• 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 method of automatically assisting the landing of an aircraft on a runway from a return point (A) to an end point (D) at which the aircraft enters in contact with the landing runway, by a data processing device embarked on said aircraft and configured to be connected to an altimeter and a differential gauge, comprising: a back-navigation assistance phase comprising a guidance of the aircraft, from measurements of azimuth deviation of the aircraft relative to a reference direction connecting said return point (A) and the position of the devometer (E) transmitted by the devometer, from the return (A) towards the position of the devometer (E), a determination of the positioning of the aircraft at a predetermined capture point (B) aligned with the return point (A) and the position of the devometer (E), a guidance of the aircraft along a predefined trajectory of the capture point (B) to a predetermined landing point (C) approximately aligned with the landing runway axis from altimeter-provided altitude data and heading data and speed of the aircraft; a landing assistance phase comprising guidance of the point of attachment (C) at the end point (D).
    公开号:FR3038991A1
    申请号:FR1501512
    申请日:2015-07-16
    公开日:2017-01-20
    发明作者:Alain Chiodini；De Virel Francois Dufresne；Sylvain Pouillard
    申请人:Sagem Defense Securite SA；
    IPC主号:
    专利说明:

    GENERAL TECHNICAL FIELD The invention relates to the field of aircraft guidance.
    More particularly, it relates to a method of automatically guiding an aircraft such as a drone from a position remote from an airport to the landing of the aircraft on a runway.
    STATE OF THE ART
    The existing UAV guidance systems make it possible to autonomously guide a UAV along a predefined trajectory, corresponding for example to the path of an observation mission. To achieve such guidance, the position of the aircraft is determined at regular intervals and compared to the trajectory to follow. This position is generally determined using a receiver of an absolute satellite positioning system, such as GPS or Galileo systems, called GNSS ("Global Navigation Satellite System") systems.
    However, it may happen that the computer of the aircraft is unable to determine the current position of the aircraft, either because of a failure of a component of the aircraft, such as a GNSS receiver, or because of an unavailability of the signal of the positioning system, for example in the event of jamming thereof. Without knowing the position of the aircraft, the computer of it is then unable to guide the aircraft to follow the predetermined path. The guidance system of the aircraft is then notably unable to send it to its intended landing point such as a runway of an airport or a temporary aerodrome. The aircraft may crash into an unknown position and be lost.
    There is therefore a need for a guiding method for safely guiding an aircraft autonomously from a remote return point to an airstrip and landing the aircraft thereon, despite unavailability of satellite positioning, while minimizing the workload of the drone operator, or without intervention of it.
    PRESENTATION OF THE INVENTION
    The present invention relates, according to a first aspect, to an automatic assistance method for landing an aircraft on an airstrip from a point of return to an end point at which the aircraft enters in contact with the landing runway, said method being implemented by a data processing device embarked on said aircraft and configured to be connected to: an altimeter configured to measure the altitude of the aircraft, a distance meter positioned at a ground station and configured to measure with respect to a reference point an azimuth deviation of the aircraft relative to a reference direction connecting said return point and the position of the devometer, said method being characterized in that it comprises: - a return navigation assistance phase comprising: a guidance of the aircraft, from measurements of difference of az imit from the aircraft relative to said reference direction transmitted by the deviometer, the point of return towards the position of the devometer; a determination of the positioning of the aircraft at a predetermined capture point approximately aligned with the return point and the position of the devometer; a guidance of the aircraft along a predefined trajectory of the capture point to a predetermined point of attachment approximately aligned with the axis of the landing runway from altitude data provided by the altimeter and aircraft heading and speed data; a landing assistance phase comprising guidance of the point of attachment to the end point located on the landing runway. The aircraft can thus be driven to a known capture position by means of the azimuth measurements provided by the devometer and then guided from this position to the end point, without requiring the use of a powerful navigation center integrated into the aircraft.
    The positioning of the aircraft at the capture point can be determined from distance data between the aircraft and a ground reference point aligned with the return point and the position of the devometer.
    Such data make it possible to position the aircraft along the return point-gap gauge (AE) axis and thus to know when the capture point B is reached.
    Said distance data can be estimated from measurements of the data packet delay between the ground station and the aircraft.
    Said distance data can be estimated from measurements of the propagation time of data packets between the ground station and the aircraft, said ground station and the aircraft comprising synchronized clocks.
    The simple measurement of a packet delay that can be transmitted between the aircraft and the ground station for other purposes thus makes it possible to determine if the capture point is reached, without making it necessary to use a system. additional embedded or ground, and therefore minimizing the energy consumption by the aircraft.
    Determining the positioning of the aircraft at the point of capture may include estimating speed data of said aircraft and determining a distance traveled by the aircraft from the return point from said speed data.
    The data processing device being configured to be further connected to an optronic system comprising an image capture device embedded in the aircraft and positioned along the axis of the aircraft as well as an image processing device , adapted to the processing of said images, the speed data of said aircraft can be estimated by said optronic system by ground speed measurement using images captured by said image capture device and altitude data provided by the altimeter. The aircraft can thus determine its positioning on the return point-gap gauge (AE) axis autonomously, with a precision independent of the distance separating it from the devometer and the ground station.
    The speed data of said aircraft can also be estimated by measuring a doppler effect generated by the movement of the aircraft on signals exchanged between the aircraft and the ground station.
    The speed of the aircraft can thus be determined even in the case of adverse weather conditions hiding the ground.
    Since the data processing device is configured to be further connected to an image capture device embedded in the aircraft, the positioning of the aircraft at the capture point can be determined by the detection of a bitter of known position. in at least one image captured by said image capture device.
    Such detection makes it possible to determine the positioning of the aircraft at the capture point B with a reduced uncertainty, the position of the detected bitter being able to be known in a very precise manner. The aircraft can be guided between the return point and the capture point along a rectilinear predefined path towards the position of the devometer.
    Such a trajectory makes it possible to minimize the distance traveled and therefore the energy consumed by the aircraft to arrive at the capture point B. The aircraft can be guided between the return point and the capture point in a zigzag trajectory or in bearings.
    Such a trajectory makes it possible to improve the guiding accuracy of the aircraft, by comparing the positioning data of the aircraft seen by the devometer and the corresponding values as determined by the aircraft.
    Since the data processing device is configured to be further connected to a camera embedded in the aircraft, the landing assistance phase may include estimating a position of the end point in an image of the aircraft. landing track captured by the camera and estimating a position of the aircraft according to said position of the estimated end point in the image and altitude data provided by the altimeter, and said guidance of the aircraft from the point of attachment to the point of completion is achieved by keeping the aircraft aligned with the axis of the runway.
    The guidance of the aircraft can thus be achieved throughout the landing with a lower uncertainty than if it were made from the measurements of the devometer. This increased accuracy makes it possible to safely guide the aircraft between the point of attachment and the end point and to land it.
    The data processing device being further configured to be connected to a transceiver on board said aircraft and intended to receive signals transmitted by at least three transceivers positioned on the ground, the landing assist phase can understanding the estimate of aircraft position data from distance data between the onboard transceiver and the at least three ground transceivers. The use of distance information between the aircraft and fixed ground points of known position as the ground transceivers reduces the uncertainty of the position of the aircraft so as to accurately guide the aircraft to the aircraft. at the point of completion.
    According to a second aspect, the invention relates to a computer program product comprising code instructions for executing the method according to the first aspect when this program is executed by a processor.
    According to a third aspect, the invention relates to a data processing device configured for implementing the assistance method according to the first aspect.
    According to a fourth aspect, the invention relates to an automatic assistance system for landing an aircraft on an airstrip from a point of return to an end point at which the aircraft enters the aircraft. contact with the landing runway comprising: an altimeter configured to measure the altitude of the aircraft; a devometer positioned at a ground station and configured to measure a reference deviation from a reference point; azimuth of the aircraft with respect to a reference direction connecting said return point and the position of the devometer, the data processing device according to the third aspect.
    Said assistance system according to the fourth aspect may further comprise an optronic system comprising an image capture device embedded in the aircraft and configured to be connected to the data processing device.
    Said assistance system according to the fourth aspect may further comprise a camera and its associated image processing device, configured to be connected to the data processing device.
    Said assistance system according to the fourth aspect may furthermore comprise: at least three transceivers positioned on the ground; a transceiver configured to receive signals transmitted by said at least three transceivers positioned on the ground, on board said aircraft and configured to be connected to the data processing device.
    Such computer program products, data processing device and system have the same advantages as those mentioned for the method according to the first aspect.
    PRESENTATION OF THE FIGURES Other features and advantages will appear on reading the following description of an embodiment. This description will be given with reference to the accompanying drawings, in which: FIG. 1 schematically illustrates an example of landing guidance of an aircraft on an airstrip from a return point to an end point according to a mode of implementation of the invention; FIG. 2 illustrates the various components that can be included in a system for assisting the landing of an aircraft according to the invention; FIG. 3 illustrates the two links connecting the data processing device to a ground station as well as the devometer included in the landing assistance system according to the invention; FIG. 4 illustrates a system for assisting the landing of an aircraft according to one embodiment of the invention; FIG. 5 is a diagram schematizing an exemplary implementation of the automatic landing assistance method of an aircraft according to the invention; FIG. 6 illustrates the landing assistance phase according to the invention when the assistance system is equipped with a camera; Figure 7 illustrates the positioning of a reticle in an image on the end point; FIG. 8 is a diagram illustrating the calculation of corrected position data from measurements transmitted by the devometer according to one embodiment of the invention.
    DETAILED DESCRIPTION
    One embodiment of the invention relates to a method of automatically assisting the landing of an aircraft 1 on an airstrip from a return point A to an end point D at which the aircraft comes into contact with the runway, as shown in Figure 1,
    With reference to FIG. 1, the following points can moreover be defined: capture point B: point from which the aircraft enters an alignment phase with the runway to land. - point of attachment C: point aligned with the axis of the runway through which the aircraft must pass before landing.
    This method is implemented by a data processing device 2, a landing assistance system 3, as shown in FIG. 2. The landing assistance system 3 may also comprise an altimeter 4 on board the aircraft and to which the data processing device can be connected. Altimeter 4 can be a barometric altimeter or a laser altimeter. The barometric altimeter can be accurate to 10 meters and can be re-calibrated by the atmospheric pressure QNH value, which is the barometric pressure corrected for instrumental errors, temperature and gravity, and returned to mean sea level (MSL or MSL). Mean Sea Level). In practice, the QNH pressure can be given with reference to the threshold of the airstrip, so that the altimeter displays the geographical altitude of the end point D when the aircraft is on the threshold of the track in question . The laser altimeter can be accurate to 0.2 meters and be used when the altitude is less than 100 meters.
    This method proposes to safely guide an aircraft such as a drone, autonomously, from a return point far to the airstrip, for example that of an airport or a more rudimentary runway, and landing the aircraft on this runway, despite the unavailability of the satellite positioning system or GNSS, by first guiding the aircraft to a predetermined point, known as capture point B, of known position and relatively close to the runway of landing by a guidance of the aircraft in a set direction, the deviation from said setpoint being determined and transmitted by a system on the ground from a measurement of the azimuth data of the aircraft by compared to this ground system.
    For this, the data processing device 2 may be embedded on board the apparatus and may include a computer and a communication interface. Such an onboard computer may consist of a processor or microprocessor, of the x-86 or RISC type for example, a controller or microcontroller, a DSP, an integrated circuit such as an ASIC or programmable such as an FPGA, a combination of such elements or any other combination of components to implement the calculation steps of the method described below. Such a communication interface may be any interface, analog or digital, allowing the computer to exchange information with the other elements of the assistance system 3 such as altimeter 4. Such an interface may for example be a RS232 serial interface, a USB interface, Firewire, HDMI or Ethernet type network interface or any type of interface used in aeronautics.
    As shown in FIG. 2, the computer of the data processing device 2 can be connected to a flight control system (SCV) 7. The flight control system 7 can be responsible for actually guiding the aircraft through the reference direction to follow, to the capture point B, from guidance data provided by the computer of the data processing device, functions of the attitude data of the aircraft, such as heading, roll and the pitch, determined by sensors integrated in the SCV, and azimuth deviation data provided by the ground system mentioned above. For this, the flight control system can transmit instructions to the aircraft control members such as electric, hydraulic or hybrid actuators operating the control surfaces 8 or the throttle lever 9. The aircraft is thus guided by a servo on a direction setpoint to said capture point B.
    The data processing device 2 can be connected to a ground station, generally placed near the airport or the landing runway, via two links as shown in FIG. 3: a link 11 called "control / command" C2 radio and bidirectional in a band of the electromagnetic spectrum between 3 and 6 GHz which allows the exchange of control and command messages between the ground station and the aircraft. The transmitted signals are modulated using a single-carrier modulation and are transmitted / received by means of an omnidirectional antenna mounted on a masthead at the station on the ground; - A bidirectional and radio mission 12 M data link in a band of the electromagnetic spectrum between 10 and 15 GHz which allows the exchange of data streams generated by the various onboard sensors. The transmitted signals are modulated using a multi-carrier modulation and are transmitted / received by means of a directional antenna such as a dish mounted at the top of the mast.
    The landing assistance system 3 also comprises a gage gauge 13. Such a gage is a ground system, connected to the directional antenna of the ground station used for the mission link 12. The gage is configured to continuously measuring the direction in which the aircraft is, ie the azimuth of the aircraft relative to a reference direction, for example the north. The devometer can also measure the elevation of the aircraft relative to a reference plane, for example a plane tangent to the ground. The azimuth and the elevation of the aircraft are measured with respect to a reference point, for example with respect to the position of the directional antenna mounted at the head of the mast. This reference point is called the position of the devometer in the rest of this document and is noted E. The devometer can measure these angles from the orientation of the directional antenna provided by a configured antenna positioner electromechanical device to position the directional antenna in a field and position so as to point it towards the aircraft to maximize the quality of the link.
    The method proposes to use these azimuth data determined by the deviometer to guide the aircraft towards the position of the devometer. More specifically, the direction to be forwarded to the aircraft is subject to a closed-loop servo: the devometer can measure and transmit to the aircraft a difference between these measured azimuth data and a corresponding azimuth to follow to the direction AE connecting the return point A and the position of the devometer E. From these azimuth deviation data, the computer of the data processing device determines guiding data and transmits them to the control system. flight control, then the flight control system of the aircraft can direct it to cancel this gap and guide the aircraft to the position of the devometer E.
    In one embodiment, the elevation of the aircraft is treated as its azimuth. The devometer can also transmit to the aircraft an elevation difference between the measured elevation of the aircraft and a reference elevation corresponding to the elevation in the AE direction measured during the positioning of the aircraft at the return point. A. The use of such a difference in elevation by the flight control system in this case leads to a gradual decrease in the altitude of the aircraft as the aircraft advances towards the aircraft. position of the devometer.
    In a second embodiment, only the azimuth deviation measurements are used for the guidance of the aircraft, carried out at constant altitude according to the measurements of the altimeter of the aircraft.
    In a third embodiment, the azimuth and elevation measurements are used for guidance but the altitude of the aircraft is kept constant by varying over time the reference elevation used for the measurements. elevation difference.
    In a last embodiment, guidance similar to the first embodiment is implemented until the aircraft has reached a minimum altitude, from which the guidance is performed at constant altitude.
    In the various embodiments described below, the altitude data of the aircraft provided by the altimeter can be corrected if necessary to correspond to the relative altitude of the aircraft with respect to a point of departure. reference, for example with respect to the altitude of the devometer. This makes it possible, for example, to overcome variations in altitude of the terrain overflown by the aircraft. The aircraft can be guided in this direction until it is positioned at a known position capture point B relatively close to the runway. In one embodiment, the capture point B is approximately aligned with the return point A and the position of the devometer E, when the azimuth to be followed by the aircraft is aligned with the axis AE. Alternatively, the azimuth to follow may be deviated from the axis AE and the capture point B will then be distant from this axis and not aligned with the return point A and the position of the devometer E. From this point B capture of known position, a predefined trajectory can be imposed on the aircraft so as to bring it to a predetermined point of attachment C aligned with the axis of the landing runway, with a direction of propagation of the aircraft also aligned with the axis of the runway. The point of attachment C may be situated on the periphery of a catch zone centered on the end point D or on the position of the differential gauge E and of predetermined radius, as represented in FIG.
    By way of example, such a grip zone may have a radius less than or equal to 5 km.
    The landing assistance system 3 may also include one or more additional systems for detecting the positioning of the aircraft at the point of capture B.
    The landing assistance system may thus comprise an optronic system 6 comprising an image capture device 14 on board the aircraft and an image processing device 19 adapted to the processing of said images, connected to the device. 2. The image processing device is configured to be able to detect any type of object of particular characteristics (geometrical characteristics, luminous characteristics, thermal signature, etc.) and to define an angular position with respect to a reference axis ( for example with respect to the axis of movement of the aircraft passing through the center of the captured image or any position defined in this image). This capture device and its associated image processing device may be employed to detect a ground mark located at or near the capture point B. Such a landmark is called bitter and may for example consist of a building, a mark or geographical landmark such as a road crossing. The detection of this marker in the images captured by the image capture device makes it possible to determine when the aircraft is located approximately at the capture point B. The field of view of the image capture device is not necessarily centered on the axis of movement of the aircraft. The angle between the axis of displacement of the aircraft and the axis connecting the image-capturing device and a predetermined point of the images captured by the device, for example their center, can be determined by construction or by calibration in order to to know the direction of propagation of the aircraft with respect to the images captured by this device. This direction can be materialized in the captured images if it is part of the field of view of the device and is known to the image processing device.
    The positioning of the aircraft at the capture point B can also be determined from a distance measurement between the aircraft and a ground reference point aligned with the return point A and the position of the devometer E. This reference point on the ground can for example be the position of the devometer E itself. The distance data between the aircraft and the position of the devometer can be determined by the ground station, depending on the time of transmission of a signal between the ground station and the aircraft or even by of another system such as a radar, then these distance data can be transmitted to the aircraft via the control / command link 11. Alternatively, as shown in FIG. 2, the aircraft can estimate itself even the distance from the ground station. The assistance system 3 may then include a distance estimation module 5 on board the aircraft and responsible for estimating the distance between the aircraft and the ground station. This module can be integrated into the processing device 2. The distance estimation module can estimate this distance by measuring the propagation time of at least one data packet between the aircraft and the ground station on the link of the aircraft. control / command 11 or on the mission link 12. Alternatively the distance estimation module can integrate or be connected to an additional embedded transceiver dedicated to the exchange of data packets with the ground station for the measurement of the distance between the aircraft and the station; the distance estimation module can then estimate this distance by measuring the time of propagation of at least one data packet between the aircraft and the ground station by means of this additional transceiver. The data packets transmitted between the aircraft and the ground station may be timestamped so that a one-way delay can be determined between the aircraft and the ground station. The aircraft can then embark a clock synchronized with a clock of the station on the ground.
    The positioning of the aircraft at the capture point B can also be determined by calculating, from aircraft speed data relative to the ground, the distance traveled by the aircraft from the return point A. velocity data can be obtained by means of the optronic system 6 or by a speed measurement by another on-board equipment described above, for example by a Doppler effect measurement on the electromagnetic waves exchanged on one of the two links of data, or else by a speed measurement by one or more dedicated additional devices embarked on the aircraft. For example, a pitot probe may be used to measure the relative speed of the aircraft relative to the ambient air, another sensor, for example located at the ground station, may be used to measure the wind speed and these two measurements can be combined to estimate the speed of the aircraft relative to the ground.
    The landing assistance system 3 may comprise an additional positioning system dedicated to guiding the aircraft in the landing zone during a landing phase to the point of completion.
    In a first embodiment, the landing assistance system 3 comprises a camera 10 on board the aircraft to which the image processing device can be connected. Such a camera may be an infrared panoramic camera for example of SWIR type ("Short Wave Infrared Range", wavelength between 0.9 and 1.7 microns), MWIR ("Medium Wave Infrared Range") or LWIR ("Long Wave Infrared" Tidy "). It can also work in the visible spectrum. This camera 10 can be confused with the image capture device 14 or be distinct from it. The video stream acquired by the camera is transmitted on the one hand to the image processing device 19 so as to locate the landing runway and to determine, via the processing device 2, the position of the aircraft relative to this one during the landing, and on the other hand to the ground station by means of the "mission" link. In one embodiment, the camera consists of an image capture system that can comprise several optical fields, several detection spectral bands or even several image sensors according to the missions assigned to it. The image processing system is configured to be able to combine and analyze all of its images according to known methods.
    In a second embodiment shown in FIG. 4, the landing assistance system 3 comprises at least one transceiver positioned on the ground and an on-board transceiver 15 configured to be connected to the aircraft landing device. data processing 2. Such transceivers may be ULB (Ultra Wideband) radio beacons. By exchanging signals with the transceiver (s) on the ground, the on-board transceiver is able to determine the distance separating it from each of the transceivers on the ground, for example by measuring the round-trip transmission time of the transceiver. 'a signal. The onboard transceiver is also configured to transmit these distances to the processing device 2. Knowing the positions of the transceivers on the ground, the processing device 2 can then determine a position of the aircraft corrected from the data of the aircraft. azimuth and elevation transmitted by the devometer and the distance data provided by the onboard transceiver. In practice, a position of the aircraft can be estimated in this manner using at least four transceivers or at least three transceivers plus altitude information of the aircraft provided by the aircraft. altimeter.
    The process steps are described in more detail in the following paragraphs with reference to FIG.
    The method may comprise a reverse navigation assistance phase P1 during which the processing device carries out the guidance of the aircraft along a predefined trajectory of the return point A to the predetermined point of attachment C approximately aligned with the runway center line from altimeter 4 altimeter data, aircraft heading and speed data, and azimuth deviation data transmitted by the aircraft. 'deviation measurement.
    The method may also include a landing assistance phase P2 during which the processing device carries out the guidance of the aircraft from the point of attachment C to the end point D located on the landing runway.
    The navigation assistance phase P1 may comprise a first guidance step E1 of the aircraft from the point of return A towards the position of the devometer E, from measurements of azimuth deviation with respect to a reference direction transmitted by the devometer. For this, the direction AE connecting the return point A and the position of the devometer E can be taken as a reference direction and the measurement of the real azimuth of the aircraft measured at each moment by the devometer can be used by it to determine at every moment the difference between the measured azimuth and the reference direction. The deviometer can then, at any moment, transmit to the data processing device via one of the data links the calculated difference in azimuth. The processing device can then at any moment guide the aircraft so as to cancel this gap, thus making the aircraft follow the reference direction directing it towards the position of the devometer E. This first guide step E1 can comprise a determination of the positioning of the aircraft at the predetermined capture point B approximately aligned with the return point A and the position of the devometer E. The processing device can thus determine when the aircraft, whose actual position is unknown since its departure from the return point A, reaches the capture point B of known position.
    As explained above, the positioning of the aircraft at the capture point B can be determined from distance data between the aircraft 1 and a ground reference point aligned with the return point A and the position of the aircraft. Difference E, such as the point E itself. Since the positions of the devometer E and the capture point B are known, and the aircraft is aligned with these two points, the processing device can from the distance data between the aircraft and the devometer deduce the distance between the aircraft and the point of capture B. When this distance is zero, the aircraft is located at the point of capture B, to the uncertainties of the measurements.
    These distance data can be received by one of the bidirectional radio links from the ground station. These distance data can also be determined by the processing device itself, based on measurements of the one-way or round trip delay between the aircraft and the ground station.
    Alternatively, these distance data can be determined by determining a position of the aircraft from a controlled variation of azimuth of the aircraft, or elevation of the aircraft when the latter is sufficiently close to the station on the ground. Such a controlled variation can be induced by a remote pilot located in the ground station. For this, the aircraft can for example perform a predetermined altitude variation, controlled using the altimeter measurements. Such a variation causes a variation of elevation in the measurement data obtained by the deviometer. This variation makes it possible to determine the position of the aircraft and therefore the distance at which the aircraft is from the position of the devometer E.
    The determination of the positioning of the aircraft at the capture point B may comprise the estimation of speed data of said aircraft and the determination of a distance traveled by the aircraft from the return point A from said speed data, by example by realizing their integration during the displacement of the aircraft. The positions of the return point A and the capture point B are known, and the aircraft being aligned with these two points, the processing device can from the distance data between the aircraft and the return point A deduce the distance between the aircraft and the point of capture B. When this distance is zero, the aircraft is located at the point of capture B, to the uncertainties of the measurements.
    The speed data of the aircraft can be estimated by the optronic system 6 by measuring the speed of the ground scrolling using images captured by the image capture device and altitude data provided by the aircraft. 'altimeter.
    The speed data of the aircraft can also be estimated by measuring a doppler effect generated by the movement of the aircraft. For example, the data processing device can measure a frequency offset induced by the movement of the aircraft in the signals received on one of the two data links from the ground station and the deviation meter.
    The speed data of the aircraft can also be measured by another onboard system such as pitot probes. Since such probes measure only the speed of the aircraft relative to the ambient air and thus may not accurately reflect the speed of the aircraft relative to the ground in the event of wind, this data may be supplemented by information from the aircraft. ambient wind speed along the flight path followed by the aircraft. This speed information can be determined by a weather station integrated in the ground station according to known methods.
    The determination of the positioning of the aircraft at the capture point B can also be determined by the detection of a bitter of known position in at least one image captured by said image capture device, as explained above, completed altitude data from the aircraft provided by the altimeter. The image capture device may also be employed to detect a known position bitter well before the aircraft arrives near the capture point B, during the course from the point of return. Such detection can be used to check, and correct if necessary, the distance between the current position of the aircraft and the capture point B determined by one of the means described above.
    Such a bitter for determining the positioning of the aircraft at the capture point B may be the position E of the devometer itself. During the first guide step E1, the aircraft is in fact moving towards the position of the devometer E which is therefore in the axis of propagation of the aircraft and in the field of vision of the optronic system. The optoelectronic system is capable of detecting in the images of the image-capture device the devometer at a distance of about 1 to 2 km. The gap gauge is generally located near the airstrip, the aircraft is then at a comparable distance thereof and adapted to implement a predefined movement to the point of attachment C so as to align the aircraft with the axis of the runway. The point of attachment C can also be confused with the position of the devometer E if it is approximately aligned with the axis of the track.
    In the different modes of determination of the positioning of the aircraft at the capture point B involving the optronic system, the latter can exploit images from the camera, for example in the event of failure of the image capture device 14.
    During such a determination of the positioning of the aircraft at the capture point B as a function of the position of the devometer E, knowledge of the absolute geographical coordinates of the capture point B, the point of attachment C and the position the gap gauge E is not necessary. Knowledge of the relative positions of these points with respect to each other and with respect to the landing strip is sufficient to effectively guide the aircraft relative to the runway and position it correctly for landing. This can be particularly interesting when the airstrip is temporary and the conditions, such as lack of a GPS signal, make it difficult to precisely position the runway. In addition, no other point of reference is necessary to allow the proper operation of the optronic system and the guidance of the aircraft.
    The determination of the positioning of the aircraft at the capture point B can finally be determined by determining aircraft position data such as longitude and latitude. Since the satellite positioning data are unavailable, the position of the aircraft can be determined from: • the azimuth measured by the devometer, and • two data from: o the elevation of the aircraft measurable by the Difference meter, o the distance between the aircraft and the devometer, determined as indicated above, o the altitude of the aircraft relative to the devometer obtained from the measurements of the altimeter.
    The calculation of the position data using measurements transmitted by the devometer can be performed in polar coordinates centered on the position of the devometer E, then the position data of the aircraft obtained can be converted into Cartesian coordinates under shape of longitude and latitude. At the end of the first guide step E1, the aircraft is thus positioned at the capture point B. The return navigation assistance phase P1 may then comprise a second guidance step E2 of the aircraft along the route. a predefined trajectory of the capture point B to the point of attachment C approximately aligned with the axis of the runway. Along this predefined trajectory, the aircraft can be diverted from the theoretical trajectory to be followed by the wind. In order to correct the position of the aircraft to maintain it on the predefined trajectory, the guidance of the aircraft can be made from altitude data provided by the altimeter and aircraft heading and speed data. . Guidance can also be improved by taking into account local meteorological data, such as wind data, or by ad hoc or continuous recalibration of the aircraft with respect to a particular bitter, for example the end point D or the position of the aircraft. In particular, the guidance of the aircraft can be achieved by keeping this bitter visible in the images captured by the optronic system at an angular position defined as a function of the progression along the trajectory between the point of departure. capture B and the point of attachment C.
    During this first guide step E1, the predefined trajectory followed by the aircraft between the return point A and the capture point B can be rectilinear towards the position of the devometer, thus minimizing the distance traveled and the distance traveled. energy consumed to reach point of capture B.
    Alternatively, the predefined trajectory followed by the aircraft between the return point A and the capture point B may be in zigzag or in steps. Such a trajectory then makes it possible to slightly vary the orientation of the position of the directional antenna of the station on the ground and thus reduce the uncertainty on the azimuth and / or elevation measured by the devometer.
    The steps described above make it possible to obtain the position of the aircraft with sufficient precision to send the aircraft in the alignment of the runway to the point of attachment C. However, the precision obtained can prove to be insufficient to guide the aircraft to the point of completion and land on the runway. With insufficient positioning uncertainty, the aircraft may be guided alongside the runway. It may therefore be desirable to obtain the position of the aircraft with increased accuracy to ensure a safe landing.
    In a first embodiment, represented in FIG. 5 and in FIG. 6, the landing assistance phase P2, during which the aircraft is guided from the point of attachment C to the end point D, can exploit the images of the landing runway and the end point D provided by the camera 10 on board the aircraft. For this, the landing assistance phase P2 can comprise an image processing step E3 during which the position of the end point D is estimated in one or more images among the image stream of the landing strip successively captured by the camera. This step can be implemented repeatedly throughout the approach of the aircraft to the runway and landing.
    This detection of the end point in an image can be fully automatic if the end point is easily detectable in the image, for example if the end point is materialized on the airstrip by a landmark, or if the track itself is identifiable by the presence on the ground of one or more markers such as markings or visible lights in the spectral band of optronic system. The position of the end point in the image can then be determined by known pattern or image recognition techniques.
    Alternatively, the position of the end point in an image can be specified by a human operator in a first image, by means of the control / command link 11, for example by positioning in the image a reticle of aiming on the point as shown in FIG. 7. Then, the processing device can track the position of the end point pointed by the reticle in the images subsequently provided by the on-board camera, and automatically adjust it. the position of the reticle to keep it centered on the end point. Such a manual initiation of tracking may be necessary when the marking of the runway or end point is insufficient for automatic detection, or when the flight conditions (night flight, rain, fog, etc.) do not occur. do not allow such automatic detection. If necessary, the operator can correct the position tracking by manually adjusting one or more times the position of the reticle in the current image so that the reticle remains well positioned on the end point in the successive processed images. To facilitate the automatic tracking of the endpoint position, visible or infrared light sources, adapted to the detection spectrum of the image capture system, can be arranged on either side of the landing strip at a height the point of completion.
    The landing assistance phase P2 may also comprise a first position determination step E4 during which the position of the aircraft is estimated as a function of the position of the estimated end point in the image at the time of landing. the image processing step E3. This estimate also requires altitude data from the aircraft provided by the altimeter and the end point coordinates that can be provided by the ground station via the control / command link 11. At the derived from the first step of determining position E4, the processing device has a position of the aircraft, for example in the form of longitude and latitude. This position can then be used to carry out the guidance of the aircraft until landing at the end point D during a third guide step E6 in which the guidance of the aircraft from the point of attachment C at the point of completion D is achieved by keeping the aircraft aligned with the axis of the runway. The position data of the aircraft obtained at the end of the first position determination step E4 can be filtered using a Kalman filter during a filtering step E5 in order to refine the estimate the position of the aircraft before using this position to perform the guidance of the aircraft during the third guide step E6.
    A nonlimiting example of the mode of implementation of the first step of determination of position E4 will be given in the following paragraphs. Alternatively other modes of implementation well known to those skilled in the art could be implemented. As represented in FIG. 5, the first position determination step E4 may comprise a line of sight calculation step E41 during which the line of sight of the aircraft at the end point D is determined in the terrestrial reference frame centered. .
    This determination can be made from: • (Dl, Dg, D2) the position of the end point D supplied by the ground station, • (Dh, Dv) the abscissa and ordinate of the end point pointed by the reticle in the image of the onboard camera obtained at the end of the image processing step E3, for example with respect to the upper left corner of the image, • (Cep, C0, Cip) the positioning angles of the camera embedded in a marker attached to the aircraft, • (Caoh, Caov) the horizontal and vertical angles of opening of the camera, • (CRH, Crv) the horizontal and vertical resolutions of the camera, • (Αφ, Αθ, Αψ) the angles of roll, pitch and heading of the aircraft provided by the inertial unit, • Az the altitude of the aircraft provided by the altimeter.
    Note also: • Cazimut and Celevation the azimuth and the elevation of the aircraft in the reference of the camera • RT the terrestrial ray • Vx: vector associated with the line of sight in the camera coordinate system • Vy: associated vector to the 1st normal to the line of sight in the camera coordinate system • Vz: vector associated with the 2nd normal to the line of sight in the camera coordinate system • Wx: vector associated with the line of sight in the terrestrial landmark • Wy: vector associated with the 1st normal to the line of sight in the terrestrial reference centered • Wz: vector associated with the 2nd normal to the line of sight in the centered terrestrial frame The line of sight calculation step E41 can then include the following operations : • determination of the elementary angle associated with a pixel
    • determination of the angular position of the line of sight with respect to the axis of the camera,
    • determination of the line of sight in the camera marker:
    Vector associated with the line of sight to the endpoint:
    Vector associated with the first normal to the line of sight to the endpoint:
    Vector associated with the second normal to the line of sight towards the end point: VZ = VX Λ vy • constitution of a matrix of passage from the reference of the camera to the mark of the aircraft:
    • constitution of a matrix for the passage of the reference mark of the aircraft to the local landmark of the endpoint:
    • constitution of a matrix of passage of the local terrestrial reference point from the point of completion to the terrestrial reference centered:
    • calculation of the matrix of passage of the reference of the camera to the terrestrial reference centered:
    • determination of the line of sight (Wx, Wy, Wz) in the centered landmark. Vector associated with the line of sight in the centered landmark:
    Vector associated with the 1st normal to the line of sight towards the point of completion:
    Vector associated with the 2nd normal at the line of sight towards the end point:
    The first position determination step E4 can then comprise a position calculation step E42 during which: • the equations are determined: o of the plane whose normal is ut tangent to the point resulting from the projection of the end point to the altitude of the aircraft, o the plane generated by (Wx, Wz), normal Wy and passing through (DL, DG, Dz). o the plane generated by (Wx, Wy), of normal Wz and passing through (DL, DG, Dz). • the coordinates of the aircraft are determined in the centered landmark.
    They correspond to the point of intersection of these three planes:
    The solution X is obtained by solving the linear system MX = A when ufWx <0, with:
    The solution of the linear system above is:
    Latitude and longitude are then given by:
    In a second embodiment, represented in FIG. 5 and in FIG. 8, the landing assistance phase P2, during which the aircraft is guided from the point of attachment C to the end point D, can operate distance data between a transceiver on board the aircraft and at least three transceivers on the ground. For this purpose, the landing assistance phase P2 can comprise a second position determination step E7 in which position data of the aircraft is estimated from distance data between the onboard transceiver. and said at least three ground transceivers. As explained above, the distance between each ground transceiver and the onboard transceiver can be determined by the exchange of signals between these transmitters. Since the position of the ground transceivers is known, this distance information can be used to minimize the uncertainty in the position of the aircraft. Optionally, the determination of the position data of the aircraft can also take advantage of azimuth and elevation measurements transmitted by the devometer when such measurements are available.
    For this purpose, the calculation of the position data involving the measurements transmitted by the differenceometer and the distances between transceivers (ER) can be performed by a minimization module 16 minimizing a cost function. Such a cost function can be a mathematical expression comprising power terms of difference between a distance measured between the onboard transceiver and a ground transceiver and a corresponding distance calculated from the position of the aircraft and that of the transceiver on the ground, and optionally the difference between the actual position coordinates of the aircraft and the corresponding coordinates provided by the devometer. These powers can be chosen arbitrarily or selected to modulate or emphasize the relative importance of the contributions to each other. The desired position coordinates are then the coordinates chosen as actual position coordinates minimizing the cost function according to the criterion of "least power". An example of a simple cost function C that does not take into account the elevation measurement provided by the devometer is provided below. This cost function comprises, for example, a C1 term that is a function of the distance data between the onboard transceiver and the ground transceivers and a C2 term that is a function of the azimuth measurement provided by the devometer.
    The determination of the position of the aircraft being performed in a discrete manner, it is assumed in this example that it is carried out periodically with a sampling period T. We place ourselves at the instant t = kT.
    Where: (.x (mT), y (mT)): Position of the aircraft held at time mT. 6 {mT): Azimuth retained from the aircraft relative to the reference direction at the instant mT. θε (πιΤ): Measured azimuth of the aircraft with respect to the reference direction at time mT. ae: Standard deviation of the measurement error made by the devometer (xn, y-n) 'Position of the ULB UL on the ground of index n. N: Number of ULB ER deployed on the ground (N> 3). dn (j): Distance measurement between the aircraft and ground UL ULB of index n at instant τ.
    Smaxi (j) Maximum distance error committed during the distance measurement process.
    wn (t): 1 if the distance measurement is possible (the ground ER is within range of the onboard ER), 0 otherwise. o, p, q: Optional parameters allowing the cost function to be progressively conformed to a "rectangular well" (when o, p, q - »oo). The angle 0 (t) is related to the coordinates (x (t), y (t)) as follows: 0 (ί) = Re (-ίlog (x (t) + iy (t))) Where Re is the real part.
    The terms C1 and C2 given as examples are respectively functions of the distance data and azimuth measurements provided at several times mT before the instant kT at which the corrected position data x (t), y (t) are searched. The distance measurements dn (mT), the position coordinates (x (mT), y (mT)), and the azimuth measurements 0 (mT), 0e (mT) have already been determined or measured for the previous moments at t = kT, these terms are assumed to be known for m <k.
    Minimizing c (x (t), y (t)) then amounts to minimizing:
    The solution is obtained as presented above by solving the following system of equation, for example by the method of Newton-Raphson:
    Alternatively, the altitude of the ground transceivers zn can be taken into account and the minimization of the cost function can be used to determine the altitude of the aircraft z (t). The cost function can then be written
    With
    Minimizing C (x (t), y (t), z (t)) then amounts to minimizing:
    The solution is obtained as presented above by solving the following system of equation, for example by the method of Newton-Raphson:
    The corrected position data (x (t), y (t)) obtained by minimizing the cost function can be filtered using a Kalman filter 17 in order to refine the estimate of the position of the aircraft before using this position to perform the guidance of the aircraft, and the filter state matrix can be adapted to take into account the profile of the predefined trajectory to be forwarded to the aircraft 18.
    The proposed method thus makes it possible to obtain guidance of the aircraft to the end point and to land it, despite the unavailability of satellite positioning.
    权利要求:
    Claims (18)
    [1" id="c-fr-0001]
    A method of automatically assisting the landing of an aircraft (1) on an airstrip from a return point (A) to an end point (D) at which the aircraft enters in contact with the landing runway, said method being implemented by a data processing device (2) embarked on said aircraft (1) and configured to be connected to: an altimeter (4) configured to measure the altitude of the aircraft, - a deviometer (13) positioned at a ground station and configured to measure, with respect to a reference point, an azimuth deviation of the aircraft relative to a reference direction connecting said return point (A) and the position of the differenceometer (E), said method being characterized in that it comprises: a back-navigation assistance phase (P1) comprising: a guidance of the aircraft (1), from measurements of azimuth deviation of aeron ef with respect to said reference direction transmitted by the deviation of the return point (A) towards the position of the devometer (E); a determination of the positioning of the aircraft at a predetermined capture point (B) approximately aligned with the return point (A) and the position of the devometer (E); a guidance of the aircraft (1) along a predefined trajectory of the capture point (B) to a predetermined point of attachment (C) approximately aligned with the axis of the runway from altitude data provided by the altimeter (4) and aircraft heading and speed data; a landing assistance phase (P2) comprising guidance of the point of attachment (C) at the end point (D) located on the landing runway.
    [2" id="c-fr-0002]
    The assistance method according to claim 1, wherein the positioning of the aircraft at the capture point (B) is determined from distance data between the aircraft (1) and a ground reference point aligned with the return point (A) and the position of the devometer (E).
    [3" id="c-fr-0003]
    The assistance method according to claim 2, wherein said distance data is estimated from measurements of the data packet delay between the ground station and the aircraft.
    [4" id="c-fr-0004]
    The assistance method according to claim 3, wherein said distance data is estimated from measurements of data packet propagation time between the ground station and the aircraft, said ground station and the aircraft. including synchronized clocks.
    [5" id="c-fr-0005]
    The assistance method according to claim 1, wherein the determination of the positioning of the aircraft at the capture point (B) comprises the estimation of speed data of said aircraft and the determination of a distance traveled by the aircraft. from the return point (A) from said speed data.
    [6" id="c-fr-0006]
    The assistance method according to claim 5, wherein the data processing device (2) is configured to be further connected to an optronic system (6) comprising an image capture device (14) embedded in the the aircraft (1) and positioned along the axis of the aircraft, as well as an image processing device adapted to the processing of said images, the speed data of said aircraft (1) are estimated by said optronic system by measurement of speed of scrolling of the ground using images captured by said image capture device and altitude data provided by the altimeter (4).
    [7" id="c-fr-0007]
    7. Assist method according to claim 5, wherein the speed data of said aircraft (1) are estimated by measuring a doppler effect generated by the movement of the aircraft on signals exchanged between the aircraft and the station on the ground.
    [8" id="c-fr-0008]
    8. A method of assistance according to one of the preceding claims, wherein the data processing device (2) being configured to be further connected to an image capture device embedded in the aircraft (1), the positioning the aircraft at the capture point (B) is determined by detecting a known position bitter in at least one image captured by said image capturing device.
    [9" id="c-fr-0009]
    9. Assist method according to one of the preceding claims, wherein the aircraft (1) is guided between the return point (A) and the capture point (B) along a rectilinear predefined path towards the position. of the devometer (E).
    [10" id="c-fr-0010]
    10. A method of assistance according to one of claims 1 to 8, wherein the aircraft (1) is guided between the return point (A) and the capture point (B) in a zigzag path or in stages .
    [11" id="c-fr-0011]
    11. Supporting method according to any one of the preceding claims, wherein, the data processing device (2) being configured to be further connected to a camera (10) embedded in the aircraft (1), the landing assistance phase (P2) includes estimating (E3) an end point position (D) in an image of the landing strip captured by the camera (10) and the estimate (E4) a position of the aircraft according to said position of the estimated end point in the image and altitude data provided by the altimeter (4), and wherein said guidance of the aircraft from the point of attachment (C) to the point of completion (D) is achieved by keeping the aircraft aligned with the axis of the runway.
    [12" id="c-fr-0012]
    12. Supporting method according to any one of claims 1 to 11 wherein, the data processing device (2) being further configured to be connected to an onboard transceiver (15) on said aircraft (1) and intended to receive signals transmitted by at least three transceivers positioned on the ground, the landing assistance phase (P2) comprises the estimation (E7) of position data of the aircraft from data of distances between the onboard transceiver (15) and said at least three ground transceivers.
    [13" id="c-fr-0013]
    A computer program product comprising code instructions for executing a method as claimed in any one of the preceding claims when the program is executed by a processor.
    [14" id="c-fr-0014]
    Data processing device (2) configured for implementing the assistance method according to one of claims 1 to 12.
    [15" id="c-fr-0015]
    15. Automatic landing assistance system (3) of an aircraft (1) on an airstrip from a return point (A) to an end point (D) at which aircraft comes into contact with the landing runway comprising: - an altimeter (4) configured to measure the altitude of the aircraft; - a deviometer (13) positioned at a ground station and configured to measure by reference to a reference point an azimuth deviation of the aircraft relative to a reference direction connecting said return point (A) and the position of the devometer (E), -the data processing device (2) ) according to claim 14.
    [16" id="c-fr-0016]
    16. Assistance system (3) according to claim 15 further comprising an optronic system (6) comprising an image capture device (14) embedded in the aircraft (1) and configured to be connected to the processing device data (2).
    [17" id="c-fr-0017]
    17. Support system (3) according to one of claims 15 or 16 further comprising a camera (10) and its associated image processing device, configured to be connected to the data processing device (2).
    [18" id="c-fr-0018]
    18. Assistance system (3) according to one of claims 15 or 16 further comprising: - at least three transceivers positioned on the ground; a transceiver (15) configured to receive signals emitted by said at least three transceivers positioned on the ground, embarked on said aircraft (1) and configured to be connected to the data processing device (2).
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    同族专利:
    公开号 | 公开日
    CN107924196A|2018-04-17|
    RU2666479C1|2018-09-07|
    EP3323028B1|2020-04-22|
    ES2817699T3|2021-04-07|
    US10175699B2|2019-01-08|
    US20180203466A1|2018-07-19|
    IL256937D0|2018-02-28|
    IL256937A|2018-08-30|
    CN107924196B|2021-03-09|
    WO2017009471A1|2017-01-19|
    FR3038991B1|2018-08-17|
    EP3323028A1|2018-05-23|
    BR112018000875A2|2018-09-11|
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    优先权:
    申请号 | 申请日 | 专利标题
    FR1501512A|FR3038991B1|2015-07-16|2015-07-16|AUTOMATIC ASSISTANCE METHOD FOR LANDING AN AIRCRAFT|
    FR1501512|2015-07-16|FR1501512A| FR3038991B1|2015-07-16|2015-07-16|AUTOMATIC ASSISTANCE METHOD FOR LANDING AN AIRCRAFT|
    US15/744,040| US10175699B2|2015-07-16|2016-07-15|Method for automatically assisting with the landing of an aircraft|
    CN201680047733.8A| CN107924196B|2015-07-16|2016-07-15|Method for automatically assisting an aircraft landing|
    ES16739167T| ES2817699T3|2015-07-16|2016-07-15|Automatic aircraft landing assistance procedure|
    PCT/EP2016/066985| WO2017009471A1|2015-07-16|2016-07-15|Method for automatically assisting with the landing of an aircraft|
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