• 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:
    This electronic device (14) for assisting the piloting of an aircraft (10) comprises: an acquisition module (40) configured to acquire a current value of the roll angle of the aircraft; calculation (42) configured to calculate a roll angle limit corresponding to a stall start of the aircraft, and - a display module (44) configured to display on a screen (34) a first symbol indicating a current orientation of the aircraft. The calculation module (42) is configured to calculate at least one roll margin, each roll margin depending on a corresponding roll angle limit and the current value of the roll angle, and the modulus of roll. display (44) is configured, when a display condition is satisfied, to display on the screen at least one second symbol positioned relative to the first symbol, the difference between each second symbol and the first symbol representing a margin in roll.
    公开号:FR3037413A1
    申请号:FR1501211
    申请日:2015-06-11
    公开日:2016-12-16
    发明作者:Sylvain Lissajoux；Bruno Aymeric；Didier Poisson
    申请人:Thales SA；
    IPC主号:
    专利说明:

    [0001] An electronic device and method for aiding the piloting of an aircraft, with calculation and display of at least one margin in roll, associated computer program product The present invention relates to an electronic device for aiding the piloting of an aircraft , the device comprising an acquisition module configured to acquire a current value of the roll angle of the aircraft, a calculation module configured to calculate at least one roll angle limit corresponding to a start of stall of the aircraft. aircraft, and a display module configured to display on a screen a first symbol indicating a current orientation of the aircraft.
    [0002] The invention also relates to a method of assisting the piloting of an aircraft, the method being implemented by an electronic device. The invention also relates to a computer program, also called a computer program product, comprising software instructions which, when implemented by a computer, implement such a method.
    [0003] The invention applies to the field of avionics, and more particularly to that of flight control systems with respect to a risk of stalling the aircraft. The term "aircraft" means a mobile device driven by at least one pilot, and capable of flying especially in the Earth's atmosphere, such as an airplane, a drone or a helicopter. "Pilot" means a person flying the aircraft from a cockpit located in or away from the aircraft. The pilot through his piloting actions acts on the attitude and roll, so it is important that he can be aware of the margins of maneuver vis-à-vis the stall of the aircraft. Document US Pat. No. 8,442,701 B2 discloses an electronic device and a method of the aforementioned type. This document describes a flight management method comprising, in response to a vertical maneuver of the aircraft, the identification of a roll angle limit using a selected load factor to allow a vertical maneuverability of the aircraft. aircraft, and performing the vertical maneuver of the aircraft using said roll angle limit. The use of this roll angle limit is intended to prevent the aircraft from stalling, especially during a low speed lateral maneuver. However, such a flight management method does not provide satisfactory assistance for the pilot, the roll angle limit being directly taken into account by the flight management system to perform the operation of the aircraft.
    [0004] The object of the present invention is to propose an electronic device and a method for aiding the piloting of an aircraft, enabling the pilot to better anticipate a risk of stalling the aircraft, while reducing the cognitive load required of the pilot. and then improve the safety of the flight.
    [0005] To this end, the subject of the invention is an electronic device for assisting the piloting of an aircraft, the device comprising: an acquisition module configured to acquire a current value of the roll angle of the aircraft a calculation module configured to calculate at least one roll angle limit corresponding to a start of stalling of the aircraft, and a display module configured to display on a screen a first symbol indicating a current orientation. of the aircraft, wherein the calculation module is further configured to calculate at least one roll margin, each roll margin depending on a corresponding roll angle limit and the current value of the roll angle. roll, and wherein the display module is further configured, when a display condition is satisfied, to display on the screen at least one second symbol positioned relative to the first symbol, the difference between each second symboland the first symbol representing a respective roll margin.
    [0006] According to other advantageous aspects of the invention, the electronic device for piloting assistance comprises one or more of the following characteristics, taken in isolation or in any technically possible combination: at least one roll margin is equal to the difference between a corresponding roll angle limit and the current value of the roll angle; Each margin in roll is a function of a characteristic value of angle of incidence, the characteristic value of angle of incidence being preferably an incidence angle limit corresponding to the beginning of stalling of the aircraft ; the roll angle limit is a function of a current value of the angle of incidence of the aircraft, the current value of the roll angle of the aircraft and a limit of angle incidence corresponding to a start of stalling the aircraft; the roll angle limit satisfies the following equation: (oeh, ceo) where (1). represents the current value of the roll angle, a represents the current value of the angle of incidence, Oh. = arccos cos (0) x (a-a ') 3 gui, represents the angle of incidence limit, and ao represents a zero lift angle of incidence, specific to the aircraft; the current value of the angle of incidence is calculated according to a measured value of the angle of incidence and an estimate of the time derivative of the angle of incidence; the estimation of the time derivative of the angle of incidence satisfies the following equation: ## EQU1 ## where q represents the pitch ratio, 10 g is the gravity acceleration, V represents the aerodynamic speed of the aircraft, 0 represents the attitude of the aircraft, (t). represents the current value of the roll angle, a represents the current value of the angle of incidence, 15 n. represents the longitudinal component of the load factor, and nz represents the vertical component of the load factor; the roll angle limit is a function of a kinetic pressure applied to the aircraft, a lift gradient specific to the aircraft and an incidence angle limit corresponding to a start of a stall of the aircraft; The roll angle limit satisfies the following equation: [2 mxg 1 01, m = arccos xp-V2 X s> <cza, (oehn, - ao) where (pV2) / 2 represents the applied kinetic pressure to the aircraft, S represents a reference surface of the aircraft, Cza represents the lift gradient, specific to the aircraft, 25 m represents the mass of the aircraft, g is the acceleration of gravity, ahm represents the angle of incidence limit, and ao represents a zero lift angle of incidence, specific to the aircraft; the calculation module is furthermore configured to calculate several roll margins; The calculation module is further configured to calculate a plurality of roll angle limits; the first symbol indicating a current orientation of the aircraft is chosen from a speed vector symbol of the aircraft and an artificial horizon line; and 3037413 4 - the display condition is verified in particular when the absolute value of the current value of the roll angle is greater than a predefined threshold, and the display module is then configured to automatically display on the screen each second symbol.
    [0007] The subject of the invention is also a method of assisting the piloting of an aircraft, the method being implemented by an electronic device and comprising the following steps: acquiring a current value of the roll angle of the aircraft aircraft, - calculating at least one rolling angle limit corresponding to a start of stalling of the aircraft, and - displaying on a screen a first symbol indicating a current orientation of the aircraft, wherein the method further comprises the following steps: calculate at least one margin in roll, each margin in roll depending on a corresponding roll angle limit and the current value of the roll angle, and - when a display condition is checked, display on the screen at least one second symbol positioned relative to the first symbol, the difference between each second symbol and the first symbol representing a respective margin in roll. The invention also relates to a computer program comprising software instructions which, when implemented by a computer equipment, implement a method as defined above. These features and advantages of the invention will become apparent on reading the following description, given solely by way of nonlimiting example, and with reference to the appended drawings, in which: FIG. 1 is a diagrammatic view of an aircraft comprising an electronic device according to the invention for aiding the piloting of the aircraft; FIG. 2 is a flowchart of a method of assisting the piloting of the aircraft, implemented by the electronic device of FIG. 1; FIGS. 3 to 6 are diagrammatic views illustrating, for different configurations of the aircraft, the display of a first symbol indicating a current orientation of the aircraft and second symbols positioned relative to the first symbol, the the difference between each second symbol and the first symbol representing a respective roll margin, according to a first example of representation of the second symbols; FIGS. 7 to 10 are views similar to those of FIGS. 3 to 6, according to a second example of representation of the second symbols; - Figures 11 to 14 are views similar to those of Figures 3 to 6, according to a third example of representation of the second symbols; FIGS. 15 and 16 are views similar to those of FIGS. 3 and 4, according to a fourth example of representation of the second symbols; and FIGS. 17 and 18 are views similar to those of FIGS. 3 and 4, according to a fifth example of representation of the second symbols.
    [0008] In the embodiment of FIG. 1, the aircraft 10 is an airliner that can be piloted by at least one pilot. The piloting of the aircraft 10 comprises different flight phases, such as, for example, the take-off, climb, descent or landing phases. According to other exemplary embodiments, the aircraft 10 is a plane of another type, such as for example a business plane or a military aircraft, or a helicopter. According to yet another exemplary embodiment, the aircraft 10 is a drone piloted remotely by a pilot from a cockpit remote from the aircraft. The term "flight domain" of an aircraft is generally understood to mean a set of limitations / conditions applicable to the aircraft 10 guaranteeing it safe operation. Conventionally, these are conditions on the load factor, the roll, the incidence or the speed of the aircraft 10. "Stall" means a loss, usually abrupt, of the lift of a bearing structure the aircraft 10, such as a wing, the set of wings, a tail of the aircraft, or one or more rotor blades in the case of a helicopter. In case of stall, the aircraft 10 which is not sufficiently supported (partially or completely) becomes generally uncontrollable and very quickly loses altitude. In the following description, the notation represents the angle of incidence of the aircraft 10, commonly called incidence.
    [0009] The incidence a is a critical parameter for the control of the aircraft 10, and more particularly a margin in incidence Aa with respect to a stall incidence. The stalling incidence is a parameter specific to the aircraft 10. The stall incidence varies, for example, as a function of conditions related to the aircraft, such as its configuration (nose / flaps / trains), the state of its systems (engine, anti-icing, speed, mass, etc.) and external conditions, for example frost formation on all or part of the airfoils.
    [0010] 3037413 6 Various causes are likely to cause a reduction in the Incidence Incidence margin with respect to stall, such as, for example, a variation of the aerological conditions (wind, turbulence), a variation of the load factor of the aircraft, or a variation of the roll cP of the aircraft.
    [0011] In the rest of the description, the notation cP represents the roll angle of the aircraft 10, commonly called roll. The aircraft 10 comprises an electronic device 14 to assist driving, a guidance system 16 and a set of sensors 18 adapted to measure different quantities associated with the aircraft.
    [0012] The electronic flight control device 14 is capable of providing assistance to the pilot of the aircraft 10 during piloting thereof, in particular by displaying relevant information relating to the flight of the aircraft, in particular information in order to alert the pilot as to the risk of the aircraft being stalled. In addition, the electronic piloting aid device 14 is also capable of transmitting to the guidance system 16 said relevant information, in particular a roll angle limit (Pin and a roll margin AcPg, 3. (1) d, for their taking into account by the guidance system 16. The electronic control assist device 14 is for example an on-board computer comprising, for example, a memory 30 and a processor 32 associated with the memory 30. In addition, the electronic control assistance device 14 furthermore comprises a display screen 34. In a variant, not shown, the display screen ' display associated with the piloting aid device 14 is a remote screen, which is not integrated in the piloting aid device 14, the display screen being then for example the screen of another equipment or the avionics system of the aircraft 10. The guidance system 16 is, for example, an automatic piloting device, also called AFCS (English Auto-Flight Control System), also called autopilot and noted PA or AP ( English Automatic Plot), or a flight management system of the aircraft, also noted FMS (English Flight Management System 30). In addition, the guidance system is a self-pushing device, not shown, also called self-handle. The automatic piloting device and / or the self-thrust device are known per se, and make it possible to act on the trajectory of the aircraft. The flight management system is known per se, and is adapted to manage a flight plan of the aircraft 10, from takeoff to landing.
    [0013] The set of sensors 18 is configured to measure, in particular, quantities associated with the displacement of the aircraft 10, and to transmit the measured values of said quantities, in particular to the piloting aid device 14 and / or to the guidance system 16. The sensors 18 are in particular adapted to provide information relating to the positioning of the aircraft 10, such as attitudes, in particular the angle of incidence 5a and the roll angle (1), accelerations, a ground speed , an airspeed, a road, an altitude, a latitude, a longitude, and / or relating to the environment of the aircraft 10, preferably relating to the atmosphere in which the aircraft 10 is moving, for example a pressure or a temperature. The memory 30 is capable of storing software 40 for acquiring a current value 10 of the roll angle c1) of the aircraft and software 42 for calculating at least one roll angle limit c1). ,,, 'corresponding to the beginning of stalling of the aircraft 10 and at least one roll margin AC1) g, 3.0d. The memory 30 is also able to store a display software 44 on the screen 34 of a first symbol indicating a current orientation of the aircraft, such as a speed vector symbol 50 or an artificial horizon line 60 or an airplane model, and furthermore, when a display condition is verified, at least a second symbol 52A, 52B positioned with respect to the first symbol 50, 60, the distance between each second symbol 52A, 52B and the first symbol 50, 60 representing a respective roll margin 3 ^ 09, Aeed- In addition optional, the memory 30 is able to store software 46 for transmission to the guidance system 16 of the roll angle limit Oh, and roll margin 3.1) Acl) g, d. The processor 32 is configured to execute each of the software 40, 42, 44, 46. When executed by the processor 32, the acquisition software 40, the calculation software 42, the display software 44, and in addition optional transmission software 46, respectively form an acquisition module configured to acquire the current value of the roll angle CD, a calculation module configured to calculate each roll angle limit Ohm and each roll margin Al) g, Mrid, a display module configured to display on the screen 34 the first symbol 50, 60 and further, when the display condition is satisfied, each second symbol 52A, 52B, and optionally a module transmitting to the guiding system 16 the roll angle limit θIim and roll margin A (Pg, 3.1) d calculated. In a variant, the acquisition module 40, the calculation module 42 and the display module 44 are made in the form of programmable logic components, such as one or more FPGAs (Field-Programmable Gate Array). or in the form of dedicated integrated circuits of the ASIC type (of the English Application-Specific Integrated Circuit). The acquisition module 40 is configured to acquire the current value of the roll angle 41) of the aircraft 10, this current value being provided, for example, by the set of sensors 18. In addition, the module acquisition 40 is configured to further acquire the current value of the angle of incidence a of the aircraft 10, an angle of incidence limit QIjm, and a predefined angle of incidence of zero lift ao, and for transmit them to the calculation module 42, for the calculation of the or each roll angle limit 01, m. Alternatively or additionally optional, the acquisition module 40 is configured to further acquire a kinetic pressure applied to the aircraft 10, noted (pV2) / 2, a lift gradient Cza specific to the aircraft 10 and the limit of angle of incidence ahm, and to transmit them to the calculation module 42, for the calculation of the or each roll angle limit. The calculation module 42 is configured to calculate at least one angle limit of roll clm corresponding to a start of stall of the aircraft 10, and is further configured to calculate at least one roll margin Mreg, AcPd, each roll margin A (Pg, A (Pd depending on the angle limit of corresponding roll cP, m and the current value of roll angle c P. Each roll margin AcPg, AcPd is a function of a characteristic value of angle of incidence, said characteristic value of angle of incidence being preferably the angle of incidence limit ahm corresponding to a beginning of die In addition, the calculation module 42 is additionally configured to calculate several roll margins, namely a left margin on roll AcPg and a right margin on roll Acl) d. As indicated above, the angle of incidence a is a known data item. Conventionally, the angle of incidence a is a measurement available on board the aircraft 10, this being for example provided the set of sensors 18.
    [0014] Conventionally, different incidence angle limits are calculated by warning systems, not shown, on board the aircraft 10, for example: a maximum authorized angle of incidence amax, provided by a system protection or warning system, not shown, such as a flight control system or a Stall Waming System (such as a Stick Shaker / Pusher); An angle of incidence OEprot triggering the protection system concerned; an angle of incidence asw of triggering of alerts; and a stall angle of attack of the aircraft 10. In the remainder of the description, the incidence angle limit will be noted alim, the latter being preferably chosen from the aforementioned list of limit values of angle of incidence OErnax, OEprot, OESW, OEstaii, optionally with an additional margin or by combining two limit values of angle of incidence of the aforementioned list. The angle of incidence limit ahm, is preferably chosen equal to the maximum angle of incidence am '. Preferably, the angle of incidence limit alin, possibly used to calculate the roll angle limit Ohm will be the same as that for the possible display of the margin in incidence Aa vis-à-vis the incidence limit. The aircraft 10 verifies, for example, the following lift equation in flight mechanics: ## EQU1 ## where n represents the component along the vertical axis of the flight aircraft (with the convention z axis facing upwards) of the load factor, with in balanced flight n, = 1 m is the mass of the aircraft and g is the acceleration of gravity, (pV2) / 2 represents the kinetic pressure applied to the aircraft 10, with p the density of the air and V the aerodynamic speed of the aircraft 10, 20 S represents a reference surface of the aircraft 10, Cz, represents the lift gradient (Cza positive by convention), specific to the aircraft 10, a represents the current value of the angle of incidence, F, represents the component along the vertical axis of the aircraft (with the convention z axis oriented towards the bottom) of the propulsion force and ao represents an angle of incidence of zero lift, specific to the aircraft 10. According to a first variant the roll angle limit (1) ,,, is a function of a current value of the angle of incidence a of the aircraft, of the current value of the roll angle (1). of the aircraft and the angle of incidence limit ah ,. In particular, it is considered that, in a balanced turn, the vertical component of the load factor satisfies: n = cos (0) (2) z cos (0) 3037413 with (1) the current value of the roll angle and 0 the current value of the attitude angle. From the equations (1) and (2), considering 0 weak and neglecting Fz (current assumption) we obtain the following equation: 5 1., 1 x 1 p -V2XSXCzaX (oe - ceo) (3) cos (0) mxg 2 Then considering the limit values from equation (3), we obtain the following equation: 11 = x 1 p -y2 xSxCza, x (ahm-ao) (4) COS ( Ohm) mxg 2 The following equation is then obtained by combining equations (3) and (4): cos (Ohm) _ (a- a0) 10 - (5) cos (0) (a ho, The limit of roll angle cPlin, then check, for example, the following equation: [çbhm = arccos cos (0) xf ("- oto) 1 (6) c'ehri, - Deo) .. J where (I) represents the current value of the roll angle, a represents the current value of the angle of incidence, 15 am, represents the incidence angle limit, and ao represents the zero lift angle of incidence, specific to the aircraft 10. According to this first variant embodiment, the calculation module 42 is then, for example, configured to calculate the roll angle limit cDum according to equation (6) from the current value of the angle of incidence a of the aircraft, the current value of the roll angle (1) of the aircraft, the angle of incidence limit ami, and the predefined angle of incidence of zero lift ao. In addition, the current value of the angle of incidence a is calculated according to a or more measured values of the angle of incidence and an estimate of the time derivative of the angle of incidence. The current value of the angle of incidence is then denoted ahyb, corresponding to a hybridization of a measured value of the angle of incidence and an estimate of the time derivative of the angle of incidence. The hybridized value of the angle of incidence ahyb then satisfies, for example, the following equation: 1 1 xr cc (7) K-a + c x (K-a + s-a) =. a hvb K + s K + s where K is a gain, for example equal to 1, and 3037413 11 s is the Laplace variable. To calculate an estimate of the time derivative d / dt (a) of the angle of incidence, also noted ci ', the following equations of equilibrium of forces on the longitudinal and vertical axis of the aircraft are, for example used: cos a - cos fi - V - (sin a - cos / 3 - to + cos a sin) 6: 6) + v - (q sin a - cos - r - sin fi)] 5 1 ( 8) = -m- g - sin - -p-V2xSxCx + Fx 2 mk - sin a cos / 3 + V - (cos a - cos fi - sin a - sin fi - A) + V (p - sin fi - q cos "cos fi)] (9) - = mg-V2-cos0--1p-V2 xSxCz + F.2 where a represents the current value of the angle of incidence, F3 represents the current value of the angle 0 represents the attitude of the aircraft 10, 10 p, q, r respectively represent the roll rate, the pitch ratio, and the yaw rate Cx, Cz represent respectively the halftone and lift coefficient in the reference of the aircraft (positive by convention), Fx, F., respectively represent the longitudinal component and the vertical component. wedge along the aircraft axes of the propulsive force (z down and x forward). In addition, assuming a constant zero slip ([3 = d dt ([3) = 0), with a constant air speed, we obtain the following equation: (sin ex sin a + cos 0 x cos Ø x cos a to = q + sin ar 1 p V2 xSxC + x + Fx 1 p V2xSxCz + F2 cos ce ((10) V m- g 2 m- g 2), 20 Moreover, the longitudinal components nx and vertical load factor nz satisfy, by definition, the following equations: 1 nx -m-g = -p-V2 xSxCx + F ,, (11) 2 nz -m-g = -1p-V2xSxCz-Fz 2 ( 12) The estimation of the time derivative of the angle of incidence to then satisfies, for example, the following equation: = q + lx (sinOxsina + cos Ox cos0x cos a- x sin a- nz x cos a) (13) V where q represents the pitch ratio, 3037413 12 g is the acceleration of gravity, V represents the aerodynamic speed of the aircraft 10, e represents the attitude of the aircraft 10, (1) represents the current value of the roll angle, 5 a represents the current value of the angle of incidence, nx represents the component longitudinal load factor, and n, represents the vertical component of the load factor. According to this complement, the calculation module 42 is then, for example, configured to calculate the roll angle limit λ 1, according to equation (6) by using the hybridized value of the angle of incidence , calculated using equations (7) and (13), instead of the current value of the angle of incidence a. According to a second variant embodiment, the roll angle limit Iim is a function of a kinetic pressure applied to the aircraft, a Cza lift gradient specific to the aircraft and the angle limit of the aircraft. incidence ah ,. The roll angle limit Iim then satisfies, for example, the following equation, obtained from equation (4): 2 mxg Ohm = arccos (14) p -v2 x xSxC '- where (pV2) / 2 represents the kinetic pressure applied to the aircraft, 20 S represents a reference surface of the aircraft, Czd represents the lift gradient specific to the aircraft, m represents the mass of the aircraft, g is the acceleration gravity, ahm represents the angle of incidence limit, and ao represents a zero lift angle of incidence, specific to the aircraft.
    [0015] According to this second variant embodiment, the calculation module 42 is then, for example, configured to calculate the roll angle limit Ohm according to equation (14) from the kinetic pressure applied to the aircraft 10, the Cza lift gradient specific to the aircraft and the angle of incidence limit ah ,.
    [0016] From the roll angle limit cPlim calculated, for example, according to one of the embodiments described above, the calculation module 42 is configured for the left margin in roll 3.09 corresponding to a decrease of roll angle and the right margin in roll AcPd corresponding to an increase of the roll angle.
    [0017] The left margin in roll Ael) g and the right margin in roll Acl) d respectively satisfy the following equations: A0d = 0h. 0 (15) A0g Ohni + 0 (16) with cPii, '11) representing the calculated roll angle limit, and the current value of the roll angle, respectively. In addition optional, the calculation module 42 is further configured to filter each calculated roll margin Acl) g, Acl) d, for example using a first-order low-pass filter with a time constant of in the order of 100 ms.
    [0018] The current value of the roll angle c1 is an algebraic value, with the convention that this value is positive when the aircraft 10 rotates on the line about its longitudinal axis and with respect to its direction of rotation. advancement, and negative when the aircraft 10 rotates on the left. The roll angle limit Iim is a positive value, and one skilled in the art will then understand that at least one roll margin AcPg, AcPd is equal to the difference between the roll angle limit Ohm and the value absolute of the roll angle c1), this margin being the right margin in roll Acl) d when the current value of the roll angle c1 is positive, or the left in roll AcP2 when the current value of the roll angle c1) is negative.
    [0019] In addition, the calculation module 42 is configured to calculate, from the left roll margin Acl) g and the roll right margin Ad, only that which is equal to the difference between the roll angle limit. 0Ijm and the absolute value of the roll angle O. The display module 44 is configured to display, on the screen 34, the first symbol 50, 60 indicating a current orientation of the aircraft 10, and is in further configured, when the display condition is satisfied, to display on the screen 34 at least a second symbol 52A, 52B positioned relative to the first symbol 50, 60, the difference between each second symbol 52A, 52B and the first symbol 50, 60 representing a respective roll margin Acl) g, Ad.
    [0020] The display condition is verified in particular when the absolute value of the current value of the roll angle c1) is greater than a predefined threshold. The predefined threshold has, for example, a value between 40 ° and 50 °, preferably equal to 45 °. When the display condition is verified, the display module 44 is then configured to automatically display on the screen 34 each second symbol 52A, 52B.
    [0021] The display module 44 is, for example, configured to display a single second symbol 52A, 52B corresponding to the minimum roll margin among the left margin in roll A09 and the right margin in roll Acta is that is, the roll margin equal to the difference between the roll angle limit θ 1, and the absolute value of the roll angle θ. The display module 44 is then configured to display either a second symbol 52A associated with the right margin in roll Ad, a second symbol 52A associated with the left margin in roll A. Alternatively, the display module 44 is configured to display two second symbols 52A, 52B, namely the second symbol 52A associated with the roll right margin Ad and the second symbol 52A associated with the roll left margin A09, each being positioned relative to the corresponding first symbol 50, 60. In optional addition, the display module 44 is configured to display a third symbol 54 positioned relative to the first symbol formed by the speed vector symbol 50, the difference between the third symbol 54 and the first symbol 50 representing the margin in incidence Au. The third symbol 54 is preferably connected to each second displayed symbol 52A, 52B. The operation of the electronic piloting aid device 14 according to the invention will now be described with reference to FIG. 2 representing a flowchart of the piloting aid method according to the invention. During an initial step 100, performed regularly, the acquisition module 40 acquires the current value of the roll angle θ of the aircraft 10, and the calculation module 42 calculates the roll angle limit. 011m corresponding to a start of stalling of the aircraft, for example, according to one of the embodiments described above. In optional addition, the acquisition module 40 also acquires the current value of the angle of incidence a of the aircraft 10, the incidence angle limit ahm, and the predefined angle of bearing angle of attack. zero ao, and transmits them to the calculation module 42, for calculating the roll angle limit 01 ,,,.
    [0022] In a variant, the acquisition module 40 also acquires the kinetic pressure (pV2) / 2 applied to the aircraft, the lift gradient Cza specific to the aircraft and the incidence angle limit ahm, and the transmits to the calculation module 42, for calculating the roll angle limit. The calculation module 42 then calculates, during the step 110, at least one roll margin A0g, A0d, with the aid of equation (15) and / or (16), each rolling margin 3037413 Ag, Ad depending on the rolling angle limit cglid, calculated in step 100 and the current value of the angle of roll cl) acquired in step 100. The display module 44 then displays, in the next step 120 and on the screen 34, a first symbol, such as the speed vector symbol 50 or the line of artificial horizon 5, indicating the current orientation of the aircraft. In addition, when the display condition is verified, the display module 44 displays on the screen 34 at least a second symbol 52A, 52B positioned relative to the first symbol 50, 60, the difference between each second symbol 52A , 52B and the first symbol 50, 60 representing a respective roll margin Acl) g, Ad.
    [0023] Figures 3 to 18 then illustrate, for different configurations of the aircraft 10, the display of the first symbol 50, 60 and the second or second symbols 52A, 52B. According to a first example of representation of the second symbols 52A, 52B, in FIGS. 3 to 6, each second symbol 52A, 52B is represented in the form of a vertical segment, and the two second symbols 52A, 52B are interconnected by the Third symbol 54 in the form of a horizontal segment. According to this first example of representation, each roll margin AcPg, AcPd is represented in angular form between a corresponding wing of the speed vector symbol 50 and the bottom of the segment forming the corresponding second symbol 52A, 52B, as represented in FIGS. .
    [0024] According to an optional complementary aspect of this first exemplary representation, the second symbol 52A, 52B corresponding to the minimum roll margin is further displayed with a segment of greater thickness than the segment corresponding to the other second symbol 52B, 52A. In the example of Figure 3, the minimum roll margin is the roll right margin AcDd, and the second 52A symbol is the one with the largest thickness. In the example of FIG. 4, the minimum roll margin is the left margin in roll AcDg, and the second symbol 52B has the largest thickness. As indicated above, the difference between the third symbol 54 and the speed vector symbol 50 represents the incidence margin Aa, visible in FIG. 4, this incidence margin corresponding more precisely to the difference between the top of the speed vector symbol. 50 and the third symbol 54. In the example of FIG. 5, the margin in incidence Aa is zero, and the roll margin AcPg, AcDd is also zero. The example of FIG. 6 corresponds to a margin in negative incidence, and also to a roll margin AcPg, negative AcPd, the aircraft having already stalled.
    [0025] According to a second example of representation of the second symbols 52A, 52B, in FIGS. 7 to 10, each second symbol 52A, 52B is represented in the form of a radial segment, and the two second symbols 52A, 52B are interconnected. by the third symbol 54 in the form of an arc.
    [0026] According to this second exemplary representation, each roll margin Ackg, Ace'd is represented in angular form between a corresponding wing of the speed vector symbol 50 and the segment forming the corresponding second symbol 52A, 52B, as shown in FIGS. 9. The margin on the right side of the roll is positive in the example of FIGS. 7, 8 and 10, and is not shown in the example of FIG. 9. The person skilled in the art will observe that in the example of FIG. 9, only the left margin in roll AcPg is represented, the left margin in roll Al: Pg being in this example the lowest roll margin, that is to say the most critical, among the left margin in roll 3, (Pg and right margin in roll 321) d.
    [0027] The margin left in roll A (Pg is positive in the example of FIGS. 7, 9 and 10, and is negative in the example of FIG. 8, the aircraft having already dropped on its left in this last example. As an optional supplement, the difference between the third symbol 54 and the speed vector symbol 50 represents the margin of incidence Aa, visible in FIG. 10, this incidence margin corresponding more precisely to the difference between the wings of the vector symbol. speed 50 and the bottom of the third symbol 54. In the example of FIGS. 7 to 9, the incidence margin is not represented, and it is positive in the example of FIG. second symbols 52A, 52B, 25 in Figs. 11 to 14, each second symbol 52A, 52B is shown as a radial segment, and the two second symbols 52A, 52B are interconnected by the third symbol 54 in the form of a 'an arc of a circle, visible on the fi According to this third exemplary representation, each roll margin AcPg, 3.0d is represented in angular form between the horizon line 60 forming the first symbol and the segment forming the corresponding second symbol 52A, 52B, as shown in FIG. FIG. 12. The same example of configuration of the aircraft 10 is shown three times in FIGS. 11 to 13 for the sake of readability of the drawings, with the indication of the roll angle c1 in FIG. right margin in roll AcIDid and the left margin in roll 3.09 in FIG. 12, and respectively in the roll angle limit Ohm in FIG. 13, the roll angle β1 corresponding to FIG. angular difference between the wings of the speed vector symbol 50 and the horizon line 60. In addition, the difference between the third symbol 54 and the speed vector symbol 50 represents the margin of incidence Au, visible in FIG. 5 margin in incidence corresponding more precisely to the difference between the wings of the speed vector symbol 50 and the bottom of the third symbol 54. In the example of FIGS. 11 to 13, the incidence margin Au is not indicated explicitly while being slightly positive. The margin of incidence Au is positive in the example of FIG. 14, and has a larger value in this example than 10 in that of FIGS. 11 to 13. According to a fourth example of representation of the second symbols 52A, 52B, on the Figures 15 and 16, each second symbol 52A, 52B is shown as a radial segment added on a conventional roll scale, centered on the nose of the aircraft 10.
    [0028] According to this fourth example of representation, each roll margin A (Pg, AcPd is represented in angular form between a pointer 62 representing the value of the roll angle ct on the roll scale and the segment forming the second symbol 52A, 52B corresponding, as shown in Figures 15 and 16. The right margin roll Aced is positive in the example of Figure 15, and is not shown in the example of Figure 16. The Those skilled in the art will observe that in the example of FIG. 16, only the left margin in roll AcPg is represented, and that it is also negative, the aircraft 10 having already dropped on its left in this example. left in roll AcPg is positive in the example of Figure 15.
    [0029] In optional supplement, the hatched areas represent forbidden zones corresponding to a stall of the aircraft and in which the pointer 62 representing the value of the roll angle cP should not be found. The forbidden zone on the left is associated with the left margin in AcPg roll and visible on the right of FIG. 15, and the forbidden zone on the right is associated with the right margin in roll AcPd and visible on the left of FIG. 15. In the example of FIG. 16, only the forbidden zone on the left and the second symbol 52B of the left margin in roll AcPg are represented, and the pointer 62 of the roll angle cP is in the forbidden zone on the left, the aircraft 10 having already dropped on its left in this example. The speed vector symbol 50 and the horizon line 60 are shown as optional in this fourth representation example.
    [0030] According to a fifth example of representation of the second symbols 52A, 52B, in FIGS. 17 and 18, each second symbol 52A, 52B is represented in the form of an arrow aligned with the wings of the speed vector symbol 50. According to this fifth example of representation, each roll margin Aci) g, Aci) d 5 is represented as a distance between a corresponding wing of the speed vector symbol 50 and the tip of the arrow forming the corresponding second symbol 52A, 52B, as shown in FIG. FIGS. 17 and 18. More specifically, the second symbol 52B of the margin on the left in roll is represented in the form of an arrow on the left of the speed vector symbol 50, and is oriented from left to right, and the left margin in roll AcPg then corresponds to the distance between the tip of this arrow and the edge of the left wing of the velocity vector symbol 50. The margin left in roll A (Pg is negative when the poin the arrow of the second symbol 52B has passed from the left the left edge of the speed vector symbol 50 in the direction corresponding to the wings of the speed vector symbol. Similarly, the second symbol 52A of the roll right margin is represented as an arrow on the right of the speed vector symbol 50, and oriented from right to left, and the right margin in roll A (Pd then corresponds to the distance between the tip of this arrow and the edge of the right wing of the speed vector symbol 50. The right margin in roll Acgd is negative when the tip of the arrow forming the second symbol 52A has exceeded from the right, the right edge of the speed vector symbol 50 in the direction corresponding to the wings of the speed vector symbol, This representation then makes it easier for the pilot to see on which side a risk of stalling of the aircraft 10 comes from.
    [0031] The right margin in roll Acl) d is not shown in the example of FIGS. 17 and 18. It will be appreciated by those skilled in the art that in this example of FIGS. 17 and 18, only the margin to the left in roll 3.1) 9 is shown, the left margin in roll A (Pg being positive in the example of Figure 17, and negative in the example of Figure 18, the aircraft 10 having already dropped on its left in the latter example.
    [0032] The horizon line 60 is optionally illustrated in this fifth exemplary representation. Thus, the electronic device 14 and the method of assisting the piloting of an aircraft make it possible to display, when necessary, one or more roll margins Meg, AcOd with respect to the beginning of stalling of the aircraft 10, This gives the pilot a relevant indication of a possible stall risk, while allowing him to easily assess the margin with respect to this risk. The electronic device 14 and the method of assisting the piloting of an aircraft then help the pilot to better anticipate a risk of stalling the aircraft 10, while reducing the cognitive load required from the pilot, and thus improve the safety of the aircraft. flight. In addition optional, each roll margin 3109, AltDd is a function of a characteristic value of angle of incidence, the characteristic value of angle of incidence is preferably the angle of incidence limit ahm corresponding to a start stalling of the aircraft 10, which makes it possible to calculate more precisely each roll margin AcPg, Act) d. As a further optional supplement, for the calculation of the roll angle limit the current value of the angle of incidence a is calculated as a function of one or more measured values of the angle of incidence and an estimate. the time derivative of the angle of incidence, which makes it possible to have a more accurate current value of the angle of incidence a. In addition, only a margin in roll among the left margin in AcPg roll and the right margin in AcPd roll is displayed, the roll margin displayed being then the most critical roll margin, which makes it possible to focus further. pilot attention on the corrective action to be performed.
    [0033] In addition optionally, the display condition is checked when the absolute value of the current value of the roll angle cP is greater than a predefined threshold, the display module 44 is then configured to automatically display on the screen each second symbol 52A, 52B. This then makes it possible to automatically display one or more additional indications for the pilot, namely the 25 or the roll margins Ag, AcPd, only in a situation corresponding to a potential risk of stalling the aircraft 10, and conversely of do not unnecessarily disturb the pilot in a situation that does not correspond to a potential stall of the aircraft 10.
    [0034] According to a second embodiment, the calculation module 42 is further configured to calculate a plurality of roll angle limits, i.e. a left roll angle limit 011 ,, _ g and a right angle limit. of roll cPiim_d. According to this second embodiment, two current values, measured or estimated, of the angle of incidence a are used, namely one for each side or direction of roll (left or right), that is to say a current value to the left of the roll angle and a current value to the right of the deft roll angle. On a fixed wing aircraft 3037413, each angle of incidence a then represents the average angle of incidence of one of the wings. The angle of incidence of each wing is, for example, measured using sensors 18 placed on each wing, or estimated simply by using a mean angle of incidence of the aircraft 10, also called the overall angle of incidence.
    [0035] 5 For the calculation of an estimate of the angle of incidence of each wing from the average angle of incidence of the aircraft 10, are for example taken into account the roll rate and the slip rate of the aircraft 10. By considering a wing element at a lateral distance L of the center of rotation of the aircraft 10, with V representing the air speed, the variation of incidence generated Aap by the rotation then verifies the equation: L (xp 10 Aa = arctan Lxp (17) V j V The incidence variation generated Aar then satisfies the equation: tan a -on <Lxr Aoe, = arctan (18) 1+ L xr VV Thus, considering a value characteristic or mean of the lateral distance L, this distance is specific to the aircraft, for example 10 m, the correction 15 to be applied is obtained to obtain the left and right bearings: adroit = a + (A ap + A ar) ( 19) ap000tie = a - (A ap + A ar) (20) The calculation module 42 is then configured to calculate the left limit of ro angle for example using equation (6) according to the first embodiment, using the current value to the left of the left roll angle, instead of the current value of the angle. of roll a. Similarly, the calculation module 42 is configured to calculate the right-hand roll angle limit (1) 1, m_d, for example using equation (6) according to the first embodiment variant, using the current value to the right of the skillful roll angle, instead of the current value of roll angle a. The left margin in roll AcDp and the right margin in roll AcPd respectively check the following equations: Ad = Olim_d - (21) A Og = Otim_g + 0 (22) 3037413 21 with cl) lim_d, (Diim_g, cl) representing respectively the calculated roll angle left limit, the computed roll angle right limit, and the current roll angle value. Calculation module 42 is then configured to calculate each calculated roll margin Aceig, Ackd, using equation (21) and / or (22). In addition optional, the calculation module 42 is further configured to filter each roll margin calculated ACP9, Med, for example using a low-pass filter of the first order with a time constant of the order of 100 ms. The acquisition module 40 is the display module 44 according to this second embodiment 10 are similar to those of the first embodiment described above. The operation of the piloting aid device 14 according to this second embodiment is then analogous to that of the piloting aid device 14 according to the first embodiment, described above, with the only difference that two angle limits 15 roll rates are calculated, while a single roll angle limit is calculated in the first embodiment. The advantages of this second embodiment include those of the first embodiment, and the piloting aid device 14 according to this second embodiment also makes it possible to calculate the margin left in roll A .; and the right margin roll Aied a little more accurately, each roll margin AcPg, AcPd being calculated from a dedicated roll angle limit. It is thus conceivable that the electronic device 14 and the method of assisting the piloting of an aircraft allow the pilot to better anticipate a risk of stalling the aircraft 10, while reducing the cognitive load required from the pilot, and to improve then the security of the flight.
    权利要求:
    Claims (15)
    [0001]
    REVENDICATIONS1. An electronic device (14) for assisting the piloting of an aircraft (10), the device (14) comprising: - an acquisition module (40) configured to acquire a current value of the roll angle (0) of the aircraft, - a calculation module (42), configured to calculate at least one rolling angle limit (h,; (1), d, _d) corresponding to a start of stalling of the aircraft ( 10), and - a display module (44), configured to display on a screen (34) a first symbol (50; 60) indicating a current orientation of the aircraft (10), characterized in that the module calculation (42) is further configured to compute at least one roll margin (3, (1) g, 41) d), each roll margin (40g, Acl) d) dependent on a roll angle limit (Ohm; (I) hm_g, Ohm_d) corresponding and the current value of the roll angle (0), and in that the display module (44) is further configured, when a display condition is checked, to display on the screen (34) at least s a second symbol (52A, 52B) positioned relative to the first symbol (50; 60), the difference between each second symbol (52A, 52B) and the first symbol (50; 60) representing a respective roll margin (A0g, Act) d).
    [0002]
    2. Device (14) according to claim 1, wherein at least one roll margin (3eg, 321) d) is equal to the difference between a corresponding roll angle limit (Ou,; Ohm_d) and the current value. the roll angle (0).
    [0003]
    3. Device (14) according to claim 1 or 2, wherein each roll margin (3.0g, 3.0d) is a function of a characteristic value of angle of incidence (ahm), the characteristic value of angle of incidence being preferably an angle of incidence limit (ahm) corresponding to a stall start of the aircraft (10).
    [0004]
    Device (14) according to any of the preceding claims, wherein the roll angle limit (Ohm; Olim_d) is a function of a current value of the angle of incidence (a; ag, ad) of the aircraft, the current value of the roll angle (0) of the aircraft and an incidence angle limit (a1, m) corresponding to the beginning of the stall of the aircraft (10). ). 3037413 23
    [0005]
    The device (14) of claim 4, wherein the roll angle limit (Ohm) satisfies the following equation: (cehm-a0) where ce. represents the current value of the roll angle, a represents the current value of the angle of incidence, ahr 'represents the angle of incidence limit, and ao represents a zero lift incidence angle, clean to the aircraft (10).
    [0006]
    Apparatus (14) according to claim 4 or 5, wherein the current value of the angle of incidence (a; ag, ad) is calculated as a function of a measured value of the angle of incidence and an estimate of the time derivative of the angle of incidence.
    [0007]
    The device (14) according to claim 6, wherein estimating the time derivative of the angle of incidence satisfies the following equation: ## EQU1 ## V where q represents the pitch ratio, g is the acceleration of gravity, V represents the aerodynamic speed of the aircraft (10), represents the attitude of the aircraft (10), 20 (I) represents the value roll angle, a represents the current value of the angle of incidence, nx represents the longitudinal component of the load factor, and nz represents the vertical component of the load factor. 25
    [0008]
    8. Device (14) according to any one of claims 1 to 3, wherein the roll angle limit (Ohm; (1) ,,, _ d) is a function of a kinetic pressure applied to the aircraft, a lift gradient (Cza) specific to the aircraft and an incidence angle limit ((km) corresponding to a start of stalling the aircraft (10).
    [0009]
    Apparatus (14) according to claim 8, wherein the roll angle limit (Ohm) satisfies the following equation: Ohm = arccos g _p -V2 xSxC, za ao x mx 2 [(ao)) Ohm = arccos cos (0) x 3037413 24 where (pV2) / 2 represents the kinetic pressure applied to the aircraft (10), S represents a reference surface of the aircraft (10), Cz "represents the lift gradient, specific to the aircraft (10), m represents the mass of the aircraft (10), g is the acceleration of gravity, 5 ah, represents the incidence angle limit, and ao represents an angle of zero lift effect, specific to the aircraft (10).
    [0010]
    Apparatus (14) according to any one of the preceding claims, wherein the calculation module (42) is further configured to calculate a plurality of roll margins (A (I) g,
    [0011]
    Apparatus (14) according to claim 10, wherein the calculation module (42) is further configured to calculate a plurality of roll angle limits (cl) iim_g,
    [0012]
    Apparatus (14) according to any one of the preceding claims, wherein the first symbol indicating a current orientation of the aircraft (10) is selected from a speed vector symbol (50) of the aircraft and a line of artificial horizon (60).
    [0013]
    13. Device (14) according to any one of the preceding claims, in which the display condition is verified in particular when the absolute value of the current value of the roll angle (0) is greater than a predefined threshold, and the display module (44) is then configured to automatically display on the screen each second symbol (52A, 52B). 25
    [0014]
    14. A method of assisting the piloting of an aircraft (10), the method being implemented by an electronic device (14) and comprising the following steps: - acquiring a current value of the roll angle (0) of the aircraft, - calculating (100) at least one rolling angle limit (Ohm; Cl) hm_g, corresponding to a start of stalling the aircraft, and 30 - displaying (120) on a screen (34) a first symbol (50; 60) indicating a current orientation of the aircraft, characterized in that it further comprises the following steps: calculating (110) at least one roll margin (Ace, g, A (Pd), each roll margin (Ace, Acl) d) dependent on a corresponding roll angle limit (Ohm; Olim_d) and 35 of the current value of the roll angle (0), and 3037413 25 - when a display condition is satisfied, displaying (120) on the screen at least one second symbol (52A, 52B) positioned relative to the first symbol (50; 60), the difference between each second symbol (52A, 52B) and the first symbol (50; 60) representing a respective roll margin (ACI) g, ACPd).
    [0015]
    15. A computer program comprising software instructions which, when implemented by a computer, implement the method of claim 14.
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    同族专利:
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    FR3037413B1|2017-07-21|
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    法律状态:
    2016-07-08| PLFP| Fee payment|Year of fee payment: 2 |
    2016-12-16| PLSC| Search report ready|Effective date: 20161216 |
    2017-06-30| PLFP| Fee payment|Year of fee payment: 3 |
    2018-06-27| PLFP| Fee payment|Year of fee payment: 4 |
    2020-06-30| PLFP| Fee payment|Year of fee payment: 6 |
    2021-06-30| PLFP| Fee payment|Year of fee payment: 7 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1501211A|FR3037413B1|2015-06-11|2015-06-11|ELECTRONIC DEVICE AND METHOD FOR AIDING THE CONTROL OF AN AIRCRAFT WITH CALCULATION AND DISPLAY OF AT LEAST ONE ROLL MARGIN, COMPUTER PROGRAM PRODUCT|FR1501211A| FR3037413B1|2015-06-11|2015-06-11|ELECTRONIC DEVICE AND METHOD FOR AIDING THE CONTROL OF AN AIRCRAFT WITH CALCULATION AND DISPLAY OF AT LEAST ONE ROLL MARGIN, COMPUTER PROGRAM PRODUCT|
    US15/176,682| US10036651B2|2015-06-11|2016-06-08|Electronic device and method for aiding the piloting of an aircraft, with calculation and display of at least a roll margin, related computer program product|
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