WO2002045048A1 - Systeme d'atterrissage et de navigaton avec representation virtuelle de l'environnement - Google Patents

Systeme d'atterrissage et de navigaton avec representation virtuelle de l'environnement

Info

Publication number
WO2002045048A1
WO2002045048A1 PCT/CH2001/000686 CH0100686W WO0245048A1 WO 2002045048 A1 WO2002045048 A1 WO 2002045048A1 CH 0100686 W CH0100686 W CH 0100686W WO 0245048 A1 WO0245048 A1 WO 0245048A1
Authority
WO
WIPO (PCT)
Prior art keywords
display
information
landing
vehicles
obstacles
Prior art date
Application number
PCT/CH2001/000686
Other languages
English (en)
French (fr)
Inventor
Luca Carlino
Enzo Carlino
Tino Perucchi
Beat Ackermann
Stefano Azzalin
Original Assignee
Karen Sa
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Karen Sa filed Critical Karen Sa
Priority to AU2002223353A priority Critical patent/AU2002223353A1/en
Publication of WO2002045048A1 publication Critical patent/WO2002045048A1/fr

Links

Classifications

    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G5/00Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0017Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information
    • G08G5/0021Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information located in the aircraft
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C23/00Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
    • G01C23/005Flight directors
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/04Display arrangements
    • G01S7/06Cathode-ray tube displays or other two dimensional or three-dimensional displays
    • G01S7/20Stereoscopic displays; Three-dimensional displays; Pseudo-three-dimensional displays
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/04Control of altitude or depth
    • G05D1/06Rate of change of altitude or depth
    • G05D1/0607Rate of change of altitude or depth specially adapted for aircraft
    • G05D1/0653Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G5/00Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047Navigation or guidance aids for a single aircraft
    • G08G5/0065Navigation or guidance aids for a single aircraft for taking-off
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G5/00Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/02Automatic approach or landing aids, i.e. systems in which flight data of incoming planes are processed to provide landing data
    • G08G5/025Navigation or guidance aids

Definitions

  • the present invention is part of display systems for aircraft, helicopters and hybrids (tilt rotor), more particularly virtual display systems which provide a video display based on the virtual reconstruction of the environment.
  • the main field of use of this system is takeoff, flight, landing in adverse weather conditions with the aim of simplifying the procedures used by these subjects.
  • the procedure of the 'Instrumental Landing System' is, at present, identical for the planes and the helicopters. This causes a traffic jam effect due to the reduced speed of helicopters. In addition, the indication of the instruments allowing the landing is not very user-friendly.
  • This visualization system allows takeoff, flight and landing by providing a virtual image of the environment, obstacles, other vehicles and the path to follow.
  • the improvements brought by this system are mainly: + The on-board installation required is reduced compared to other systems and can be carried on any helicopter or plane, without weight and volume constraints.
  • the system can be used without and with installation on the ground.
  • the installation on the ground is in any case less complex than the existing ones and it can be installed where traffic management is required.
  • the system therefore proposes to separate the procedures, in order to free up the time and space occupied by the helicopters. To achieve this, it is possible to exploit the performance of the helicopter, such as a very low landing speed and hovering. This allows, on the one hand, to land manually with almost zero visibility and anywhere and, on the other hand, to redefine the concept of instrument flight.
  • HMD Helmet
  • the system visualizes the environment, the other vehicles and the trajectory to follow - not necessarily straight - in three dimensions.
  • 3D visualization of the terrain, obstacles (high voltage cables, antennas, etc.) and the trajectory allows the flight to be carried out safely.
  • the pilot can benefit from the same display details as on take-off.
  • the system mounted on a helicopter makes it possible to calculate the parameters necessary for the reconstruction of the virtual image and for communication with other fixed and mobile stations.
  • the parameters for positioning are calculated using information received from the DGPS, an inertial platform, a radio altimeter, an altimeter and a system that measures the position of the head of the pilot.
  • interfaces to instruments providing other information are planned.
  • the system is equipped with two radio interfaces for communication between the different vehicles and for communication with the fixed station. Separation of airport traffic is guaranteed with multiple CDMA access (division multiple access code). Each airport has its own code which is known by the systems on board helicopters.
  • This interface is part of a wireless network which connects all fixed and mobile equipment.
  • This network allows the exchange of information on the positioning of other vehicles and instructions from the centralized fixed control station, but not necessarily present.
  • Each member has a unique address allowing them to identify themselves and label their messages.
  • the usefulness of this radio interface is to be able dynamically update the image from the pilot's point of view, by adding objects located in the same airspace, and a possible trajectory to guide the pilot in his landing. Messages received by other members of the wireless network are used for this update.
  • All the information necessary for viewing the scene is recorded in a database containing the description of the terrain and a database for obstacles. It is possible to update the obstacle database using the radio interface.
  • the position of the helicopter is calculated using the information thus received. Since the frequency of arrival of information from a DGPS is too low for real-time refreshment, an inertial platform is used to receive the necessary parameters and thus allow interpolation of the flight path. In the event of a DGPS signal loss, position measurement is guaranteed with information from the inertial platform alone or by combining it with data from additional instruments.
  • the ground station commanded by airport staff, is responsible for the synchronization of air traffic. Depending on the type of message received from the helicopter
  • the accuracy of positioning during the landing phase depends on the presence of the station on the ground.
  • the precision guaranteed with DGPS (1m) is improved to 1 cm by using the functionalities of the ground station.
  • the on-board system can also be connected to the flight director for calculating data for the autopilot.
  • the on-board system has a command interface for configuring and controlling various display and flight parameters: planning and display of the trajectory of a flight in three dimensions, display of a 'moving map', display of the rear view to guarantee a 360 ° view, display of flight parameters and the trajectory imposed by the ground station.
  • the position is calculated using the DGPS position information ( Figure 1, block 1). This position is available a maximum of 5 times per second.
  • the platform inertial form ( Figure 1, block 2) provides the information necessary to know the speeds in the three axes and the coordinates, in order to be able to interpolate the points until the next DGPS message.
  • the inertial platform also provides the inclinations in the three axes which are thus used for the display and the transposition of the speeds on the reference frame.
  • DGPS information is missing, only the information from the inertial platform, combined with the other instruments, is used to calculate the position. If the helicopter is hovering, information from the inertial platform is used to filter the position jump caused by the DGPS error.
  • the radio altimeter (figure 1, block 3) allows, as a first functionality, to check the height given by the DGPS or to replace it in case of loss of the DGPS signal.
  • the sensors for measuring the position of the head allow the display to be adapted according to the pilot's real view.
  • the command interface ( Figure 1, block 5) is used to configure and control the on-board system.
  • the command interface makes it possible to configure and control various flight display parameters: planning and display of the trajectory of a flight in three dimensions ( Figure 2), display of a moving map ( Figure 3), display of the rear view to guarantee a 360 ° view (figure 3), display of flight parameters (figure 3), application or not of the texture (figure 4) and the trajectory imposed by the ground station
  • the control display ( Figure 1, block 8) is shown as the display interface for the control interface.
  • the system contains a database including terrain modeling.
  • the display part ( Figure 1, block 11) dynamically loads the corresponding part when the pilot sees the database.
  • the obstacle database is used to display interesting obstacles and points
  • the virtual scene is displayed with a virtual screen mounted on the pilot's helmet (Figure 1, block 12).
  • This screen is transparent and thus allows to have the real image and virtual superimposed. In this way, the pilot can take advantage of features such as viewing obstacles even in favorable weather conditions.
  • Communication ( Figure 1, block ⁇ ) between members of the wireless network is based on a concurrent access protocol, detecting possible collisions (between messages). Each vehicle sends its position, flight direction, speed and identification with a given interval, so that all vehicles know the positions of others in their immediate environment (range of the radio interface). This information will be used to add the vehicles to the scene.
  • Each airport has its own code which is known by the systems on board helicopters.
  • the ground station establishes a connection with the vehicle the first time it receives information about its position. This establishment attempt is repeated if the vehicle does not complete the request using the station's CDMA code.
  • the communication system with the ground station allows the exchange of information on the trajectory to be followed, new obstacles, modeling of the airport in question and any information related to the location.
  • Figure 1 shows the block diagram of the on-board system mounted on the helicopter or aircraft.
  • Figure 2 shows a screenshot with a 3D trajectory determining the path to follow to land.
  • Figure 3 shows a screenshot of the moving map and the rear view with the texture applied.
  • Figure 4 is a screenshot showing a terrain without texture applied with the visualization of an obstacle (transport cable).
  • Figure 5 is a screenshot of the model of some buildings without texture.
PCT/CH2001/000686 2000-11-30 2001-11-26 Systeme d'atterrissage et de navigaton avec representation virtuelle de l'environnement WO2002045048A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU2002223353A AU2002223353A1 (en) 2000-11-30 2001-11-26 Landing and navigating system with virtual representation of the immediate surroundings

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH2328/00 2000-11-30
CH23282000 2000-11-30

Publications (1)

Publication Number Publication Date
WO2002045048A1 true WO2002045048A1 (fr) 2002-06-06

Family

ID=4568604

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CH2001/000686 WO2002045048A1 (fr) 2000-11-30 2001-11-26 Systeme d'atterrissage et de navigaton avec representation virtuelle de l'environnement

Country Status (2)

Country Link
AU (1) AU2002223353A1 (de)
WO (1) WO2002045048A1 (de)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2874371A1 (fr) * 2004-08-19 2006-02-24 Airbus France Systeme d'affichage pour aeronef
FR2875916A1 (fr) * 2004-09-28 2006-03-31 Eurocopter France Procede et dispositif d'aide au pilotage d'un aeronef a voilure tournante au voisinage d'un point de pose ou de decollage
EP1650534A1 (de) 2004-10-23 2006-04-26 EADS Deutschland GmbH Verfahren zur Pilotenunterstützung bei Landungen von Helikoptern im Sichtflug unter Brown-Out oder White-Out Bedingungen
FR2888342A1 (fr) * 2005-07-08 2007-01-12 Thales Sa Dispositif optoelectronique d'aide au roulage pour aeronef comportant une symbologie dediee
DE102007014015A1 (de) * 2007-03-23 2008-09-25 Eads Deutschland Gmbh Mensch-Maschinen-Interface zur Pilotenunterstützung bei Start und Landung eines Fluggeräts bei verminderter Außensicht
EP2431960A3 (de) * 2010-09-20 2015-07-15 Honeywell International Inc. Grundnavigationsanzeige, System und Verfahren zum Anzeigen von Gebäuden in 3D

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5296854A (en) * 1991-04-22 1994-03-22 United Technologies Corporation Helicopter virtual image display system incorporating structural outlines
US5566073A (en) * 1994-07-11 1996-10-15 Margolin; Jed Pilot aid using a synthetic environment
US5838262A (en) * 1996-12-19 1998-11-17 Sikorsky Aircraft Corporation Aircraft virtual image display system and method for providing a real-time perspective threat coverage display
EP0911647A2 (de) * 1997-08-28 1999-04-28 Japan Defence Agency Flugsystem und System zur Erzeugung von virtuellen Bildern in Flugzeugen
DE19831452C1 (de) * 1998-07-14 2000-03-09 Eurocopter Deutschland Verfahren zur Unterstützung der Flugführung

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5296854A (en) * 1991-04-22 1994-03-22 United Technologies Corporation Helicopter virtual image display system incorporating structural outlines
US5566073A (en) * 1994-07-11 1996-10-15 Margolin; Jed Pilot aid using a synthetic environment
US5838262A (en) * 1996-12-19 1998-11-17 Sikorsky Aircraft Corporation Aircraft virtual image display system and method for providing a real-time perspective threat coverage display
EP0911647A2 (de) * 1997-08-28 1999-04-28 Japan Defence Agency Flugsystem und System zur Erzeugung von virtuellen Bildern in Flugzeugen
DE19831452C1 (de) * 1998-07-14 2000-03-09 Eurocopter Deutschland Verfahren zur Unterstützung der Flugführung

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2874371A1 (fr) * 2004-08-19 2006-02-24 Airbus France Systeme d'affichage pour aeronef
WO2006024746A1 (fr) * 2004-08-19 2006-03-09 Airbus France Systeme d’affichage pour aeronef
FR2875916A1 (fr) * 2004-09-28 2006-03-31 Eurocopter France Procede et dispositif d'aide au pilotage d'un aeronef a voilure tournante au voisinage d'un point de pose ou de decollage
WO2006035153A1 (fr) * 2004-09-28 2006-04-06 Eurocopter Procede et dispositif d'aide au pilotage d'un aeronef a voilure tournante au voisinage d'un point de pose ou de decollage
US7672758B2 (en) 2004-09-28 2010-03-02 Eurocopter Method and a device for assisting the piloting of a rotary wing aircraft in the vicinity of a landing or takeoff point
EP1650534A1 (de) 2004-10-23 2006-04-26 EADS Deutschland GmbH Verfahren zur Pilotenunterstützung bei Landungen von Helikoptern im Sichtflug unter Brown-Out oder White-Out Bedingungen
US7365652B2 (en) 2004-10-23 2008-04-29 Eads Deutschland Gmbh Method of pilot support in landing helicopters in visual flight under brownout or whiteout conditions
FR2888342A1 (fr) * 2005-07-08 2007-01-12 Thales Sa Dispositif optoelectronique d'aide au roulage pour aeronef comportant une symbologie dediee
DE102007014015A1 (de) * 2007-03-23 2008-09-25 Eads Deutschland Gmbh Mensch-Maschinen-Interface zur Pilotenunterstützung bei Start und Landung eines Fluggeräts bei verminderter Außensicht
DE102007014015B4 (de) * 2007-03-23 2010-07-01 Eads Deutschland Gmbh Mensch-Maschinen-Interface zur Pilotenunterstützung bei Start und Landung eines Fluggeräts bei verminderter Außensicht
EP2431960A3 (de) * 2010-09-20 2015-07-15 Honeywell International Inc. Grundnavigationsanzeige, System und Verfahren zum Anzeigen von Gebäuden in 3D

Also Published As

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