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    • 专利摘要:
    A method of calculating (40), by a flight management system called FMS, a trajectory intended to be flown by an aircraft, the method comprising the steps, calculated by the FMS, consisting of: - for at least one transition ( T) of the trajectory resulting from the flight plan (PV): 1) to determine an initial transition (Tini) comprising at least one arc presenting a unique initial turn radius (RO), 2) to determine an initial trajectory (Traj-ini) integrating the initial transition (Tini), 3) determining for each parameter a plurality of predicted values (PAk1, PAK2) of said parameter during the initial transition, 4) determining a plurality of subdivisions (Sub (i)) ordered from the arc of the initial transition (Tini) according to a predetermined criterion, 5) for each subdivision (Sub (i)) determine an associated turn radius (R (i)), 6) determine an improved transition (Timp) from the subdivisions ordinates (Sub (i)) and radii of turns (Ri ) successive associates, 7) determine an improved trajectory (Traj-imp) integrating the improved transition (Timp), 8) display the improved trajectory (Traj-imp) to a pilot of the aircraft.
    公开号:FR3053781A1
    申请号:FR1601061
    申请日:2016-07-07
    公开日:2018-01-12
    发明作者:Vincent SAVARIT；Franck PARUIT；Yohann COMBES
    申请人:Thales SA；
    IPC主号:
    专利说明:

    © Publication no .: 3,053,781 (to be used only for reproduction orders)
    ©) National registration number: 16 01061 ® FRENCH REPUBLIC
    NATIONAL INSTITUTE OF INDUSTRIAL PROPERTY
    COURBEVOIE
    ©) Int Cl 8 : G 01 C21 / 20 (2017.01), G 01 C 23/00, G 06 F 3/048
    A1 PATENT APPLICATION
    (22) Date of filing: 07.07.16. ©) Applicant (s): THALES Société anonyme - FR. © Priority : @ Date of availability of the request: 12.01.18 Bulletin 18/02. (72) Inventor (s): SAVARIT VINCENT, PARUIT FRANCK and COMBES YOHANN. (56) List of documents cited in the preliminary search report: See the end of this brochure References to other related national documents: ©) Holder (s): THALES Société anonyme. o Extension request (s): @) Agent (s): MARKS & CLERK FRANCE General partnership.
    FR 3 053 781 - A1
    P © METHOD OF CALCULATION BY A FLIGHT MANAGEMENT SYSTEM OF A TRAJECTORY HAVING IMPROVED TRANSITIONS.
    _ Calculation method (40), by an aircraft management system, flight called FMS, of a trajectory intended to be flown by an aircraft, the method comprising the steps, calculated by the FMS, consisting of:
    - for at least one transition (T) of the trajectory originating from the flight plan (PV): 1) determining an initial transition (Tini) comprising at least one arc having a single initial turning radius (RO), 2) determining a initial trajectory (Traj-ini) integrating the initial transition (Tini),
    3) determining for each parameter a plurality of predicted values (P Ak1 , P AK2 ) of said parameter during the initial transition,
    4) determine a plurality of ordered subdivisions (Sub (i)) of the arc of the initial transition (Tini) according to a predetermined criterion,
    5) for each subdivision (Sub (i)) determine an associated turning radius (R (i)),
    6) determine an improved transition (Timp) from the ordered subdivisions (Sub (i)) and successive associated turning radii (Ri),
    7) determine an improved trajectory (Traj-imp) integrating the improved transition (Timp),
    8) display the improved trajectory (Traj-imp) to a pilot
    Determine Tini (Ro) R = f (PA ...)
    Determine Traj-ini Tini œ Traj-ini
    Determine predicted values Pam, PAk , ... of Pa from Traj-ini e plurality of subdivisions S.ub (i) according to a criterion
    Determine Rq for each Sub (i)
    R (i) from Pa (î)
    Pa (î) extrapolated from Ρακί, Pai.2 from do (Sub (i). R (i))
    Determine Traj-imp Tini cTraj-imp

    Method for calculation by a flight management system of a trajectory having improved transitions
    FIELD OF THE INVENTION
    The invention relates to the field of flight management systems for aircraft called FMS (for "Flight Management System"). More particularly, the invention relates to a method for calculating a lateral trajectory whose transitions (changes of direction of the aircraft) are improved.
    STATE OF THE ART
    A flight plan is the detailed description of the route to be followed by an aircraft within the framework of a planned flight. The flight plan is commonly managed on board civil aircraft by a system designated by the English terminology of "Flight Management System", which will be called FMS thereafter, which makes the route to be followed available to the cabin crew. and available to other on-board systems. These systems allow, among other things, a navigation aid, by displaying information useful to pilots, or by communicating flight parameters to an automatic pilot system. FIG. 1 presents a synthetic diagram illustrating the structure of an FMS known from the state of the art. An FMS type system 10 has a man-machine interface 12 comprising for example a keyboard and a display screen, or simply a touch screen display, as well as at least the following functions, described in the standard. ARINC 702:
    • Navigation (LOCNAV) 101, to perform the optimal localization of the aircraft according to geolocation means 130 such as geo-positioning by satellite or GPS, GALILEO, VHF radionavigation beacons, inertial units. This module communicates with the above-mentioned geolocation devices;
    • Flight plan (FPLN) 102, to enter the geographic elements constituting the skeleton of the route to follow, such as the points imposed by the departure and arrival procedures, waypoints, air corridors or airways according to the Anglo denomination -saxonne;
    • Navigation database (NAVDB) 103, to build geographic routes and procedures from data included in the databases relating to points, beacons, interception or altitude legs ...;
    • Performance database, (PRFDB) 104, containing the aerodynamic and engine parameters of the aircraft;
    • Lateral trajectory (TRAJ) 105, to build a continuous trajectory from the points in the flight plan, respecting the performance of the aircraft and the confinement constraints (RNP); The functions which are the subject of the present invention affect in addition this part of the computer.
    • Predictions (PRED) 106, to build an optimized vertical profile on the lateral trajectory.
    • Guidance (GUID) 107, to guide the aircraft in the lateral and vertical planes on its three-dimensional trajectory, while optimizing its speed. In an aircraft equipped with an automatic piloting device 11, the latter can exchange information with the guidance module 107;
    • Digital data link (DATALINK) 108 to communicate with control centers and other aircraft 13.
    The flight plan is entered by the pilot, or by data link, from data contained in the navigation database. A flight plan is developed from a list of waypoints and procedures (departure, arrival, airways, missions) stored in the navigation database 130.
    The pilot then enters the parameters of the aircraft: mass, flight plan, range of cruising levels, as well as one or a plurality of optimization criteria, such as Cl.
    The flight plan comprises an ordered series of segments (commonly called LEG) defined by an aeronautical standard. A segment corresponds to an instruction to calculate an elementary trajectory. The trajectory resulting from the PV flight plan is built up step by step from one segment to another from the instructions contained in each segment (geometry between the waypoints defined by these segments), the performance of the aircraft, constraints of any type (altitude, speed, time, slope) and thrust and speed instructions (which are used for calculating the turning radius). In commercial aeronautics the international standard ARINC 424 defines different types of "LEG" or segment, each type corresponding to a type of data necessary for the calculation of the elementary trajectory corresponding to the type, for example instructions to be followed in terms of position, altitude, heading or course.
    More specifically, the TRAJ 105 and PRED 106 modules respectively calculate the lateral trajectory and the vertical profile, that is to say the flight profile in terms of altitude and speed, which for example minimizes the optimization criterion
    Each segment thus generates a portion of trajectory or elementary trajectory. This elementary trajectory corresponds to a geometrical element which can be a straight section, an arc, typically an arc of a circle, or combinations of straight section and arcs.
    In addition, a portion of the trajectory making it possible to connect the elementary trajectories corresponding to two consecutive non-aligned segments is called transition T. The existence of a transition between two segments therefore necessarily induces a turn of the aircraft during the transition.
    From the complete calculation of the trajectory, the FMS determines "predictions" (made by the PRED module) which correspond to values of key trajectory parameters along it, that is to say for different values of the curvilinear abscissa x of the trajectory. Typically these parameters are: speed of the aircraft relative to the surrounding air mass called CAS (for Calibrated Air Speed in English), Altitude of the aircraft, Wind (defined by vector).
    The FMS can, on the pilot's instruction, automatically slave the aircraft on the calculated trajectory.
    A transition is characterized by a transition start point, which can be a point calculated by the FMS or the real-time position of the aircraft, and end of transition information, which can be a point, a heading, or a combination of a point which must be flown over a certain heading. According to the state of the art, the curved part of the transition takes the form of one or more arcs of a circle of amplitude between 2 and 358 degrees and with a single and constant radius RO.
    In general, the turning radius R is a function of a set of parameters such as: speed of the aircraft relative to the surrounding air mass (called CAS for “Calibrated Air Speed” in English); the wind W (in the form of a vector); altitude; the temperature outside the aircraft.
    For example, we know the formula:
    R = GS 2 /g.tan(<pN) (1)
    With:
    GS ground speed of the aircraft (Ground Speed in English), g gravitational constant nominal nominal roll angle (nominal roll an English) predetermined according to the performance and type of aircraft.
    We have the following vector equality:
    GS = TAS + W (2)
    With TAS "True Air Speed", corresponding to the CAS speed corrected for the altitude of the aircraft and the outside temperature around the aircraft.
    The FMS calculates, for a given transition, a single RO radius from a single set of parameter values. The fixed value of each parameter is defined as a function of the transition: average value, "worst case" (for example for wind, see below), value at the transition start point (example: altitude and temperature) ... The single turning radius RO is said to be “conservative” in the sense that it is calculated so that the trajectory is flyable whatever the hazards encountered along the trajectory.
    A first example is illustrated in FIG. 2, for a calculation of transition T between a point of start of transition WPA and a point of end of transition WPB comprising an arc of circle TO between WPA and point I and a straight part between I and WPB . Here the aircraft is enslaved on the calculated trajectory which is frozen.
    WO represents the wind vector at the point WPA. The wind effect is obtained by projection of the wind vector on the lateral trajectory. The worst case of wind impact on the airplane corresponds to the case for which the aircraft has the highest ground speed GS, ie a wind vector substantially collinear with the air speed of the aircraft. According to the state of the art, the wind effect taken into account by the FMS for the calculation of the turning radius RO is the “worst case” for a WO wind (that is to say considered at the start of the transition ) extrapolated over the whole of TO. However, the value of the parameters can vary greatly along a transition, making the set of values of the parameters used for the calculations less representative. In the example the worst case of wind arrives only at the end of TO, on the T3 portion. Thus RO is calculated with the highest speed of the aircraft GSmax reached by the aircraft at the end of the transition. The aircraft slaved on the conservative trajectory T, calculated by the FMS and frozen, therefore flies a large part of TO according to a roll angle less than the nominal roll and with a lower ground speed than GSmax. This low ground speed would have enabled the aircraft to fly at nominal roll with a smaller turning radius (see formula (1)). In fact over the entire start of TO, taking into account the wind direction WO relative to the start of the trajectory, the aircraft could have flown a “tighter” trajectory, the departure of which is illustrated by T F i or T F 2 in FIG. 2, corresponding to a turning radius less than RO. The conservative trajectory TO is therefore not optimized with respect to the flightable trajectory, and of larger surface on the horizontal plane.
    FIG. 3 illustrates a second example, for the case of a transition calculation between a transition start point PA corresponding to the position of the aircraft A and a heading HD. According to the state of the art, when the aircraft flies a transition towards a heading, the trajectory is not frozen as previously and it is the trajectory calculation which is automatically refreshed as the progression of the 'aircraft. It is also considered in this example that the worst case of ground speed only occurs at the end of the transition.
    The FMS starts by calculating a first conservative TCO trajectory of radius RO (“worst case”) When the conditions (parameter values, typically the ground speed) at the start of transition are more favorable than those used for conservative calculation, the aircraft , which is not here enslaved on the calculated trajectory as in the previous example, will actually fly a tighter trajectory T F o- Indeed, the aircraft flying at nominal roll angle φΝ, the trajectory radius actually flown by the aircraft is determined by the value of the ground speed GS (see formula (1)). If this is smaller than expected, the turning radius actually stolen is less than RO. The FMS here recalculates and refreshes the trajectory automatically. Automatic refresh is triggered either at regular intervals or, for example, when the FMS detects that the actual position of the aircraft differs by a certain deviation from the calculated position, as illustrated in point Refresh # 1. The FMS then recalculates a first trajectory TC1, but always from the "worst case" which will not arrive until the end of the transition, ie with a radius always equal to RO. But instead of flying TC1, the aircraft for the same reasons as above flies a tighter trajectory T F i. When the actual position again differs significantly from the calculated position, in Refresh # 2 for example, the FMS recalculates TC2, always with the "worst case" (radius PO) but flies T F2 .
    Finally in Refresh # 3 the FMS recalculates TC3 (always with radius RO) which this time will be effectively flown by the aircraft due to the adequacy between the value of the actual ground speed and the value of the ground speed taken for RO calculation.
    Thus during the flight by the transition aircraft, new trajectories are recalculated with each refresh and displayed on the screens of the aircraft cockpit. One consequence is that these calculated trajectories are not representative of the trajectory actually flown, and that the trajectory calculated and displayed by the FMS is not stable.
    In addition in this case, the predictions made at the start of the transition on the basis of TCO are erroneous, and the pilot will see the predictions evolve as the refreshes take place. This instability of predictions affects the crew’s ability to hold a Requested Time to Arrive (RTA).
    This type of problem appears, for example, in the case of strong wind (and will be accentuated by a strong transition angle), and on the other hand in the event of a strong speed variation along the transition (and it will be accentuated by a long transition).
    In addition, the technical problems described above and associated with the current method of calculating the transitions from a point (calculated point or real time position of the aircraft) to a point or a heading can in certain cases reduce the possibilities of flight. departure and / or arrival procedures for airports located in hazardous areas (such as mountainous areas) when aircraft performance allows.
    An object of the present invention is to overcome the aforementioned drawbacks by proposing a method for calculating a trajectory intended to be flown by an aircraft having improved, flightable, reliable transitions which are adapted to the performance of the aircraft.
    DESCRIPTION OF THE INVENTION
    The subject of the present invention is a method of calculating, by a flight management system called FMS, a trajectory intended to be flown by an aircraft, a trajectory being determined from a flight plan comprising an ordered series of segments defined by an aeronautical standard, a segment corresponding to a setpoint for calculating an elementary trajectory, the trajectory being built up step by step from the setpoints contained in each segment, a portion of trajectory making it possible to connect the elementary trajectories corresponding to two segments consecutive non-aligned being called transition, the method comprising the steps, calculated by the FMS, consisting of:
    - for at least one transition of the trajectory from the flight plan:
    1) determining an initial transition comprising at least one arc having a single initial turning radius, said initial turning radius being calculated from an initial value of at least one parameter representative of the state of the aircraft, said initial value guaranteeing the volatility of the transition,
    2) determine an initial trajectory integrating the initial transition,
    3) determining for each parameter a plurality of predicted values (Pari, Pak 2 ) of said parameter during the initial transition, from the calculation of the initial trajectory,
    4) determine a plurality of ordered subdivisions of the arc of the initial transition according to a predetermined criterion,
    5) for each subdivision determine an associated turning radius calculated from a value representative of each parameter for said subdivision, extrapolated from predicted values in said subdivision,
    6) determine an improved transition from the ordered subdivisions and successive associated turning radii,
    7) determine an improved trajectory (Traj-imp) integrating the improved transition (Timp),
    8) display the improved trajectory (Traj-imp) to an aircraft pilot.
    Advantageously, step 5) comprises the sub-steps consisting in:
    - determine a function of variation of the parameter as a function of an abscissa on the transition by an interpolation method, from the plurality of predicted values for each parameter,
    -determine the representative value of each parameter for each subdivision from the parameter variation function in the subdivision.
    According to one embodiment, the representative value (P A (i)) of a parameter in a subdivision (Sub (i)) is equal to the average of the values of the variation function (PA (x)) in the subdivision.
    Advantageously, one parameter is the speed of the aircraft relative to the air. Preferably the turning radius is determined from a set of parameters comprising, in addition to the speed of the aircraft relative to the air, the wind and / or the altitude of the aircraft and / or the temperature at l exterior of the aircraft.
    According to a variant, the criterion consists in determining a number of subdivisions, each subdivision having an identical angular sector. According to another variant, the criterion consists in determining a number of subdivisions, and an angular sector for each subdivision as a function of the predicted values of the representative parameters along the transition.
    According to one embodiment, steps 3 to 7 are carried out iteratively, an iteration being indexed j, the method further comprising a step 2 ′) consisting in loading a maximum number of iterations M, and in which from the second iteration j = 2, the initial transition of the current iteration j is assigned the value of the improved transition of the previous iteration j-1, and the initial iteration of the current iteration j is assigned the improved trajectory from the previous iteration j-1, the method further comprising the step of:
    5 ′) determining at least one convergence parameter between the current turning radii and the preceding turning radii, the method performing an additional iteration when j = 1 or as a function of a comparison between the convergence parameter and a predetermined threshold, and as long as j <M.
    According to one embodiment, a convergence parameter is calculated by subdivision, said convergence parameter being equal to the ratio between the current turning radius and the preceding turning radius associated with said subdivision, an additional iteration being carried out when at least one of the parameters of convergence is greater than a first threshold.
    According to another embodiment, a ratio is calculated for each subdivision between the current turning radius and the preceding turning radius associated with said subdivision, the convergence parameter being equal to the average of said ratios, an additional iteration being carried out when the parameter of convergence is greater than a second threshold.
    According to a variant, the method is implemented while the aircraft is not yet flying said transition, a starting point of the transition corresponding to a point calculated by the FMS.
    According to another variant, the method is implemented while the aircraft is in the process of flying a transition, a starting point of the initial transition corresponding to a real-time position of the aircraft.
    According to one embodiment, said method is triggered by the pilot.
    According to another embodiment, the method is triggered automatically by the FMS, either at regular intervals or, when the aircraft is in the process of flying a transition, from the detection of a difference in position of the aircraft between the trajectory previously calculated and the trajectory stolen.
    The invention also relates to a flight management system called FMS comprising 1 configured to calculate a trajectory intended to be flown by an aircraft, a trajectory being determined from a flight plan comprising an ordered series of segments defined by a standard. aeronautics, a segment corresponding to an instruction for calculating an elementary trajectory, the trajectory being built up step by step from the instructions contained in each segment, a portion of trajectory making it possible to connect the elementary trajectories corresponding to two consecutive non-aligned segments being called transition, the FMS comprising:
    a trajectory determination module configured to determine, for at least one transition of the trajectory coming from the flight plan, an initial transition comprising at least one arc having a single initial turning radius, said initial turning radius being calculated from an initial value of at least one parameter representative of the state of the aircraft, said initial value guaranteeing the flightability of the transition and for determining an initial trajectory integrating the initial transition,
    a prediction calculation module configured to determine, for each parameter, a plurality of predicted values of said parameter during the initial transition, from the calculation of the initial trajectory, the trajectory calculation module being further configured to determine a plurality of ordered subdivisions of the arc of the initial transition according to a predetermined criterion, to determine, for each subdivision, an associated turning radius calculated from a value representative of each parameter for said subdivision, extrapolated from values predicted in said subdivision, and to determine an improved transition from the ordered subdivisions and the radii of successive associated turns and an improved trajectory incorporating the improved transition,
    -a human-machine interface configured to display the improved trajectory to an aircraft pilot.
    The invention further relates to a computer program product comprising code instructions making it possible to carry out the steps of the method according to the invention.
    Other characteristics, objects and advantages of the present invention will appear on reading the detailed description which follows and with reference to the appended drawings given by way of nonlimiting examples and in which:
    FIG. 1, already cited, presents a synthetic diagram illustrating the structure of an FMS known from the state of the art.
    FIG. 2, already cited, illustrates a first example of a transition calculation according to the state of the art between a start point of transition and an end point of transition;
    FIG. 3 already cited illustrates a second example of transition calculation according to the state of the art between a transition start point and a heading.
    FIG. 4 illustrates the method according to the invention.
    FIG. 5a illustrates different predicted values of the parameter Pa along the transition Tini, and FIG. 5b illustrates the representative values of the parameter P A for each subdivision, obtained by an extrapolation method from the predicted values.
    Figure 6 illustrates an improved transition construction for an initial transition to a WPA point and an HD heading.
    FIG. 7 illustrates the construction of the improved transition in the case of an initial transition between a WPA point and a WPB point.
    FIG. 8 illustrates the construction of the improved transition in the case of an initial transition between a WPA point and an arrival point characterized by a WPC point and an HD heading.
    Figure 9 shows schematically a variant of the above according to the invention.
    Figure 10 illustrates predicted values of the Altitude, Ground speed and wind parameters along the transition.
    FIG. 11 illustrates an example of a variation function for each parameter, namely Alt (x), CAS (x) and W (x), obtained by linear interpolation by piece.
    FIG. 12 illustrates an embodiment of the invention in which the representative value Pa (î) of a parameter in a subdivision Sub (i) is equal to the average of the values of the variation function Pa (x) in the subdivision.
    FIG. 13 illustrates a variant of the method according to the invention, in which the method is carried out iteratively.
    DETAILED DESCRIPTION OF THE INVENTION
    The invention relates to a method 40 for calculating, by an FMS, a trajectory intended to be flown by an aircraft. A trajectory is determined from a PV flight plan comprising an ordered series of segments, called Legs, defined by an aeronautical standard, a segment corresponding to an instruction for calculating an elementary trajectory. The trajectory is built up step by step from the instructions contained in each segment. The trajectory portions making it possible to connect the elementary trajectories corresponding to two consecutive non-aligned segments are called T transitions. A transition necessarily induces at least one change of direction of the aircraft.
    The method 40 is illustrated in FIG. 4 and consists in calculating an improved trajectory Traj-imp, by calculating at least one improved transition Timp, by using not a set of values of single parameter over the whole of the transition, but several sets of parameter values, which makes it possible to construct a “multi-ray” transition.
    For this in a first step 1) an initial transition Tini is determined comprising at least one arc of having a single initial turning radius RO. We call arc a portion of curved trajectory, an arc having a single radius is an arc of a circle. For example, the transition may include an arc of a circle of radius RO or two arcs of circles, both of radius RO. The initial turning radius RO is calculated from an initial value P A o of at least one parameter P A representative of the state of the aircraft. The value of this parameter changes during the transition. This initial value is determined so as to guarantee the volatility of the transition. For example, it corresponds to the situation of the aircraft at the start of the transition but taking into account a "worst case". This value is, for example, the first prediction available at the start of the transition (made by the PRED module) or by extrapolating predictions from simple hypotheses. This calculation corresponds to the calculation of the transition described in the state of the art, RO corresponding to a "conservative" turning radius. The volatility is indeed ensured by considering for example "the worst case" of wind as described in the state of the art.
    According to one embodiment, the parameter used is the air speed of the aircraft P a = CAS.
    According to a preferred mode, the following representative parameters are considered: Pa = CAS,
    P b = Temp, temperature outside the aircraft
    Pc = Alt, altitude of the aircraft Alt, which make it possible to calculate TAS (see state of the art),
    P D = W, the wind, which, in combination with TAS, makes it possible to calculate the ground speed GS.
    Let CASo, Alto> Tempo, and W o be the initial values of the representative parameters. From these values we calculate TAS 0 then GS 0 . From GS 0 and the nominal roll angle φΝ of the aircraft, the turning radius RO is calculated with the formulas (1) and (2):
    RO = GS 0 2 /g.tan(<pN) (1)
    Then in a step 2) an initial Traj-ini trajectory is determined integrating the initial transition Tini, which also corresponds to the calculation of the state of the art.
    In a step 3), from the calculation of the initial trajectory and for each parameter, a plurality of predicted values P A ki, Pai <2 Ρβμ, Pbr2 - Pcki, Pck2 Püki, Pük2 of the parameters P A , Pb are determined, Pc and Pd along the initial transition Tini. This prediction calculation is performed by the PRED module of the FMS. The TRAJ module calculates a lateral trajectory, and the PRED module a vertical trajectory as a function typically of a curvilinear abscissa x, which locates the position of the aircraft on the trajectory, position which is expressed by a distance from the start of the trajectory (or a time elapsed from departure taking into account the speed of the aircraft). The predictions of the parameters P A , P B , Pc and Pd also made by the PRED module, are the values taken by these parameters at certain curvilinear abscissas of the trajectory. The triggering of a prediction calculation obeys a complex logic, and globally predictions are calculated at each important point / event along the trajectory. We thus extract an “airplane state” at the various key locations of the transition. As described below, these predictions will make it possible to evaluate the variation of each parameter P A , P B , Pc ... representative of the state of the aircraft used.
    In a step 4) a plurality of subdivided subdivisions (i) of the arc, or at least one arc when there are several in the transition, of the initial transition Tini is determined according to a predetermined criterion. The subdivisions are indexed by an index i varying from 1 to N, N being the total number of subdivisions. Several alternative criteria are described below.
    In step 5), for each subdivision Sub (i) an associated turning radius R (i) is determined calculated from a representative value P A (i), P B (i), Pc (i), P D (i) of each parameter for the subdivision i, extrapolated from the predicted values taken by the parameters P A , P B , Pc and P D in the subdivision and determined in step 3). FIG. 5 illustrates an example of the determination of representative values for a parameter P A. FIG. 5a illustrates different predicted values P Ak of the parameter P A , P Ak i, PAk2> PAk3 and
    P A k4, P A k5 Ιθ along the transition Tini, for abscissa x1, x2, x3, x4, x5 located between the curvilinear abscissa xO corresponding to the start of the transition and the curvilinear abscissa xf corresponding to the end of the transition.
    The Tini transition has been subdivided into 3 subdivisions represented according to the curvilinear abscissa. Note that these subdivisions can be calculated in the form of an angle (see below), which is then marked on the curvilinear abscissa.
    FIG. 5b illustrates the representative values of P A for each subdivision Sub (1), Sub (2) and Sub (3), respectively P A i, P A 2, P A 3, obtained by an extrapolation method from of P Ak -i, P Ak 2, P A k3 and P Ak 4. Several examples of the interpolation method are given below.
    From these representative values, a turning radius R (i) is calculated for each subdivision i. The representative values are closer to the actual situation of the aircraft than those taken by the state of the art, because they correspond to values extrapolated from the situation in the subdivision. The turning radius R (i) is therefore in most cases less than the RO previously determined, but it can also be greater in the case of a strong acceleration at the waypoint poorly evaluated by the FMS. It is close to or equal to RO for the subdivision whose representative values are closest to the unique values used for the initial calculation.
    For the preferred mode in which the 4 representative parameters mentioned above are speed, altitude, temperature and winds, the turning radius R (i) for each subdivision i is determined by the formulas (1) and (2) from the representative CAS values (i), Alt (i), Temp (i) and W (i) for the subdivision i.
    Then in a step 6) an improved transition Timp is determined from the ordered subdivisions Sub (i) and the successive associated radii of turns R (i). The arc of the improved transition, that is to say its curved part, is composed of several arcs of circle of radius R (i) which follow one another in a continuous and orderly fashion for i = 1 to N, N being the number of subdivisions. Several examples of improved transition determination are given in Figures 6 to 8.
    FIG. 6 illustrates such a construction for an initial transition Tini between a WPA point and an HD heading. The initial transition Tini is a circular arc of radius RO conservative or "protected" as explained above and with an angular sector of 180 °. It has been subdivided into 3 portions of angular sector equal to 60 ° each. The wind conditions being more favorable at the start of the transition, the start of the Timp transition takes place with a turning radius less than the protected radius R0, which results in the values of the representative parameters calculated for each subdivision. The transition Timp takes the form of an arc made up of 3 arcs of circle of respective radii R1, R2 and R3, with R3 equal or very close to R0, since it is at the end of transition that the effect of the wind is the most unfavorable.
    FIG. 7 illustrates the construction of Timp in the case of an initial transition Tini between a point WPA and a point WPB, comprising an arc of circle of radius R0 and with angular sector of 180 °, and a portion of line. The Tini arc is divided into 3 subdivisions corresponding to angular sectors of 60 °.
    The improved Timp transition includes an arc, consisting of 3 circular arcs of radii R1, R2 and R3, and a straight portion.
    FIG. 8 illustrates the construction of Timp in the case of an initial transition Tini between a WPA point and an arrival point characterized by a WPC point and an HD heading. Tini has a single radius of turn R0, but the aircraft makes two turns of radius R0 during the transition. Tini consists of a first circular arc of radius R0 (right turn) with an angular sector equal to 135 °, a right portion and a second circular arc of radius R0 (left turn) of sector angular equal to 45 °.
    In this example, the two circular arcs, which each correspond to a turn of the aircraft, are cut according to 2 subdivisions each, of 2 values of cutting angular sector for the 2 circular arcs of half the initial value of the angular sector, i.e. 67.5 ° for the first arc and 22.5 ° for the second.
    The improved Timp transition constructed comprises a first arc consisting of two circular arcs of radii R1, R2 respectively (replacing the first circular arc of radius R0), a straight portion and a second arc consisting of two arcs of circle, of radii R3 and R4 respectively (replacing the second circular arc of radius R0). Preferably as in this example, the subdivision is carried out for all the arcs of the initial transition, when the latter has several.
    The improved Timp transitions are in any case more representative than the initial Tini transition.
    In step 7) an improved Traj-imp trajectory incorporating the improved transition Timp is determined, and in step 8) the improved Traj-imp trajectory is displayed to a pilot of the aircraft. The trajectory is built step by step, so as to be continuous and differentiable.
    Preferably, the method 40 according to the invention is implemented for all the transitions of the flight plan.
    The process is based on a “multi-ray” concept based on the subdivision of the transition. It uses specific parameter values for each subdivision, more representative of the actual aircraft environment, instead of a single value for the entire transition. For the same parameter involved in the calculations (example: wind, speed, etc.), several values are therefore used (one per transition subdivision).
    The method 40 according to the invention has many advantages:
    In the case of a transition to a point, the method 40 calculates a trajectory closer to that achievable by the performance of the aircraft, reducing, in the majority of cases, the turning radii of the transition.
    For the case of a transition to a heading, the method 40 makes it possible to display at the transition input a trajectory which will be closer to that flown by the aircraft, therefore to have a more stable reference trajectory on the lateral plane. and vertical. This stability is also perceived by the pilot via the display, the flight path is closer to the path displayed on each refresh. The reference trajectory is all the more stable, and more reliable, that the number of rays is high (in particular in the event of strong wind)
    Thus, the higher the number of turning radii used for the calculation of the Timp transition, the more the calculated trajectory is representative of the flightable trajectory (transition to a point with or without imposed heading), or flown by the plane (transition towards a course).
    In addition, the method according to the invention has a major advantage in the case, for example, of an airplane in the procedure of departure or arrival from an airport located in a mountainous area, since the area necessary for the transition (real or predicted as the case may be) is reduced relative to the area of the initial transition. We can therefore consider, by reducing the turning radius of the transition, a flight of departure or arrival procedure which is impossible to envisage with the mode of calculation according to the state of the art.
    The method according to the invention also provides better stability on the ability to hold an FSA as well as better precision in the calculation of fuel at the destination and therefore the possibility of reducing the margins taken.
    The way of dividing the arc of the transition into subdivisions can be done in different ways. Indeed the number of sub-divisions directly influences the precision of the calculated improved transition. Since the computing power and the time allocated to displaying a trajectory for an FMS are limited, a compromise must be found between integrity and availability. The function of determining the number of subdivisions can be a function of:
    - Overall quality of calculated predictions
    - Speed evolution
    - Evolution of the altitude
    - Wind evolution
    In the case of linear acceleration in level without wind, one embodiment is a division into angular sectors of constant size.
    According to one embodiment, the criterion consists in determining a number of subdivisions N, each subdivision corresponding to an angular sector of angle equal to a, the angle a corresponding to the angular sector of the initial transition θο divided by the number of subdivisions N.
    We use "fast" predictions to use a small number of values for each parameter in the subdivision, and "refined" predictions to use a large number of values for each parameter.
    Thus the angle a of a subdivision is large (N small) in the case of "fast" predictions (few values available for each representative parameter) and is smaller (N large) for "refined" predictions.
    In another case, for example of deceleration with change in altitude, the division can be with angular sectors which are not constant but for example having a linear function along the transition (division at the end at the start when the variation in deceleration is significant then coarser cutting at the end when the airplane is in stabilized deceleration, i.e. the acceleration variation is zero).
    According to another embodiment, the criterion consists in determining a number of subdivisions N and the value of the angular sector a (i) of each subdivision Sub (i) as a function of the predicted values, along the transition, of the representative parameters. For example as a function of the predicted values of the speed relative to the air of the aircraft, and / or of the wind le and / or of the temperature and / or of the altitude.
    Another example of a method for determining the size of a subdivision is as follows:
    Consider the following 3 assertions: Variable speed along the transition; Variable altitude along the transition; presence of wind along the transition.
    Depending on the quality of the predictions calculated and the number of true assertions, a table for determining the angular sector a (i) or angular opening of a sub-division Sub (i) could be:
    a (i) for all i1 true statement a (i) for all i2 true assertions a (i) for all i3 true assertions Predictions"Fast" CDOo 60 ° 30 ° Predictions"Refined" 60 ° 30 ° 15 °
    Table for determining the angular sector of a subdivision
    According to a preferred variant illustrated in FIG. 9, step 5) of method 40 comprises a sub-step 51 in which a function of variation of the parameter PA (x) is determined as a function of an abscissa x on the transition by a method of interpolation, from the plurality of predicted values for each parameter, and a substep 52 in which the representative value P A (i) of each parameter P A is determined for each subdivision Sub (i) from the variation function of the PA (x) parameter in the subdivision.
    Typically x is the curvilinear abscissa of the transition.
    An example is illustrated in FIGS. 10, 11 and 12 when three representative parameters are used, which are the altitude Alt, the air speed CAS and the altitude Alt.
    Figure 10 illustrates the predicted values of these Altki, ... CASki · .., W k i ... parameters along the transition (between xO and xf). The different values of these parameters along the transition represent an "airplane state" at the various key locations of the transition. These states will make it possible to evaluate the variations of the various representative and dimensioning parameters.
    Figure 11 illustrates the function of variation of each parameter is Alt (x), CAS (x) and W (x) which is here an affine function obtained by linear interpolation by piece. Of course, other interpolation methods can be used, such as polynomial approximation or logarithmic regression.
    According to one embodiment, the representative value P A (i) of a parameter in a subdivision Sub (i) is equal to the average of the values of the variation function P A (x) in the subdivision.
    This mode is illustrated in FIG. 12, in which the representative value retained for each parameter Alt (1) .. CAS (1) ... W (1) ... for each subdivision is equal to the average of the function of variation of the parameter Alt (x), CAS (x), W (x) on the subdivision. From this average triplet, an average turning radius value is calculated R (i) for each Sub (i) subdivision and the improved “multi radius” transition is calculated by successive pieces.
    According to a variant illustrated in FIG. 13, the method 40 is carried out iteratively as described below, in order to check the consistency of the calculated turning radii and thus the flyability of the calculated improved transition.
    For this, steps 3 to 7 are carried out iteratively, an iteration being indexed j, the index j = 1 corresponding to the first pass as described in FIG. 4. In an additional step 2 ') a maximum number d is loaded 'iteration M, so as not to remain blocked in non-convergence situations and to limit the CPU load of the FMS.
    From the second iteration j = 2, we assign to the initial transition of the current iteration j Tini (j) the value of the improved transition of the previous iteration j-1), and we assign to the initial trajectory of the current iteration j Traj-ini (j) the improved trajectory of the previous iteration j-1 Traj-imp (j-1). With these new entries, we subdivide the multi-radius trajectory Traj-imp (j-1) into subdivisions and calculate the current turning radii, which we will check for consistency with the turning radii calculated in the previous iteration.
    This amounts to verifying that the newly calculated predictions are indeed consistent with the determined turning radius.
    For this in a step 5 ′) at least one convergence parameter Pconv is determined between the current turning radii R (i) / j (iteration j) and the preceding turning radii R (i) / j-1 (iteration j -1).
    The method performs an additional iteration when j = 1 (to perform at least once a new calculation of turning radii) or as a function of a comparison between the convergence parameter Pconv and a predetermined threshold, and as long as j <M.
    Indeed if at the end of the maximum number of iterations M the threshold is not reached, the process stops and the last calculated trajectory is displayed. Optionally, the pilot is informed of the non-convergence, and he is asked to choose the best calculated improved trajectory. It is also possible to define an adjustment of the last calculated corner radii which takes account of the radii calculated in the previous iterations.
    When convergence is obtained, the last trajectory Traj-imp G) is displayed to the pilot, including the transition Timp (j).
    According to a variant, a plurality of convergence parameters is calculated, a convergence parameter Pconv (i) by subdivision. According to one embodiment, each convergence parameter is equal to the ratio between the current turning radius R (i) / j and the previous turning radius R (i) / j-1 associated with said subdivision:
    Pconv (i) = R (i) iteration j / R (i) iteration j-1.
    The convergence parameter is similar here to a dispersion between the successively calculated radii.
    And for example an additional iteration is carried out when at least one convergence parameter Pconv (i) is greater than a first threshold S1, for example 20% for the previous case of the dispersion.
    According to another variant, a ratio is calculated for each subdivision between the current turning radius and the preceding turning radius associated with the subdivision, and the convergence parameter is equal to the average of the ratios. An additional iteration is carried out when the convergence parameter is greater than a second threshold S2, for example 15% for the example of the dispersion, the second threshold S2 being more severe than the first threshold S1.
    The two variants can of course be combined with one another, convergence being obtained when the double condition is satisfied.
    The method according to the invention can be implemented in different operational contexts.
    According to a first situation, the method is implemented while the aircraft is not yet flying the Tini transition, the starting point of the Tini transition then corresponds to a point calculated by the FMS.
    According to a second situation, the method is implemented while the aircraft is in the process of flying a transition, the starting point of the initial transition then corresponds to a real-time position of the aircraft.
    According to a variant, the method according to the invention is triggered by the pilot. According to another variant, the method 40 is triggered automatically by the FMS, either at regular intervals or, when the aircraft is in the process of flying a transition, from the detection of a difference in position of the aircraft between the trajectory previously calculated and the trajectory actually flown.
    According to another aspect, the invention relates to a flight management system called FMS configured to calculate a trajectory intended to be flown by an aircraft, the FMS comprising a TRAJ module, a PRED module and a man-machine interface 12 as described according to the invention. 'state of the art, these modules being specifically configured to implement the method according to the invention. Thus the trajectory determination module TRAJ is configured to determine, for at least one transition T of the trajectory coming from the flight plan PV, an initial transition Tini comprising at least one arc having a single initial turning radius RO, the radius of initial turn being calculated from an initial value Pao of at least one parameter Pa representative of the state of the aircraft, the initial value guaranteeing the flightability of the transition and for determining an initial trajectory Traj-ini integrating the initial transition Tini.
    The PRED prediction calculation module is configured to determine, for each parameter, a plurality of predicted values P A ki, Pak2 ··· of the parameter during the initial transition, from the calculation of the initial trajectory.
    The TRAJ trajectory calculation module is also configured:
    -to determine a plurality of subdivided Sub (i) subdivisions of the arc of the initial transition Tini according to a predetermined criterion,
    to determine, for each subdivision Sub (i), an associated turning radius R (i) calculated from a representative value P A (i) of each parameter for said subdivision, extrapolated from values predicted in said subdivision , and
    -to determine an improved Timp transition from the ordered subdivisions Sub (i) and successive associated turn radii (Ri) and an improved Traj-imp trajectory incorporating the improved Timp transition. The man-machine interface 12 is configured to display the improved trajectory (Traj-imp) to a pilot of the aircraft.
    According to another aspect, the invention relates to a computer program product comprising code instructions making it possible to carry out the steps of the method according to the invention.
    The process can be implemented using hardware and / or software elements. The method may be available as a computer program product on a computer readable medium.
    The method can be implemented on an FMS system which can use one or more dedicated electronic circuits or a general-purpose circuit.
    The technique of the method according to the invention can be carried out on a reprogrammable calculation machine (a processor or a microcontroller for example) executing a program comprising a sequence of instructions, or on a dedicated calculation machine (for example a set of doors logic such as an FPGA or ASIC, or any other hardware module).
    The different modules of the FMS system according to the invention can be implemented on the same processor or on the same circuit, or distributed over several processors or several circuits. The modules of the system according to the invention consist of calculation means including a processor. The reference to a computer program which, when executed, performs any of the functions described above, is not limited to an application program running on a single host computer. On the contrary, the terms computer program and software are used here in a general sense to refer to any type of computer code (for example, application software, firmware, microcode, or any other form of computer instruction) which can be used to program one or more processors to implement aspects of the techniques described here.
    权利要求:
    Claims (15)
    [1" id="c-fr-0001]
    1. Calculation method (40), by a flight management system called FMS, of a trajectory intended to be flown by an aircraft, a trajectory being determined from a flight plan (PV) comprising an ordered series segments (Legs) defined by an aeronautical standard, a segment corresponding to a setpoint for calculating an elementary trajectory, the trajectory being built up step by step from the setpoints contained in each segment, a portion of trajectory making it possible to connect the elementary trajectories corresponding to two consecutive non-aligned segments being called transition (T), the method comprising the steps, calculated by the FMS, consisting of:
    - for at least one transition (T) of the trajectory from the flight plan (PV):
    1) determining an initial transition (Tini) comprising at least one arc having a unique initial turning radius (R0), said initial turning radius being calculated from an initial value (P A o) of at least one parameter (P A ) representative of the state of the aircraft, said initial value guaranteeing the flightability of the transition,
    [2" id="c-fr-0002]
    2) determine an initial trajectory (Traj-ini) integrating the initial transition (Tini),
    [3" id="c-fr-0003]
    3) determining for each parameter a plurality of predicted values (P Ak i, Pak2) of said parameter during the initial transition, from the calculation of the initial trajectory,
    [4" id="c-fr-0004]
    4) determine a plurality of ordered subdivisions (Sub (i)) of the arc of the initial transition (Tini) according to a predetermined criterion,
    [5" id="c-fr-0005]
    5) for each subdivision (Sub (i)) determine an associated turning radius (R (i)) calculated from a representative value (P A (i)) of each parameter for said subdivision, extrapolated from values predicted in said subdivision,
    [6" id="c-fr-0006]
    6) determine an improved transition (Timp) from the ordered subdivisions (Sub (i)) and successive associated turning radii (Ri),
    [7" id="c-fr-0007]
    7) determine an improved trajectory (Traj-imp) integrating the improved transition (Timp),
    [8" id="c-fr-0008]
    8) display the improved trajectory (Traj-imp) to an aircraft pilot.
    2. Method according to claim 1 in which step 5) comprises the sub-steps consisting in:
    - determine (51) a function of variation of the parameter (PA (x)) as a function of an abscissa (x) on the transition by an interpolation method, from the plurality of predicted values for each parameter,
    -determine (52) the representative value (Pa (î)) of each parameter (P A ) for each subdivision (Sub (i)) from the function of variation of the parameter (PA (x)) in the subdivision.
    3. Method according to claim 2, in which the representative value (Pa (î)) of a parameter in a subdivision (Sub (i)) is equal to the average of the values of the variation function (PA (x)) in the subdivision.
    4. Method according to one of the preceding claims wherein a parameter is the speed of the aircraft relative to air (CAS).
    5. Method according to one of the preceding claims wherein the turning radius is determined from a set of parameters comprising, in addition to the speed of the aircraft relative to the air (CAS), the wind (W) and / or the altitude of the aircraft (Alt) and / or the temperature (Temp) outside the aircraft.
    6. Method according to one of the preceding claims in which said criterion consists in determining a number of subdivisions (N), each subdivision having an identical angular sector (a).
    7. Method according to one of the preceding claims, in which said criterion consists in determining a number of subdivisions (N), and an angular sector (a (i)) for each subdivision (Sub (i)) as a function of the predicted values of representative parameters along the transition.
    8. Method according to one of the preceding claims, in which steps 3 to 7 are carried out iteratively, an iteration being indexed j, the method further comprising a step 2 ′) consisting in loading a maximum number of iterations M, and in which, starting from the second iteration j = 2, the initial transition of the current iteration j (Tini (j)) is assigned the value of the improved transition of the previous iteration j-1 (Timp (j- 1)), and we assign to the initial trajectory of the current iteration j (Traj-ini (j)) the improved trajectory of the previous iteration j-1 (Traj-imp (j-1)), the method further comprising the step of:
    5 ’) determine at least one convergence parameter (Pconv) between the current turning radii (R (i) / j) and the previous turning radii (R (i) / j1).
    the method performing an additional iteration when j = 1 or as a function of a comparison between the convergence parameter (Pconv) and a predetermined threshold, and as long as j <M.
    [0009]
    9. The method of claim 8 wherein a convergence parameter (Pconv (i)) is calculated by subdivision (Sub (i)), said convergence parameter being equal to the ratio between the current turning radius (R (i) / j)) and the previous turning radius (R (i) / j-1) associated with said subdivision, an additional iteration being carried out when at least one of the convergence parameters (Pconv (i)) is greater than a first threshold ( S1).
    [0010]
    10. Method according to one of claims 8 to 9, in which a ratio between the current turning radius and the previous turning radius associated with said subdivision is calculated for each subdivision, the convergence parameter being equal to the average of said ratios, an additional iteration being carried out when the convergence parameter is greater than a second threshold (S2).
    [0011]
    11. Method according to one of the preceding claims, said method being implemented while the aircraft is not yet flying said transition, a starting point of the transition corresponding to a point calculated by the FMS.
    [0012]
    12. Method according to one of claims 1 to 10, said method being implemented while the aircraft is in the process of flying a transition, a starting point of the initial transition corresponding to a real-time position of the aircraft.
    [0013]
    13. Method according to one of claims 1 to 12, said method being triggered automatically by the FMS, either at regular intervals or, when the aircraft is flying a transition, from the detection of a position deviation of the aircraft between the previously calculated trajectory and the flight path.
    [0014]
    14. Flight management system called FMS configured to calculate a trajectory intended to be flown by an aircraft, a trajectory being determined from a flight plan (PV) comprising an ordered series of segments (Legs) defined by a standard aeronautics, a segment corresponding to an instruction for calculating an elementary trajectory, the trajectory being built up step by step from the instructions contained in each segment, a portion of trajectory making it possible to connect the elementary trajectories corresponding to two consecutive non-aligned segments being called transition (T), the FMS comprising:
    - a trajectory determination module (TRAJ) configured to determine, for at least one transition (T) of the trajectory coming from the flight plan (PV), an initial transition (Tini) comprising at least one arc having a turning radius initial (RO), said initial turning radius being calculated from an initial value (P A o) of at least one parameter (P A ) representative of the state of the aircraft, said initial value guaranteeing the volatility of the transition and to determine an initial trajectory (Traj-ini) integrating the initial transition (Tini),
    a prediction calculation module (PRED) configured to determine, for each parameter, a plurality of predicted values (P A ki, P A K2) of said parameter during the initial transition, from the calculation of the initial trajectory, the trajectory calculation module being further configured to determine a plurality of ordered subdivisions (Sub (i)) of the arc of the initial transition (Tini) according to a predetermined criterion, to determine, for each subdivision (Sub (i) ), an associated turning radius (R (i)) calculated from a representative value (P A (i)) of each parameter for said subdivision, extrapolated from predicted values in said subdivision, and to determine a transition improved (Timp) from ordered subdivisions (Sub (i)) and successive associated turn radii (Ri) and an improved trajectory (Traj-imp) integrating the improved transition (Timp),
    -a man-machine interface (12) configured to display the improved trajectory 5 (Traj-imp) to a pilot of the aircraft.
    [0015]
    15. A computer program product, said computer program comprising code instructions making it possible to carry out the steps of the method according to any one of claims 1 to 12.
    1/10
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    US15/632,205| US10657829B2|2016-07-07|2017-06-23|Method of calculation by a flight management system of a trajectory exhibiting improved transitions|
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