Method and a device for assisting low altitude piloting of an aircraft

Patent metadata

Field	Value
Publication number	US-9898933-B2
Application number	US-201615015446-A
Country	US
Kind code	B2
Filing date	Feb 4, 2016
Priority date	Feb 16, 2015
Publication date	Feb 20, 2018
Grant date	Feb 20, 2018

Abstract

A method of assisting low altitude piloting of an aircraft and comprising determining at least one main guard curve, determining all of the obstacles present in at least one search zone, and performing a comparison between a top of each obstacle of a search zone and the main guard curve. In order to perform the comparison, if at least one “potentially dangerous” obstacle is situated above the main guard curve in a search zone, then, for each potentially dangerous obstacle, a sight angle (α) is determined for the top of the potentially dangerous obstacle, and it is considered that the most dangerous obstacle is the potentially dangerous obstacle presenting the greatest sight angle (α).

First claim

What is claimed is:

1. A method of assisting low altitude piloting of an aircraft, the method comprising:
determining, by a processor of a piloting assistance device on-board the aircraft, a main guard curve associated with the aircraft as the aircraft is flying forward in a direction of advance, the main guard curve being determined as a function of predetermined pull-up and pitch-down maneuvering capabilities of the aircraft;
determining, by at least one obstacle locating system of the piloting assistance device, all the obstacles present in a search zone of a forward field situated in front of the aircraft;
performing, by the processor, a comparison between a top of each obstacle present in the search zone and the main guard curve;
wherein when at least one of the obstacles present in the search zone is a potentially dangerous obstacle having a top situated above the main guard curve,
determining, by the processor, a sight angle (α) for the top of each potentially dangerous obstacle; and
determining, by the processor, the potentially dangerous obstacle presenting the greatest sight angle (α) as being a most dangerous obstacle present in the search zone;

wherein when no obstacle present in the search zone is a potentially dangerous obstacle having a top situated above the main guard curve,
determining, by the processor, a value of a difference criterion for each obstacle present in the search zone representing the difference between the obstacle present in the search zone and the main guard curve, wherein the difference criterion of an obstacle is a height between a top of the obstacle and the main guard curve in a vertical direction; and
determining, by the processor, a most dangerous obstacle present in the search zone as being the obstacle present in the search zone having a smallest value of the difference criterion; and

communicating, by a display or an alarm of the piloting assistance device, information to a pilot about the most dangerous obstacle present in the search zone.

2. The method according to claim 1 , wherein in order to determine the sight angle (α) for the top of each potentially dangerous obstacle, the following steps are performed by the processor:
determining the position of a safety point situated above the potentially dangerous obstacle at a predetermined guard height above the potentially dangerous obstacle;
determining a sight angle of the safety point; and
setting the sight angle (α) for the top of the potentially dangerous obstacle as being equal to the sight angle of the safety point.

3. The method according to claim 1 , wherein a sight angle of an obstacle is considered as being positive when a point associated with the obstacle and identified by the sight angle of the obstacle is located above a horizontal reference plane containing the aircraft and as being negative when the point associated with the obstacle and identified by the sight angle of the obstacle is located below the horizontal reference plane containing the aircraft.

4. A method of assisting low altitude piloting of an aircraft, the method comprising:
determining, by a processor of a piloting assistance device on-board the aircraft, a main guard curve associated with the aircraft as the aircraft is flying forward in a direction of advance, the main guard curve being determined as a function of predetermined pull-up and pitch-down maneuvering capabilities of the aircraft;
determining, by at least one obstacle locating system of the piloting assistance device, all the obstacles present in a search zone of a forward field situated in front of the aircraft;
performing, by the processor, a comparison between a top of each obstacle present in the search zone and the main guard curve;
wherein when at least one of the obstacles present in the search zone is a potentially dangerous obstacle having a top situated above the main guard curve,
determining, by the processor, a sight angle (α) for the top of each potentially dangerous obstacle; and
determining, by the processor, the potentially dangerous obstacle presenting the greatest sight angle (α) as being a most dangerous obstacle present in the search zone;

wherein when no obstacle present in the search zone is a potentially dangerous obstacle having a top situated above the main guard curve,
determining, by the processor, a secondary guard curve that is offset in time relative to the main guard curve, by being situated at least in part downstream from the main guard curve in the direction of advance of the aircraft;
determining, by the processor, a most dangerous obstacle in the search zone as being the obstacle present in the search zone having its top situated the highest relative to the secondary guard curve; and

communicating, by a display or an alarm of the piloting assistance device, information to a pilot about the most dangerous obstacle present in the search zone.

5. The method according to claim 1 , wherein the forward field situated in front of the aircraft is subdivided into a plurality of search zones, and a most dangerous obstacle is determined for each search zone.

6. The method according to claim 5 , wherein a symbol is displayed on the display for the most dangerous obstacle in each search zone and a safety cordon is displayed interconnecting the symbols.

7. The method according to claim 6 , wherein a speed vector of the aircraft collimated at infinity is determined and a sign is displayed representing the speed vector on the display, with an alarm being triggered when the speed vector is below the safety cordon.

8. The method according to claim 6 , wherein in each search zone the coordinates are determined of a reference point situated at a predefined distance above the top of the most dangerous obstacle in the search zone, the symbol representing the reference point.

9. The method according to claim 1 , wherein the main guard curve includes a downstream circular arc presenting a downstream radius equal to the sum of a predetermined minimum pull-up radius plus a predetermined minimum pitch-down radius.

10. The method according to claim 9 , further comprising determining a secondary guard curve, wherein the main guard curve and the secondary guard curve present two different respective downstream radii.

11. The method according to claim 9 , wherein the main guard curve includes a rectilinear portion upstream from the downstream circular arc, the rectilinear portion extending from a vertical plane containing the aircraft to the downstream circular arc.

12. The method according to claim 1 , wherein the main guard curve is constructed from a static guard curve including (i) a downstream circular arc presenting a downstream radius equal to the sum of a predetermined minimum pitch-down radius plus a predetermined minimum pull-up radius and (ii) an upstream circular arc presenting a secondary radius equal to the sum of the predetermined minimum pull-up radius plus a predetermined guard height, the upstream circular arc and the downstream circular arc presenting a common tangent at the point where they join together.

13. A piloting assistance device for use on-board an aircraft, the piloting assistance device comprising:
at least one obstacle locating system configured to determine all the obstacles present in a search zone of a forward field situated in front of the aircraft;
a processor unit configured to
determine a main guard curve associated with the aircraft as the aircraft is flying forward in a direction of advance, the main guard curve being determined as a function of predetermined pull-up and pitch-down maneuvering capabilities of the aircraft;
perform a comparison betwee

Assignees

• Airbus Helicopters

Inventors

• Pire Richard

Classifications

• G05D2107/30

  Off-road · CPC title

• G05D1/628

  following the obstacle profile, e.g. a wall or undulated terrain · CPC title

• G05D2109/20

  Aircraft, e.g. drones · CPC title

• G01S13/935

  for terrain-avoidance · CPC title

• G01S13/94

  Physics · mapped topic