The present invention relates to a method and device for making secure a low-altitude automatic flight of an aircraft, which is (automatically) guided along a low-altitude flight trajectory comprising a lateral trajectory and a vertical trajectory.
Although not exclusively, the present invention applies more particularly to a military transport airplane which exhibits a low thrust/weight ratio and a high inertia, and whose maneuvering times are in general relatively slow.
Within the framework of the present invention, the expression low-altitude flight means flight along a flight trajectory (at low altitude) allowing an aircraft to follow as closely as possible the terrain overflown, in particular so as to avoid being pinpointed. A low-altitude flight trajectory such as this is therefore most usually situated at the lowest at a predetermined height from the terrain, for example 500 feet (about 150 meters).
Because of this proximity to the ground, any downward vertical deviation (beyond a certain security margin) of the aircraft, with respect to the flight trajectory to be followed, during the guidance of the aircraft along said flight trajectory, presents a significant risk of collision with the terrain overflown (directly with the ground or with a structure or an element situated on said ground). Of course, the existence of such a risk is not acceptable (or only with a probability of occurrence per flying hour that is less than a predetermined security objective).
The present invention is aimed at making secure a low-altitude flight of an aircraft (which is automatically guided along a flight trajectory comprising a lateral trajectory and a vertical trajectory) so as to render any collision of the aircraft with the terrain overflown highly improbable.
The presents invention applies more particularly to an automatic flight which is autonomous, that is to say an automatic flight which is performed solely by virtue of navigation, flight management and guidance systems and of a digital terrain database, which are carried on board, without the aid of any forward emissive device, such as a radar for example. It is known that an autonomous automatic flight such as this may be subject to a whole set of errors relating in particular to:
It will be noted that monitoring the deviation between the estimated position of the aircraft and the calculated low-altitude flight trajectory that the aircraft must follow, so as possibly to detect an excessive vertical deviation, does not make it possible to take account in particular of the influence of the navigation errors and errors relating to the digital terrain database used.
The present invention is aimed at remedying these drawbacks. It relates to a particularly effective method for making secure a low-altitude automatic and autonomous flight of an aircraft, which is therefore guided (automatically and in an autonomous manner) along a low-altitude flight trajectory.
For this purpose, according to the invention, said method is noteworthy in that:
A/ during said low-altitude flight, the following string of successive operations is carried out in an automatic and repetitive manner:
a) a current threshold value is determined, depending at least on the current altitude of said low-altitude flight trajectory, which is followed by the aircraft, as well as on navigation errors of the aircraft, guidance errors of the aircraft and errors in calculating said flight trajectory;
b) a current real height of the aircraft above the terrain overflown is measured; and
c) this measured current real height is compared with said current threshold value; and
B/ if said current real height becomes less than or equal to said current threshold value, an alert signal is emitted (audible and/or visual).
Thus, by virtue of the invention, it is possible to detect any excessive downward vertical deviation, by monitoring the current real height of the aircraft (that is to say by measuring it in a repetitive manner and by comparing it with said predetermined threshold value). Such verification is particularly effective, since it takes account, not of an estimated height, but of the current real height of the aircraft, that is to say of the actual height with respect to the real terrain.
Moreover, as specified below, said threshold value is determined so as to take into account the various errors liable to appear during a low-altitude automatic and autonomous flight such as this.
In a preferred embodiment, in step A/a), said threshold value H0 is calculated with the aid of the following expression (1):
in which:
Furthermore, when the terrain overflown by the aircraft is substantially flat:
Furthermore, advantageously, in step A/b) said real height is measured with the aid of a radioaltimeter.
Additionally, in step B/, if said current real height becomes less than or equal to said current threshold value, in addition to emitting an alert signal, the low-altitude flight is interrupted and the aircraft is controlled (automatically and manually) so as to increase its altitude such as to bring it to a security altitude (before possibly returning to a low-altitude flight if this proves to be possible).
The present invention also relates to a device for making secure a low-altitude flight of an aircraft which is automatically guided (and in an autonomous manner) along a (low-altitude) flight trajectory.
According to the invention, this device is noteworthy in that it comprises:
Furthermore, in a particular embodiment, the device in accordance with the invention comprises, moreover, fifth means for controlling the aircraft so as to increase its altitude and bring it to a security altitude, when said current real height becomes less than or equal to said current threshold value.
The figures of the appended drawing will elucidate the manner in which the invention may be embodied. In these figures, identical references designate similar elements.
The device 1 in accordance with the invention and schematically represented in
Said device 1 is associated with a standard piloting system 2, which is carried on board the aircraft A and which comprises:
According to the invention, said device 1, which is therefore intended to make secure the low-altitude flight of the aircraft A which is automatically guided along a low-altitude flight trajectory T0, comprises:
In a particular embodiment:
The device 1 in accordance with the invention also comprises means 10 which are connected by way of a link 11 to said means 5 and which are formed so as to control the aircraft A in such a way as to increase its altitude and bring it to a predetermined security altitude, when the current real height RA of the aircraft A becomes less than or equal to said current threshold value H0.
In a preferred embodiment, said means 10 are automatic piloting means and comprise for example the aforesaid automatic piloting system 2. However, these means 10 can also comprise standard manual piloting means.
The present invention applies more particularly to an automatic flight which is autonomous, that is to say an automatic flight which is performed solely by virtue of navigation, flight management and guidance systems and of a digital terrain database, which are carried on board, without the aid of any forward emissive device, such as a radar for example.
The device 1 in accordance with the invention is able to detect any excessive downward vertical deviation, by monitoring the current height RA of the aircraft A (that is to say by measuring it in a repetitive manner and by comparing it with said threshold value H0 calculated in a repetitive manner). Such verification is particularly effective, since it takes account of the real current height RA of the aircraft A and not of an estimated height. This height RA is real, since it is measured with respect to the real terrain TA and not calculated with respect to an estimated terrain, as specified below with reference to
Moreover, as also specified hereinafter, said threshold value H0 is determined so as to take into account the various errors liable to appear during a low-altitude automatic and autonomous flight. Moreover, it is calculated with respect to a precalculated reference so that the method in accordance with the invention is called a method “based on radioaltimeter height correlation” (namely correlation between the height RA and the flight setpoint represented by the precalculated flight trajectory T0).
It is known that an automatic and autonomous flight such as this may be subject to a whole set of instantaneous errors, both in the vertical plane and in the lateral plane, and in particular to:
It will be noted that the sum of the various errors defines a Total System Error TSE.
In a preferred embodiment, said means 3 calculate said current threshold value H0 with the aid of the following expression (1):
in which:
Operationally, a lateral trajectory TL is defined firstly by the operator (directly or via an auto-router system). Along this lateral trajectory TL, the vertical trajectory TV of the low-altitude flight is calculated above the filtered terrain TF which is obtained or the basis of the filtered terrain profile PTF. The latter is determined on the basis of the terrain profile PT arising from the digital terrain database in the following manner: for each abscissa along the lateral trajectory TL, the corresponding terrain elevation is the highest elevation of PT (that is to say extracted from the digital terrain database) under an extraction surface which corresponds globally laterally to the width of a flight corridor plus, on each side of the trajectory, the limit of the error PDE corresponding to a probability objective. Longitudinally, the extraction surface thus takes into account the longitudinal errors.
Consequently, within the framework of the present invention, an alert signal is emitted when the vertical deviation between, on the one hand, the current real position P1 (of the real aircraft A) and, on the other hand, the corresponding position P2 of the calculated trajectory TV, is larger than an alarm threshold, that is to say when:
height RA≦defined altitude−average altitude of the digital terrain under the real aircraft A−(sum of the limits of the errors FTEz, PEEz, DTDBEz)
where:
Above a flat terrain, the alert signal is emitted when:
height RA≦guard height HG−(sum of the limits of the errors FTEz, PEEz, DTDBEz).
Specifically, when the terrain TA overflown by the aircraft A is substantially flat, it is envisaged according to the invention that:
so as to obtain a simplified expression for calculating the threshold value H0, namely
Hereinafter, a system failure which happens with a probability Pj and which induces an upward or downward deviation dj with the same probability is considered.
The aircraft A hits the ground (real terrain TA) if the downward deviation with or without system failure is larger than the guard height HG, in general 500 feet (about 150 meters), and no alert signal is emitted by the means 8.
Moreover, this assumes that the crew of the aircraft A are capable of countering the deviation due to this failure, right from the moment an alert signal is emitted and therefore that the loss of height during this maneuver is less than 500 feet minus the alarm threshold:
with:
P(|TSEz±dj|>d)=Pj[1−P(0≦TSEz≦d−dj)−P(0≦TSEz≦d+dj)]+(1−Pj)[1−2.P(0≦TSEz≦d)]
It will be noted that d represents the value of the guard height HG, chosen in general by the pilot of the aircraft A.
The previous probability must be less than the chosen security objective, for example 10−9/hdv. It may be seen that with P(alert signal not emitted)<1, the probability that TSEz≧500 feet (or that TSEz≧(500−dj)) can be larger than 10−9/hdv, since it is necessary to combine it with the probability of not detecting an exit from the tunnel CV.
The threshold of the alarm (threshold value H0) therefore also depends on the recovery capacity of the aircraft A in the presence of a system failure.
By way of example, if:
then, assuming that these errors are Gaussian:
If a system failure happening with a probability (for example) Pj=10−5/hdv and dj=300 feet (about 90 meters) is considered, then the probability that the aircraft A hits the ground TA is about 6.2.10−8/hdv without alert signal.
But if the alert signal is envisaged, she probability that this alert signal is not emitted must be ≦1.6.10−2/hdv only, so that the probability of hitting the ground is ≦10−9/hdv [provided that the loss of height during the recovery maneuver triggered as soon as the alert signal is emitted is less than 200 feet (about 60 meters) (200=500−300)].
This objective of 1.6.10−2/hdv is amply within the range of current systems.
Consequently, for the implementation of the present invention, it therefore suffices, after having on the ground:
It will be noted that the crew of the aircraft A must be aware that the device 1 in accordance with the invention can emit an alert signal, while the real height RA of the aircraft A is much greater than the guard height HG. This case can appear typically when the flight trajectory T0 sinks into the trough of a valley, but the aircraft A diverges sufficiently therefrom, in order for the alert signal to be emitted.
In general, it will be verified that this flight trajectory T0 is:
Number | Date | Country | Kind |
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05 07739 | Jul 2005 | FR | national |
Filing Document | Filing Date | Country | Kind | 371c Date |
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PCT/FR2006/001776 | 7/20/2006 | WO | 00 | 1/7/2008 |