Patent Grant
9233761
The present invention relates to a display apparatus, a control support system, and a display method.
An airplane is conventionally provided with an ILS (instrument landing system) and a TIS (tunnel in the sky) for obtaining the deviation angle and the relative position of the target flight path from the airplane. The deviation angle and the relative position obtained with the ILS and the TIS are displayed on a PFD (primary flight display) or an ADI (attitude direction indicator), which is a display apparatus for displaying the flying situation of the aircraft, thereby assisting the pilot of the airplane to perform control for tracking the target flight path.
The ILS displays 102 indicate the deviation angle (ILS display 102A) of the aircraft from a localizer and the deviation angle (ILS display 102B) of the aircraft from a glide slope. The example in
The FD-command and bar displays 104 indicate attitude (pitch angle and bank angle) commands for the aircraft for tracking the target flight path. Note that, in the example of
Furthermore, PTL 1 discloses a flight-path display apparatus in which, when the display position of the flight path of the airplane is located outside the display range of an image combining panel included in a head-up display device, a target mark indicating the direction from the display range center of the image combining panel toward the flight path is displayed on the image combining panel. Note that the above-described flight path is composed of a plurality of path marks, and the path marks are inclined according to the attitude of the airframe estimated when the airframe is displayed on the path marks.
{PTL 1} Japanese Unexamined Patent Application, Publication No. Hei 11-268696
However, with the ILS, the TIS, and the flight-path display apparatus described in PTL 1, the pilot can recognize the deviation angle and the relative position of the aircraft with respect to the target flight path of the aircraft but cannot grasp how to control the aircraft to track the target flight path.
Furthermore, the FD-command and bar displays 104 are marks indicating the target pitch angle and the target bank angle (the target pitch angle and the target bank angle are also collectively referred to as “target attitude relative to ground”), which are required for the aircraft to track the target flight path. The pitch angle and the bank angle of the aircraft do not indicate the traveling direction of the aircraft itself but indicate the direction of the nose thereof, and the direction of the nose thereof does not necessarily match the traveling direction. Thus, the FD-command and bar displays 104 merely indicate the attitude relative to ground, which is indirect information required to achieve the direction in which the aircraft should travel. The same applies to the ILS, the TIS, and the flight-path display apparatus described in PTL 1, and, with the PFD 100 shown in
Therefore, the PFD 100 shown in
The present invention has been made in view of such circumstances, and an object thereof is to provide an airplane display apparatus, control support system, and display method that enable controlling with higher trackability than airplane controlling performed based on the target attitude relative to ground.
According to a first aspect, the present invention provides a display apparatus that displays a flying situation of an airplane, which is an aircraft, wherein the display apparatus displays a relative difference between a target attitude relative to air, representing a target angle-of-attack and a target sideslip angle of the aircraft to achieve a target flight path, and a current attitude relative to air, representing a current angle-of-attack and a current sideslip angle of the aircraft.
According to the above-described aspect, the display apparatus, which displays the flying situation of the airplane, which is the aircraft, displays the relative difference between the target attitude relative to air, representing the target angle-of-attack and the target sideslip angle of the aircraft to achieve the target flight path, and the current attitude relative to air, representing the current angle-of-attack and the current sideslip angle of the aircraft.
If the airplane is controlled based on the target attitude relative to ground (the direction of the nose) indicated by the target pitch angle and the target bank angle, overcontrol or undercontrol is caused during control for tracking the target flight path, in some cases, because the attitude relative to ground does not indicate the traveling direction of the airplane.
However, the attitude relative to air indicates the traveling direction of the airplane. Thus, in the present invention, the target traveling direction is indicated in the form of the target attitude relative to air, and the relative difference between the target attitude relative to air and the current attitude relative to air is displayed, thereby enabling controlling with higher trackability than airplane controlling performed based on the target attitude relative to ground. In particular, for example, when all control surfaces become inoperative, and control for tracking the target flight path is performed with engine thrust alone, it is difficult for the pilot to judge adequate control levels because of the slow response and slow movement of the aircraft. However, according to the present invention, even when control for tracking the target flight path is performed with engine thrust alone, the pilot can perform the tracking control of the aircraft with greater precision.
Furthermore, in the above-described first aspect, it is preferred that the target angle-of-attack be derived by subtracting an angle between a horizontal plane and a target traveling direction from a current pitch angle of the aircraft; and the target sideslip angle be derived by subtracting a current direction angle of the aircraft from an direction angle of the target traveling direction.
According to the above-described aspect, the target angle-of-attack is derived by subtracting the angle between the horizontal plane and the target traveling direction from the current pitch angle of the aircraft, and the target sideslip angle is derived by subtracting the current direction angle of the aircraft from the direction angle of the target traveling direction. The current pitch angle of the aircraft and the current direction angle of the aircraft are information obtained from existing sensors provided in the airplane, which is the aircraft, and the angle between the horizontal plane and the target traveling direction and the direction angle of the target traveling direction are information obtained through automatic control. According to the present invention, it is possible to easily derive the target angle-of-attack and the target sideslip angle.
Furthermore, in the above-described first aspect, it is preferred that a first mark corresponding to the target attitude relative to air and a second mark corresponding to the current attitude relative to air be displayed.
According to the above-described aspect, the first mark corresponding to the target attitude relative to air and the second mark corresponding to the current attitude relative to air are displayed on the display apparatus. Therefore, the pilot can easily recognize the target attitude relative to air and the current attitude relative to air of the aircraft. According to the present invention, the convenience of the pilot can be improved.
Furthermore, in the above-described first aspect, it is preferred that the relative positions of the first mark and the second mark be displayed while being changed according to the relative difference between the target attitude relative to air and the current attitude relative to air.
According to the above-described aspect, the relative positions of the first mark and the second mark are displayed while being changed according to the relative difference between the target attitude relative to air and the current attitude relative to air. Thus, as the aircraft approaches the target traveling direction, the first mark and the second mark come close to each other, and the first mark and the second mark are superposed when the aircraft is flying in the target traveling direction. Therefore, the pilot can easily make the aircraft achieve the target flight path. According to the present invention, the convenience of the pilot can be improved.
Furthermore, in the above-described first aspect, it is preferred that the target flight path be derived based on a current position of the aircraft and a target position that the aircraft should reach.
The current position of the aircraft is obtained by using a GPS (global positioning system) sensor, for example, and the target position is derived by a computer installed in the aircraft, for example.
For example, tracking control using a target flight path that is indicated based on radio waves output from the glide slope antenna and the localizer antenna, which are airport installations, i.e., tracking control using the ILS, allows only for guiding the aircraft for landing from an area near the airport.
However, tracking control using a target flight path that is generated based on the current position of the aircraft and the target position that the aircraft should reach allows for control the aircraft to an airport (target position) from an area where the ILS is not available, for example, in the event of an emergency descent from high altitude or a change in direction angle when a fault occurs in the aircraft.
According to a second aspect, the present invention provides a control support system including: a display apparatus that displays a relative difference between a target attitude relative to air, representing a target angle-of-attack and a target sideslip angle of an aircraft to achieve a target flight path, and a current attitude relative to air, representing a current angle-of-attack and a current sideslip angle of the aircraft; and a control device that is provided with a target angle-of-attack deriving unit for deriving the target angle-of-attack by subtracting an angle between a horizontal plane and a target traveling direction from a current pitch angle of the aircraft and a target sideslip angle deriving unit for deriving the target sideslip angle by subtracting a current direction angle of the aircraft from an direction angle of the target traveling direction and that controls the display apparatus so as to display the relative difference between the current attitude relative to air and the target attitude relative to air, which represents the derived target angle-of-attack and target sideslip angle.
According to the above-described aspect, the target traveling direction is derived in the form of the target attitude relative to air, and the display apparatus displays the relative difference between the target attitude relative to air and the current attitude relative to air, thereby enabling controlling with higher trackability than airplane controlling performed based on the target attitude relative to ground.
According to a third aspect, the present invention provides a display method of displaying, on a display apparatus, a flying situation of an airplane, which is an aircraft, the method including displaying, on the display apparatus, a relative difference between a target attitude relative to air, representing a target angle-of-attack and a target sideslip angle of the aircraft to achieve a target flight path, and a current attitude relative to air, representing a current angle-of-attack and a current sideslip angle of the aircraft.
According to the above-described aspect, the target traveling direction is derived in the form of the target attitude relative to air, and the display apparatus displays the relative difference between the target attitude relative to air and the current attitude relative to air, thereby enabling controlling with higher trackability than airplane controlling performed based on the target attitude relative to ground.
The present invention provides the advantage that controlling with higher trackability than airplane controlling performed based on the target attitude relative to ground is enabled.
A display apparatus, a control support system, and a display method according to an embodiment of the present invention will be described below with reference to the drawings.
The PFD 10 is an integrated indicator and includes airplane reference symbols 12, an airspeed indicator 14 that indicates the airspeed of the aircraft, an altimeter 16 that indicates the altitude of the aircraft, a pitch indicator 18 that indicates the pitch angle of the aircraft, ILS displays (ILS displays 20A and 20B), and a vertical speed indicator 22 that indicates the vertical speed of the aircraft.
Furthermore, an FPM (flight path marker) 30, which is a mark used for assisting a pilot to control the aircraft, and a target attitude relative to air display 32 are displayed on the PFD 10 of this embodiment.
The FPM 30 is a mark indicating the current attitude relative to air, which represents the current angle-of-attack of the aircraft (angle between projection of the traveling direction of the aircraft onto the airframe symmetry plane and the axis) and the current sideslip angle thereof (angle between the traveling direction of the aircraft and the airframe symmetry plane), in other words, a mark indicating the traveling direction of the aircraft. Note that, if the angle-of-attack of the aircraft is large or if the sideslip angle of the aircraft is large, the traveling direction of the aircraft does not match the direction of the nose of the aircraft. Therefore, the FPM 30 indicating the traveling direction of the aircraft is displayed on the PFD 10, thereby making it possible for the pilot to easily recognize the current traveling direction of the aircraft.
On the other hand, the target attitude relative to air display 32 is a mark indicating a target attitude relative to air that represents a target angle-of-attack and a target sideslip angle of the aircraft to achieve the target flight path.
b-1) is a view showing the relationship between the aircraft 40 and the target flight path, corresponding to the target attitude relative to air display 32 displayed on the PFD 10 shown in
On the other hand,
The PFD 10 of this embodiment displays the relative difference between the FPM 30 and the target attitude relative to air display 32. Specifically, when the FPM 30 matches (is superposed on) the target attitude relative to air display 32, the aircraft is flying in the target traveling direction.
The control device 50 includes a target angle-of-attack calculating section 54, a target sideslip angle calculating section 56, and a display control section 58.
Note that the control device 50 is connected to a sensor section 60 and an autopilot section 62 and receives various types of information therefrom.
The sensor section 60 is provided with various sensors to measure the altitude and the speed of the aircraft 40, the deviation angle of the aircraft 40 with respect to the target flight path, and the direction angle and the pitch angle of the aircraft 40.
The autopilot section 62 generates various types of information required for automatic control of the aircraft 40, based on information about the altitude of the aircraft 40, the speed thereof, and the deviation angle thereof with respect to the target flight path, which is received from the sensor section 60, such that the aircraft 40 can fly in the target flight path displayed based on radio waves output from a glide slope antenna and a localizer antenna of an ILS.
The target angle-of-attack calculating section 54 derives the target angle-of-attack by subtracting an angle between the horizontal plane and the target traveling direction from the current pitch angle of the aircraft 40.
A description will be given of how to derive a target angle-of-attack a with reference to a side view of the aircraft 40 shown in
As shown in
The target angle-of-attack calculating section 54 calculates a target angle-of-attack command αcmd indicating the target angle-of-attack a, as shown in Equation (1), and outputs it to the display control section 58.
{Equation 1}
αcmd=θ−γcmd (1)
Note that Equation (1) is a simple derivation equation, and Equations (2) to (4) are used in order to more rigorously derive the target angle-of-attack command αcmd.
Note that φ indicates a bank angle of the aircraft 40, and, when the bank angle φ is 0 (zero), Equation (2) is equivalent to Equation (1).
On the other hand, the target sideslip angle calculating section 56 derives the target sideslip angle by subtracting the current direction angle of the aircraft from the direction angle of the target traveling direction.
A description will be given of how to derive a target sideslip angle β with reference to a top view of the aircraft 40 shown in
As shown in
The target sideslip angle calculating section 56 calculates a target sideslip angle command βcmd indicating the target sideslip angle β, as shown in Equation (5), and outputs it to the display control section 58.
{Equation 5}
βcmd=Ψcmd−ψ (5)
Note that Equation (5) is a simple derivation equation, and Equations (6) to (9) are used in order to more rigorously derive the target sideslip angle command βcmd.
Note that, when the pitch angle θ and the bank angle φ are 0 (zero), Equation (6) is equivalent to Equation (5).
The display control section 58 derives a display position of the target attitude relative to air display 32 on the PFD 10, corresponding to the target angle-of-attack command αcmd output from the target angle-of-attack calculating section 54 and the target sideslip angle command βcmd output from the target angle calculating section 56, and controls the PFD 10 so as to display the target attitude relative to air display 32 at the derived display position.
Note that, in this embodiment, the path angle command γcmd and the direction angle command Ψcmd are derived in the autopilot section 62; however, this does not mean that the target attitude relative to air display 32 is displayed on the PFD 10 only when automatic control is used. When automatic control is not used, the path angle command γcmd and the direction angle command Ψcmd are also derived in the autopilot section 62, the target attitude relative to air display 32 is displayed on the PFD 10, and the pilot uses the target attitude relative to air display 32 as a reference for controlling the aircraft. Furthermore, when automatic control is used, the path angle command γcmd and the direction angle command Ψcmd may be derived in the autopilot section 62, and the target attitude relative to air display 32 may be displayed on the PFD 10.
a) shows a state in which the target attitude relative to air display 32 and the FPM 30 are displayed at different positions on the PFD 10 because the aircraft 40 is flying in a traveling direction that deviates from the target traveling direction. Therefore, the pilot controls the aircraft 40 so that the target attitude relative to air display 32 and the FPM 30 become superposed. As a result, the target attitude relative to air display 32 and the FPM 30 gradually come close to each other. When the target attitude relative to air display 32 and the FPM 30 are superposed, as shown in
As described above, the PFD 10 of this embodiment, which displays the flying situation of the aircraft 40, displays the relative difference between the target attitude relative to air, which represents the target angle-of-attack a and the target sideslip angle β of the aircraft 40 to achieve the target flight path, and the current attitude relative to air, which represents the current angle-of-attack and the current sideslip angle of the aircraft 40; therefore, controlling with higher trackability than airplane controlling performed based on the target attitude relative to ground is enabled.
In particular, for example, when all control surfaces become inoperative, and control for tracking the target flight path is performed with engine thrust alone, it is difficult for the pilot to judge adequate control levels because of the slow response and slow movement of the aircraft. However, with the PFD 10 of this embodiment, even when control for tracking the target flight path is performed with engine thrust alone, the pilot can perform the tracking control of the aircraft 40 with greater precision.
Furthermore, according to this embodiment, the target angle-of-attack a is derived by subtracting the angle between the horizontal plane and the target traveling direction from the current pitch angle of the aircraft 40, and the target sideslip angle β is derived by subtracting the current direction angle of the aircraft 40 from the direction angle of the target traveling direction. The current pitch angle of the aircraft 40 and the current direction angle of the aircraft 40 are information obtained from the existing sensor section 60 provided in the airplane, which is the aircraft 40, and the angle between the horizontal plane and the target traveling direction and the direction angle of the target traveling direction are information obtained through automatic control. Therefore, according to this embodiment, it is possible to easily derive the target angle-of-attack and the target sideslip angle.
Although the present invention has been described above using the above-described embodiment, the technical scope of the present invention is not limited to the range described in the above-described embodiment. Various modifications and improvements can be added to the above-described embodiment without departing from the scope of the invention, and embodiments to which such modifications and improvements are added are also encompassed in the technical scope of the present invention.
For example, in the above-described embodiment, a description has been given of a case where a target flight path that is displayed based on radio waves output from the glide slope antenna and the localizer, which are airport installations, is tracked; however, the present invention is not limited thereto, and a target flight path that is generated based on the current position of the aircraft 40 and the target position that the aircraft 40 should reach may be tracked.
More specifically, a positional information acquisition sensor (for example, GPS sensor) for measuring the current position (latitude, longitude, and altitude) of the aircraft 40 is installed in the aircraft 40, and a target flight path is derived by a computer installed in the aircraft 40 based on the current position of the aircraft 40, which is measured by the positional information acquisition sensor, and is stored in a storage section.
Note that the above-mentioned computer derives a target position (target airport) that the aircraft 40 should reach, from various conditions, e.g., the amount of remaining fuel in the aircraft 40; the reachable distance based on the remaining fuel; if a fault (for example, a fault in which all control surfaces become inoperative during a cruise flight, and it is necessary to steer the aircraft 40 to an airport with engine thrust alone) occurs in the aircraft 40, the maximum radius and minimum radius of circle allowed according to the fault state; the runway length of a candidate airport for landing at; and weather (wind, rain, cloud cover, visibility, etc.) around the candidate airport for landing at. Then, the computer derives the optimum flight path from the position of the aircraft 40 to the target airport and sets the derived optimum flight path as the target flight path. Note that the target position need not be derived by the computer but may be specified by the pilot.
Note that the computer may derive a target flight path at predetermined intervals and update the current target flight path with the derived target flight path in the storage section.
Then, the autopilot section 62 generates controlling commands that include the path angle command γcmd and the direction angle command Ψcmd based on the information indicating the relative position or the deviation angle of the aircraft 40 with respect to the target flight path stored in the storage section.
Thus, for example, tracking control using a target flight path that is displayed based on radio waves output from the glide slope antenna and the localizer antenna, which are airport installations, i.e., tracking control using the ILS, allows only for guiding the aircraft for landing from an area near the airport; however, tracking control using a target flight path that is generated based on the current position of the aircraft 40 and the target position that the aircraft 40 should reach allows for steering of the aircraft to an airport (target position) from an area where the ILS is not available, for example, in the event of an emergency descent from high altitude or a change in direction angle when a fault occurs in the aircraft 40.
Furthermore, in the above-described embodiment, a description has been given of a case where the ILS displays 20 are displayed on the PFD 10 together with the FPM 30 and the target attitude relative to air display 32; however, the present invention is not limited thereto. A configuration in which the ILS displays 20 are not displayed on the PFD 10, a configuration in which FD-command and bar displays are displayed on the PFD 10 together with the ILS displays 20, or a configuration in which another display for assisting the pilot in controlling the aircraft may be used.
Furthermore, in the above-described embodiment, a description has been given of a case where the PFD 10 is used as the display apparatus; however, the present invention is not limited thereto, and another means, such as an ADI, can be used as the display apparatus.
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| PCT/JP2011/064539 | 6/24/2011 | WO | 00 | 12/21/2012 |
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