. It relates to a device for assisting the taxiing of an aircraft on the surface of an airport, this aircraft comprising: a cockpit comprising a display screen; - a unit monitoring the situation of the aircraft; and - a radiocommunication unit. This ground taxi aid is notable in that it is configured to: a) acquire, from the aircraft condition monitoring unit, aircraft situation information; b) determining predicted positions of the aircraft for a set of future instants, based on at least said aircraft status information, and for each vehicle of a set of other vehicles located on the surface of the aircraft; the airport: c) acquiring, from the radiocommunication unit, vehicle situation information transmitted by the vehicle; D) determining predicted vehicle positions for this set of future times based on at least said vehicle status information; e) calculating a distance between the predicted position of the aircraft and the predicted position of the vehicle for each instant of the set of future instants and comparing this distance with a predetermined distance threshold; and f) issuing an alert in the cockpit of the aircraft if this distance is less than this predetermined distance threshold for at least one instant of the set of future times, displaying at least one indication on said screen of cockpit display.
    [0003] Thus, thanks to this device, the pilot of the aircraft is warned if the distance between the predicted positions of the aircraft and of another vehicle, at a future instant, is below this predetermined threshold. This therefore makes it possible to warn the pilot of a risk of collision of the aircraft with this vehicle, so that the pilot can take the necessary measures to avoid such a collision. The device therefore allows the pilot to better anticipate the piloting of the aircraft. In addition, it has the advantage of operating even under adverse weather conditions. According to particular embodiments that can be taken into account in isolation or in combination: the situation information of the aircraft comprises the position and the current speed of the aircraft and the situation information of each other vehicle comprises the position and the current speed of said vehicle; the situation information of each other vehicle comprises the current direction of said vehicle, the predicted positions of the vehicle for the different instants of the set of future instants being determined along a rectilinear trajectory corresponding to this direction; the situation information of the aircraft furthermore comprises the current direction of the aircraft, the predicted positions of the aircraft for the various instants of the set of future instants being determined along a corresponding rectilinear trajectory to this direction; the aircraft comprising a ground trajectory management computer, the ground taxi aid device is configured to acquire, from said ground trajectory management computer, information relating to a forecast trajectory of the aircraft, the predicted positions of the aircraft for the different instants of the set of future instants being determined along said estimated trajectory furthermore according to said information relating to the aircraft's projected trajectory; the vehicles of the set of vehicles are configured to transmit information relating to their predictive trajectories and the device for assisting taxiing is configured to acquire, from the radiocommunication unit, information relating to the forecast trajectory of each vehicle, the predicted positions of the vehicle for the different instants of the set of future instants being determined along said estimated trajectory furthermore according to said information relating to the projected trajectory of the vehicle; said display screen is a head-up display screen and said at least one indication is displayed on this screen in a manner consistent with the position of the corresponding vehicle; 3034859 4 - the situation information is transmitted by the vehicle according to a type ADS-B communication. The invention also relates to a system for assisting the ground taxiing of an aircraft on a surface of an airport, this system comprising: a unit for monitoring the situation of the aircraft; - a radiocommunication unit; a display screen of a cockpit of the aircraft; and a device for assisting taxiing as mentioned above.
    [0004] The invention also relates to a method of assisting the taxiing of an aircraft, this aircraft comprising: a cockpit comprising a display screen; - a unit monitoring the situation of the aircraft; and a radio communication unit. The method of assisting taxiing is remarkable in that it comprises the following steps implemented by an aid for taxiing the aircraft: a) acquiring, from the monitoring unit of the situation of the aircraft, aircraft situation information; b) determining predicted positions of the aircraft for a set of future instants, based on at least said aircraft status information; and for each vehicle of a set of other vehicles located on the surface of the airport: c) acquiring, from the radiocommunication unit, vehicle situation information transmitted by that vehicle; d) determining predicted vehicle positions for this set of future times, based on at least said vehicle situation information; E) calculating a distance between the predicted position of the aircraft and the predicted position of the vehicle for each instant of the set of future instants and comparing this distance with a predetermined distance threshold; and f) issuing an alert in the cockpit of the aircraft if this distance is less than this predetermined distance threshold for at least one instant of the set of future times, displaying at least one indication on said screen of the aircraft. cockpit display. The invention also relates to an aircraft comprising a unit 5 for monitoring the situation of the aircraft, a radiocommunication unit and a cockpit comprising a display screen, the aircraft comprising a device for assisting taxiing. as mentioned above. The invention also relates to an aircraft comprising a taxiing aid system as mentioned above.
    [0005] The invention will be better understood on reading the description which follows and on examining the appended figures. Figure 1 schematically illustrates an aircraft as well as a set of other vehicles on an airport surface.
    [0006] Fig. 2 shows a ground taxi assist system according to an embodiment of the invention. FIG. 3 illustrates an example of determination of predicted positions of two aircraft on an airport surface, according to one embodiment of the invention.
    [0007] FIG. 4 illustrates an example of determining predicted positions of two aircraft on an airport surface, according to another embodiment of the invention. The aircraft 1 shown in FIG. 1 comprises an antenna 4 enabling in particular ADS-B type communications ("Automatic Dependent Surveillance Broadcast" in English). The aircraft is located on the surface of an airport, on which it can circulate. Other vehicles are also present on the surface of the airport, for example another aircraft 8, a truck 9a of refueling, a bus 9b of transport of 30 passengers between a terminal and an aircraft, a set of carriages 9c luggage, etc. These other vehicles are equipped to communicate information via ADS-B radio frequency links. The aircraft 1 comprises a system 20 for taxiing assistance. As shown in FIG. 2, the ground taxiing system 20 includes a ground taxi assist device 10, a situation monitoring unit 14, a radio communication unit 12 and a screen 18. The unit 14 for monitoring the situation of the aircraft can notably correspond to an inertial unit of the aircraft, to an ADIRS unit ("Air Data Inertial Reference System" in English) delivering to the 5 times inertial information and anemobarometric information of the aircraft, or to a multimode receiver MMR ("Multi Mode Receiver" in English) grouping an inertial system or ADIRS and a GNSS satellite navigation receiver ("Global Navigation Satellite System "), for example of the GPS type. The ground taxi aid 10 is connected to the aircraft situation monitoring unit 14 and to the radiocommunication unit 12 of the aircraft. The radiocommunication unit 12 is connected to the antenna 4 of the aircraft. The device 10 for taxiing is also connected to the screen 18, which may be located in a cockpit 3 of the aircraft. The device 10 for taxiing comprises a processing unit 15, for example a processor or a microprocessor. This device 10 for taxiing assistance can in particular be integrated in an avionics bay 2 of the aircraft. In operation, the ground taxi assist device 10 acquires, from the unit of the aircraft position monitoring unit 14, information relating to the situation of the aircraft on the surface of the aircraft. 'airport. From said information, the device 10 determines, with the aid of its processing unit 15, predicted positions of the aircraft 1 for a set of future instants. These predicted positions may in particular correspond to predicted positions of the aircraft along a predicted trajectory of the aircraft determined by the processing unit 15 as a function of said information. The different instants of the set of future instants for which said predicted positions are determined can for example be uniformly distributed over a given time horizon. In order to avoid generating a too high number of nuisance alerts, this time horizon 30 may for example be chosen equal to 30 seconds, the different instants being distributed every 2 seconds on this time horizon. The number of times for which the device 10 for assisting taxiing determines these predicted positions is then equal to 15. Furthermore, the other vehicles present on the surface of the airport 35 transmit situation information concerning them. by ADS-B radio frequency links. This information is received by the radiocommunication unit 12, via the antenna 4, then they are acquired by the device 10 for taxiing. Several embodiments can be envisaged for the acquisition of said information by the device 10 for assisting taxiing. According to a first embodiment, this information is stored in the radiocommunication unit, which transmits them to the device 10 for taxiing on request of the latter. According to another embodiment, when it receives information from the other vehicles, the radiocommunication unit 12 broadcasts this information over a communication network of the aircraft to which is also connected the device 10 for assisting taxiing. ground, and this device acquires and stores this information. The taxi assist device 10 acquires said situation information for each of the other vehicles on the airport surface and transmits such information. From said information, the device 10 determines, with the aid of its processing unit 15, predicted positions of each vehicle for said set of future instants. For each of the other vehicles, the ground taxi aid device 10 calculates, for each of said instants, a distance between the predicted position of the aircraft and the predicted position of the vehicle at this moment, and then compares this distance with a predetermined distance threshold. If a calculated distance is less than this predetermined distance threshold, the device 10 for taxiing sends an alert in the cockpit of the aircraft. For this, it transmits information to a computer associated with the screen 18 located in the cockpit, so as to display an alert indication on this screen. A predicted position of the aircraft may for example correspond to a position of the center of gravity of the aircraft or to a position of a party located at the front of the aircraft. The choice of a position corresponding to the center of gravity is interesting in that this position is close to the wings 30 of the aircraft, which allows better protection against a risk of collision of the wings with another vehicle. The choice of a position corresponding to a front part of the aircraft is interesting in that it allows better protection against a risk of collision of a front part of the aircraft with another vehicle. A predicted position of another vehicle may for example correspond to a position of the center of gravity of the vehicle or to a position of a portion at the front of the vehicle. These examples of the predicted position of the aircraft and of another vehicle are given for illustrative purposes and other positions may be chosen without departing from the scope of the invention. It is also possible to determine several predicted positions of the aircraft and / or another vehicle, these predicted positions corresponding to several parts of the aircraft or the vehicle. For example, for the aircraft, it may be advantageous to determine four predicted positions corresponding to a front portion of the aircraft, the ends of the two wings and a rear portion of the aircraft. These four positions have the advantage of corresponding to the main ends of the aircraft. The calculation of distances between these four positions and the predicted positions of other vehicles allows better protection of the aircraft against the risk of collision. When the predicted position corresponds to the center of gravity of the aircraft, the predetermined distance threshold may, for example, be chosen to be 100 meters, so as to take account of the wingspan and the length of the aircraft. Advantageously, the situation information of the aircraft comprises the position and the current speed of the aircraft, and the situation information of each other vehicle comprises the position and the current speed of said vehicle. In an embodiment shown in FIG. 3, the situation information of the aircraft 1 furthermore comprises the current direction of the aircraft. This current direction may be expressed as a heading angle or current course of the aircraft. The predicted positions P1, P2,... P9 of the aircraft 1 corresponding to the different instants of the set of future instants are determined along a rectilinear trajectory Ti corresponding to this current direction. The number of future times, and thus predicted positions, has been limited to 9 so as not to overload the figure. In the figure, the aircraft 1 is shown at its current position. The current speed is used to determine the different positions P1, P2, ... P9 along the trajectory Ti, assuming that the speed of the aircraft remains constant. The other vehicle represented in this figure corresponds to another aircraft 8. For this other aircraft, the situation information also includes, in addition, the current direction of said aircraft 8. The predicted positions Q1, Q2, ... Q9 of the aircraft corresponding to the various instants of the set of future instants are determined along a rectilinear trajectory T8 corresponding to this current direction. The ground taxi aid device 10 calculates distances between the predicted positions of the aircraft 1 and the other aircraft 8 for each of said instants. It thus calculates distances D1 between the positions P1 and Q1, D2 between P2 and Q2, ... D9 between P9 and Q9. For clarity of the figure, only distances D4 and D5 are shown. The distances D4 and D5, as well as the distances D6 and D7 not shown, are less than a predetermined threshold of distance Sd. Therefore, the taxi assist device 10, which compares each of the distances D1 to D9 with this predetermined distance threshold, sends information to the computer associated with the screen 18 so as to display an indication of alert on the screen 18 in the cockpit 3 of the aircraft 1. The distance calculations can be performed as indicated below.
    [0008] For this, the coordinates of the aircraft 1 and of another vehicle, such as for example the other aircraft 8, are defined in a two-dimensional Cartesian coordinate system defined by two axes X and Y in a plane corresponding to the airport surface. The current position of the aircraft 1 is defined by its coordinates ./c; "and yip in this coordinate system The current position of the other aircraft 20 8 is defined by its coordinates x'd and A in this coordinate system. the predicted position Pk of the aircraft 1 at a time k of the set of future instants can be defined by the following system of equations: {xi '= e + di cos (qh) (1) Yi = 31 + d1. Sin (1) wherein: (pl is a course or course angle corresponding to the current direction of the aircraft 1, and d1 is the distance between the current position of the aircraft 1 and said position predicted Pk, this distance being calculated using the following equation: d1 = V1 xkx At (2) in which: V1 is the speed of the aircraft 1 along its longitudinal axis, and 3034859 10 At is the interval between two consecutive instants of the set of future instants In the particular case where said situation information further comprises the accelerated tion of the aircraft 1 along its longitudinal axis, the distance d1 can be calculated using the following equation: = xkx At + xx (kx At) 2 (3) The coordinates of the predicted position Qk of the other aircraft 8 at a moment k of the set of future instants can be defined by the following system of equations: x18 (= + d8 cos (w8) 10 (4) y18 (= y ( 8) + d8 x sin (w8) wherein: (p8 is a heading or course angle corresponding to the current direction of the other aircraft 8; and d8 is the distance between the current position of the other aircraft 8 and said predicted position Qk, this distance being calculated using the following equation: dg = Vg X k X At (5) in which: Vg is the speed of the aircraft 8 along its longitudinal axis.
    [0009] The distance Dk between the predicted position Pk of the aircraft 1 and the predicted position Qk of the other aircraft 8 at the instant k can be calculated using the following equation: Dk =. 1 (X11 (X18 () 2 (Y11 (Y18 () 2 (6) When Dk <Sd for at least one instant k of the set of future times, then the roll-aiding device 10 sends information to the computer associated with the screen 18 so as to display an alert indication on the screen 18 in the cockpit 3 of the aircraft 1. In another embodiment shown in Figure 4, the aircraft 1 comprises a ground track management computer and the ground taxi aid device 10 is configured to acquire, from said ground trajectory management computer, information relating to a provisional trajectory Ti '. in the figure, this trajectory allows the aircraft 1 to join a terminal 5. The device 10 to assist the r ground clearance determines the predicted positions P1, P2,... P9 of the aircraft, for the different instants of the set of future instants, along said predictive trajectory as a function of the current position, of the speed current and said information relating to the forecast trajectory of the aircraft. As in the embodiment shown in FIG. 3, the predicted positions Q1, Q2,... Q9 of the other aircraft 8 are determined along a straight trajectory T8 'corresponding to the current direction of the aircraft. 8. Such an embodiment has the advantage of determining the predicted positions of the aircraft 1 along the trajectory Ti 'actually intended for taxiing the aircraft. Thus, in the example shown in the figure, the different distances D1 to D9 are all less than the predetermined threshold distance Sd and no alert is issued in the cockpit of the aircraft. Such an embodiment therefore has the advantage of avoiding the issuance of nuisance alerts in the cockpit. In another embodiment, not shown in the figures, at least a portion of the vehicles of the set of other vehicles are configured to transmit, via the radio frequency links of the ADS-B type, information relating to their projected trajectories. and the device for assisting taxiing is configured to acquire, from the radio communication unit, information relating to the predicted trajectory of each of said vehicles, the predicted positions of the vehicle for the various instants of the set of times. future directions being determined along said predictive trajectory according to its current position, its current speed and said information relating to the vehicle's projected trajectory. This other embodiment can be combined with the determination of the predicted positions of the aircraft 1 along a rectilinear trajectory corresponding to its current direction, as shown in FIG. 3, or preferably with the determination of said predicted positions of the aircraft 1 along a predicted trajectory of said aircraft 1, as shown in FIG. 4. In the second case, the predicted positions of both the aircraft 1 and the other vehicle are determined along trajectories actual predictions, which allows 3034859 12 to improve the relevance of alerts that can be issued in the cockpit. In a particular embodiment, the display screen 18 is a head-up display screen and, during an alert, said at least one indication is displayed on this screen in a manner consistent with the position of the corresponding vehicle, that is to say superimposed said vehicle as it can be seen by a pilot of the aircraft through the windshield of the aircraft. Thus, when the pilot of the aircraft is looking outside the aircraft through the windshield, this indication enables him to immediately identify a vehicle for which there is a potential risk of collision. This allows the pilot to take appropriate measures to avoid such a collision, for example to slow down or stop the aircraft 1.
    权利要求:
    Claims (12)
    [0001]
    CLAIMS1- Device (10) for assisting the taxiing of an aircraft (1) on the surface of an airport, said aircraft comprising: - a cockpit (3) comprising a display screen (18); a unit (14) for monitoring the situation of the aircraft; and a radiocommunication unit (12), characterized in that said device (10) for assisting taxiing is configured to: a) acquire, from the aircraft condition monitoring unit, information situation of the aircraft; b) determining predicted positions (P1, P2, ... P9) of the aircraft for a set of future instants, based on at least said situation information of the aircraft; and for each vehicle of a set of other vehicles (8, 9a, 9b, 9c) located on the surface of the airport: c) acquiring, from the radiocommunication unit, vehicle situation information transmitted by that vehicle; vehicle; d) determining predicted positions (Q1, Q2, ... Q9) of the vehicle for this set of future times, based on at least said vehicle situation information; e) calculating a distance between the predicted position of the aircraft and the predicted position of the vehicle for each instant of the set of future instants and comparing this distance with a predetermined distance threshold (Sd); and f) issuing an alert in the cockpit of the aircraft if this distance is less than this predetermined distance threshold for at least one instant of the set of future times, displaying at least one indication on said display screen (18) of the cockpit.
    [0002]
    2- Device according to claim 1, characterized in that said situation information of the aircraft comprises the position and the current speed of the aircraft and, the situation information of each other vehicle comprises the position and the current speed of said vehicle . 3034859 14
    [0003]
    3- Device according to claim 2, characterized in that the situation information of each other vehicle comprises the current direction of said vehicle, the predicted positions of the vehicle for different times of the set of future times being determined along a rectilinear trajectory corresponding to this direction.
    [0004]
    4- Device according to one of claims 2 or 3 characterized in that said information of situation of the aircraft further comprises the current direction of the aircraft, the predicted positions of the aircraft for the various times of the set of future instants being determined along a rectilinear trajectory corresponding to this direction.
    [0005]
    5- Device according to one of claims 2 or 3 characterized in that the aircraft comprising a ground trajectory management computer, the ground taxi aid device is configured to acquire, said trajectory management calculator on the ground, information relating to a predicted trajectory of the aircraft, the predicted positions of the aircraft for the different instants of the set of future instants being determined along said estimated trajectory furthermore depending on said relative information. to the forecast trajectory of the aircraft.
    [0006]
    6. Device according to one of claims 4 or 5, combined with claim 2, characterized in that the vehicles of the set of vehicles are configured to transmit information relating to their predictive trajectories and the device for assisting the vehicle. taxi is configured to acquire, from the radiocommunication unit, information relating to the predicted trajectory of each vehicle, the predicted positions of the vehicle for the different instants of the set of future instants being determined along said trajectory in addition to providing said information relating to the projected trajectory of the vehicle.
    [0007]
    7. Device according to any one of the preceding claims, characterized in that said display screen is a head display screen 3034859 high and said at least one indication is displayed on this screen in a manner consistent with the position of the corresponding vehicle.
    [0008]
    8- Device according to any one of the preceding claims 5 characterized in that the situation information is transmitted by the vehicle in a type ADS-B communication.
    [0009]
    9- System (20) for assisting the taxiing of an aircraft (1) on a surface of an airport, characterized in that it comprises:
    [0010]
    A unit (14) for monitoring the situation of the aircraft; - a unit (12) of radiocommunication; a display screen (18) of a cockpit (3) of the aircraft; and a device (10) for assisting taxiing according to any one of the preceding claims. 10- A method of assisting the taxiing of an aircraft (1), this aircraft comprising: - a cockpit (3) comprising a display screen (18); a unit (14) for monitoring the situation of the aircraft; and a radiocommunication unit (12), said method being characterized in that it comprises the following steps implemented by a device (10) for assisting taxiing of the aircraft: a) acquiring, the aircraft situation monitoring unit, aircraft situation information; B) determining predicted positions of the aircraft for a set of future instants, based on at least said aircraft status information, and for each vehicle of a set of other vehicles (8, 9a, 9b, 9c) located on the surface of the airport: c) acquiring, from the radiocommunication unit, vehicle situation information transmitted by this vehicle; d) determining predicted vehicle positions for this set of future times, based on at least said vehicle situation information; E) calculating a distance between the predicted position of the aircraft and the predicted position of the vehicle for each instant of the set of future instants and comparing this distance with a predetermined distance threshold (Sd); and f) issuing an alert in the cockpit of the aircraft if this distance is less than this predetermined distance threshold for at least one instant of the set of future times, displaying at least one indication on said screen of display (18) of the cockpit.
    [0011]
    11- Aircraft (1) comprising a cockpit (3) comprising a display screen (18), a unit (14) for monitoring the situation of the aircraft and a unit (12) for radiocommunication, characterized in that it comprises a device (10) for assisting taxiing according to one of claims 1 to 8. 15
    [0012]
    12- Aircraft (1) characterized in that it comprises a system (20) for assisting taxiing according to claim 9.
    类似技术:
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    同族专利:
    公开号 | 公开日
    WO2016162297A1|2016-10-13|
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    US10621878B2|2020-04-14|
    CN107466414A|2017-12-12|
    FR3034859B1|2018-08-17|
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    法律状态:
    2016-04-21| PLFP| Fee payment|Year of fee payment: 2 |
    2016-10-14| PLSC| Publication of the preliminary search report|Effective date: 20161014 |
    2017-04-19| PLFP| Fee payment|Year of fee payment: 3 |
    2018-04-20| PLFP| Fee payment|Year of fee payment: 4 |
    2019-04-18| PLFP| Fee payment|Year of fee payment: 5 |
    2020-04-20| PLFP| Fee payment|Year of fee payment: 6 |
    2021-04-23| PLFP| Fee payment|Year of fee payment: 7 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1553117A|FR3034859B1|2015-04-10|2015-04-10|DEVICE, SYSTEM AND METHOD FOR AIDING THE FLOORING OF AN AIRCRAFT|
    FR1553117|2015-04-10|FR1553117A| FR3034859B1|2015-04-10|2015-04-10|DEVICE, SYSTEM AND METHOD FOR AIDING THE FLOORING OF AN AIRCRAFT|
    PCT/EP2016/057316| WO2016162297A1|2015-04-10|2016-04-04|Device, system and method for aiding the ground rolling of an aircraft|
    US15/562,709| US10621878B2|2015-04-10|2016-04-04|Device, system and method for assisting the taxiing of an aircraft|
    CN201680015390.7A| CN107466414A|2015-04-10|2016-04-04|The equipment, system and method slided for assisting in flying device|
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