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

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).

CROSS REFERENCE TO RELATED APPLICATION

This application claims priority to French patent application No. FR 15 00298 filed on Feb. 16, 2015, the disclosure of which is incorporated in its entirety by reference herein.

BACKGROUND OF THE INVENTION

(1) Field of the Invention

The present invention relates to a method and to a device for assisting low altitude piloting of an aircraft.

The technical field of the invention is the field of fabricating piloting assistance systems for use on board rotorcraft.

(2) Description of Related Art

Low altitude flight constitutes a difficult operation. In order to avoid obstacles, a pilot can rely only on seeing the surrounding space, on external aids such as sensors and cameras, usually without distance information, and on the pilot's knowledge of the aircraft being flown. The pilot must thus evaluate the presence of potentially dangerous obstacles on the path being followed and must also evaluate the ability of the aircraft to avoid those obstacles, given the aircraft's maneuverability.

Under conditions of poor visibility or at night, low altitude flights are that much more difficult to carry out. The pilot may have difficulty in seeing potential obstacles under poor environmental conditions.

Consequently, an aircraft may include a piloting assistance device providing information for indicating the presence of obstacles and enabling them to be avoided.

Patent FR 2 712 251 describes a method of assisting piloting in which a guard curve is used to determine the obstacles that are the most dangerous for the aircraft.

Such a guard curve may be constituted essentially by a circularly arcuate segment. The circularly arcuate segment presents a radius equal to the sum of the minimum pull-up and minimum pitch-down radii that are acceptable for the aircraft. Furthermore, the guard curve may include a horizontal segment upstream from the circularly arcuate segment. Under such circumstances, the guard curve has a horizontal portion extended by a circularly arcuate segment, thus presenting the shape of a ski presenting an upwardly curved tip.

The guard curve may be associated with a guard height, the guard curve being positioned at a height below the aircraft that is equal to the guard height.

Anything situated above the guard curve thus presents a potential obstacle.

In that method, a piloting assistance device divides the forward field situated in front of the aircraft into a plurality of angular sectors. The forward field represents the space that can be reached by the aircraft starting from its current position.

The piloting assistance device then acts for each sector to detect obstacles by means of a telemeter detector. The piloting assistance device then compares the tops of the obstacles with the guard curve.

In each angular sector, the piloting assistance device defines tops that are situated higher than the guard curve as being dangerous obstacles. For example, the altitude of each obstacle is calculated. Under such circumstances, the piloting assistance device determines a difference in altitude between the altitude of each obstacle and the point of the guard curve situated above or below the obstacle. The most dangerous obstacle is the obstacle for which the altitude difference presents the greatest algebraic value.

Each dangerous obstacle is shown to a pilot by being superposed on an image of the external landscape, which image also includes crosshairs representing the speed vector of the aircraft collimated at infinity. By way of example, dangerous obstacles are represented in the form of respective crosshairs. The piloting assistance device may also display a smoothed safety curve that is situated at a guard height above the dangerous obstacles. In order to fly as close as possible to the obstacle, the pilot must then cause the crosshairs representing the speed vector to lie on said curve.

Nevertheless, the presence of the crosshairs representing the speed vector at a location above the safety curve does not guarantee that the aircraft is in complete safety. For example, if the aircraft is flying in a valley, a turning maneuver might cause the aircraft to face a wall that could be difficult to avoid.

Furthermore, if at some instant the pilot does not comply with the procedure that should be applied, then a problematic situation can arise.

In such a situation, a first obstacle may then lie below the speed vector of the aircraft and at a first height above the guard curve.

A second obstacle may lie above the speed vector and at a second height above the guard curve. If the second height is less than the first height, then the first obstacle is designated as being the most dangerous obstacle. The pilot may be unworried since the obstacle designated as the most dangerous obstacle is situated below the speed vector. Nevertheless, the second obstacle represents a potential danger.

That guard curve has a first circular arc presenting a radius equal to the sum of the minimum pull-up radius authorized for the aircraft plus a ground guard height.

Furthermore, the static guard curve includes a second circular arc downstream from the first circular arc. The second circular arc presents a radius equal to the sum of said minimum pull-up radius authorized for the aircraft plus a minimum pitch-down radius authorized for the aircraft. The first circular arc and the second circular arc present a common tangent at the point where they join together.

The first circular arc then extends from a point situated on a straight line passing through the aircraft and through the center of the circle containing said first circular arc to the second circular arc.

Furthermore, a distance D between the guard curve and the obstacle is calculated. A pitch-down or pull-up order

d⁢⁢φd⁢⁢t
is determined in application of the following formula:

d⁢⁢φd⁢⁢t=G*(D+τ*d⁢⁢Dd⁢⁢t)
where “G” is a gain and “τ” is a warning time.

Under such circumstances, a pull-up order is given when the sum

is negative. A pitch-down order is given when the sum is positive.

Documents US 2011/210871, US 2010/042273, US 2007/265776, and US 2008/208400 are also known.

BRIEF SUMMARY OF THE INVENTION

An object of the present invention is to define an alternative method seeking to reduce the above-described drawbacks.

The invention thus provides a method of assisting low altitude piloting of an aircraft, the method comprising the steps of determining at least one guard curve referred to as a “main” guard curve as a function of predetermined pull-up and pitch-down maneuvering capabilities of the aircraft, determining all of the obstacles present in at least one search zone, performing a comparison between a top of each obstacle in a search zone and said main guard curve, determining a “most dangerous” obstacle as a function of said comparison, and communicating information to a pilot about the most dangerous obstacle.

In order to perform the comparison, if at least one obstacle is a “potentially dangerous” obstacle having a top situated above the main guard curve in a search zone, then for each potentially dangerous obstacle the method comprises determining a sight angle for the top of the potentially dangerous obstacle, and the most dangerous obstacle is the potentially dangerous obstacle presenting the greatest sight angle.

It should be recalled that sight angle of a point relative to an aircraft is the angle between a horizontal reference plane containing the aircraft for example his center of gravity and a straight line passing through said aircraft and said point.

Each sight angle of an obstacle is considered as being positive when a point associated with the obstacle and identified by the sight angle is located above a horizontal reference plane containing said aircraft and as being negative when it is located below the reference plane.

In this method, a guard curve is established. The guard curve may be established using the teaching of Document FR 2 712 251 or of Document FR 2 886 439. The guard curve is used to determine the most dangerous obstacle in at least one search zone. Each of the determined most dangerous obstacles may be used in accordance with the teaching of Document FR 2 712 251 or of Document FR 2 886 439 for the purpose of giving a pilot information about the most dangerous obstacle. For example, a safety cordon may be established in compliance with the teaching of Document FR 2 712 251 or of Document FR 2 886 439.

Under such circumstances, attention is given to above-ground obstacles that are present in at least one search zone. These obstacles may be detected using Lidar or radar telemeters or indeed using stereoscopic viewing systems. The obstacles may also be stored in a conventional database.

For each obstacle situated above the main guard curve, the method does not take account of the height between the top of the obstacle and the guard curve in order to determine the obstacle that is the most dangerous relative to the main guard curve, but rather it takes account of a sight angle associated with the top of the obstacle.

Thus, in the invention, during a comparison step, the sight angle of each top situated above the curve is established, and the top presenting the greatest sight angle represents the obstacle that is the most dangerous.

Thus, and in accordance with the above example, a first obstacle may be below the speed vector of the aircraft and at a first height that is above the guard curve. A second obstacle may be above the speed vector and at a second height above the guard curve, with the second height being less than the first height. The top of the second obstacle nevertheless presents a sight angle that is greater than the top of the first obstacle relative to the aircraft.

Unlike some of the prior art, the second obstacle represents the most dangerous obstacle.

Under such circumstances, the presence of a speed vector collimated at infinity and located above a safety cordon established in accordance with the teaching of Document FR 2 712 251 or of Document FR 2 886 439 continues to represent a state in which the aircraft is safe.

The present method may also include one or more of the following characteristics.

By way of example, and in a first variant, the sight angle of an obstacle may be established by determining the angle between a horizontal reference plane containing the aircraft and a straight line passing through said aircraft and the top of the obstacle.

In a second variant, in order to determine the sight angle of a potentially dangerous obstacle, the following steps are performed:

determining the position of a point referred to as a “safety” point situated above the potentially dangerous obstacle at a predetermined guard height above the potentially dangerous obstacle; and

determining a sight angle of said safety point, said sight angle of said potentially dangerous obstacle being equal to said sight angle of said safety point.

Under such circumstances, determining the sight angle of an obstacle takes a safety guard height into consideration.

Furthermore, and in a first alternative, in order to perform the comparison in a search zone, if no obstacle is a potentially dangerous obstacle and thus situated above the main guard curve, then a value of a difference criterion is determined for each obstacle representing the difference between said obstacle and the main guard curve, said most dangerous obstacle being the obstacle presenting the smallest difference criterion.

In the absence of an obstacle located above the ground, the most dangerous obstacle is represented by the ground.

The difference criterion may for example be a height between a top of an obstacle and said guard curve in a vertical direction.

In a second alternative, in order to perform the comparison, if no obstacle is a “potentially dangerous” obstacle, a guard curve referred to as a “secondary” guard curve is determined 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, the most dangerous obstacle being the obstacle having its top situated the highest relative to the secondary guard curve.

The main guard curve seeks for example to represent an avoidance path that is associated with a first warning time. Under such circumstances, the secondary guard curve seeks for example to represent an avoidance path associated with a second warning time that is longer than the first warning time. Under such circumstances, the secondary guard curve is offset in time relative to the main guard curve.

If no obstacle presents a top situated above the secondary guard curve, then the second alternative seeks to determine the most dangerous obstacle as a function of the secondary guard curve.

The main and secondary guard curves may be determined as a function of different parameters.

Furthermore, a forward field situated in front of the aircraft may be subdivided into a plurality of search zones, and a most dangerous obstacle may be determined for each search zone.

In addition, a symbol may be displayed on a display for each most dangerous obstacle, each symbol representing a most dangerous obstacle in a search zone, and a safety cordon may be displayed interconnecting said symbols.

For example, the display may display a representation of the forward field. The display superposes a symbol on this representation for each most dangerous obstacle together with a safety cordon interconnecting the symbols. The teaching of patent FR 2 712 251 may be applied in order to obtain such a representation.

Furthermore, the symbol representing a most dangerous obstacle may be positioned at the height of the top of that obstacle.

Nevertheless, the symbol representing the most dangerous obstacle may be positioned at a height corresponding to the sum of the height of the top of the obstacle plus a guard height.

By way of example, 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, said symbol representing said reference point.

Furthermore, a speed vector of the aircraft collimated at infinity may be determined. Thus, a sign is displayed representing the speed vector on the display, with an alarm being triggered when said speed vector is below the safety cordon.

Furthermore, at least one guard curve may include 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.

The minimum pitch-down radius and the minimum pull-up radius may be constant, or they may vary as a function of at least one parameter, for example. Thus, the minimum pitch-down radius and the minimum pull-up radius may vary as a function of at least one parameter selected from the following list: a speed of advance of the aircraft; the pressure of the air outside the aircraft; the temperature of the air outside the aircraft; and the weight of the aircraft.

In addition, when a main guard curve and a secondary guard curve are determined, the main guard curve and the secondary guard curve present, by way of example, two different respective downstream radii.

In a first implementation, the guard curve includes a rectilinear portion upstream from the downstream circular arc, said rectilinear portion extending from a vertical plane containing the aircraft to the downstream circular arc.

In a second implementation, said guard curve is constructed from a “static” guard curve comprising 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 an “upstream” circular arc presenting a secondary radius equal to the sum of said 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.

In addition to a method, the invention provides a piloting assistance device having a processor unit. The processor unit includes computer means and a memory, the memory containing stored instructions, and the computer means executing the instructions in order to apply the above-described method.

Thus, the device has means for determining at least one “main” guard curve as a function of predetermined pitch-down and pull-up maneuvering capabilities of the aircraft, means for determining all of the obstacles present in at least one search zone, means for performing a comparison between the top of each obstacle in a search zone with said main guard curve, means for determining a “most dangerous” obstacle as a function of said comparison, and means for providing a pilot with information about the most dangerous obstacle.

The invention also provides an aircraft including such a piloting assistance device.

DETAILED DESCRIPTION OF THE INVENTION

The aircraft1includes a piloting assistance device2for facilitating flight at low altitude. This piloting assistance device2includes at least one locating system for locating obstacles.

Under such circumstances, the piloting assistance device may include a locating system3of the database type. Such a database usually stores a list of obstacles and their locations. Such databases are commercially available.

As an alternative or in addition, the piloting assistance device may include a telemeter4. For example, the aircraft1may be fitted with a telemeter of the kind known under the acronym Lidar. A telemeter serves in particular to measure the bearings and the distances for all obstacles situated in at least one search zone.

Furthermore, the piloting assistance device includes a processor unit5, which is connected to each locating system.

The processor unit is provided with computer means6, such as a processor, for example. Furthermore, the processor unit includes a memory7. The memory7may comprise one or more storage means. The memory7contains instructions executed by the computer means in order to perform the method of the invention.

Thus, the processor unit determines all obstacles that are present in at least one search zone by using data transmitted over a wired or wireless connection by the locating systems. Furthermore, the processor unit establishes at least one main guard curve associated with the aircraft.

In addition, an alarm system9is connected to a display8or to the processor unit5. Such an alarm system may generate an alarm that is audible, visible, and/or tactile, for example.

FIG. 2shows a guard curve established in a first implementation.

Independently of the implementation, the aircraft1travels in a direction of advance50with a speed vector40. The maneuver for enabling the aircraft1to avoid an obstacle consists in a pull-up maneuver followed by a pitch-down maneuver to return to a guard height Hg above the obstacle100. By applying maximum load factors for pulling up nc and for pitching down np, the optimum path T1is made up of two circular arcs of respective radii Rc and Rp.

Under such circumstances, the processor unit determines, at each computation instant, at least one main guard curve associated with the aircraft. The main guard curve20is defined as being the curve for which the aircraft flying on its current path will avoid obstacles that are situated externally (EXT) relative to the guard curve, and for which the aircraft flying on its current path needs to maneuver in order to avoid obstacles that are situated internally (INT) relative to the guard curve. Consequently, an obstacle situated above the guard curve represents an obstacle that is potentially dangerous.

The term “above” means that an item is situated above another item in the vertical gravity direction. Thus, the term “obstacle situated above the guard curve” means an obstacle that is situated higher than and over the guard curve.

Independently of the implementation, the guard curve presents a downstream circular arc21. This downstream circular arc presents a downstream radius R1equal to the sum of a predetermined minimum pull-up radius Rc and a predetermined minimum pitch-down radius Rp for the aircraft.

The predetermined minimum pitch-down radius Rp and the predetermined minimum pull-up radius Rc may be respectively defined by way of example by the following relationships:

Rc=V2g*(nc-1)Rp=V2g*(1-np)
in which “V” is the speed of the aircraft, “g” is the acceleration due to gravity, “Rc” is the pull-up radius of curvature, “Rp” is the pitch-down radius of curvature, “nc” is a maximum pull-up load factor, and “np” is a maximum pitch-down load factor.

In the first implementation, the main guard curve20has a rectilinear portion22upstream from the downstream circular arc21. This rectilinear portion22extends from a vertical plane P1containing the aircraft1as far as the downstream circular arc21over a warning length P.

The main guard curve may be positioned at a guard height Hg under the aircraft.

Such a guard curve may be established in application of the teaching of Document FR 2 712 251.

In the second implementation ofFIG. 3, the main guard curve20is constructed from a static guard curve30including an upstream circular arc23presenting a secondary radius R2. This secondary radius R2is equal to the sum of the predetermined minimum pull-up radius Rc plus a predetermined guard height Hg. Under such circumstances, the upstream circular arc23and the downstream circular arc21present a common tangent300at the point301where they join together.

The main guard curve is the locus of points situated at a normal distance D from the static guard curve and satisfying the relationship:

D+τ=d⁢⁢Dd⁢⁢t=0
where “τ” is a predetermined warning time and

d⁢⁢Dd⁢⁢t
is the derivative of D relative to time.

This main guard curve may move together with the aircraft under conditions that depend on the successive orientations of the speed vector during flight. For example, while the aircraft is pulling up, the guard curve remains stationary. The aircraft is then capable, while continuing its pull-up movement to a greater or lesser extent, of passing over any obstacle that is external relative to the static guard curve.

In contrast, as soon as the aircraft begins a pitch-down path, the guard curve pivots with the aircraft.

Such a guard curve is also referred to as a “dynamic” guard curve and it may be established in application of the teaching of Document FR 2 886 439.

With reference toFIGS. 4 and 5, the processor unit performs a comparison by comparing the top110of each obstacle100in a search zone with the main guard curve20. Among the obstacles100identified by the locating system, the processor unit determines the obstacle130that is said to be the “most dangerous”.

The processor unit determines in particular the coordinates of the top110of the obstacles100, and then determines the positions of these tops, at least relative to the main guard curve20.

If an obstacle100has a top110situated above the main guard curve20, and thus internally INT relative to the main guard curve20, then the obstacle is a potentially dangerous obstacle120.FIG. 4shows a first obstacle101and a second obstacle102, each of which represents a potentially dangerous obstacle120.

Under such circumstances, the processor unit determines the sight angle α for each potentially dangerous obstacle120that is detected.

The processor unit then considers that the potentially dangerous obstacle120having the greatest sight angle constitutes the most dangerous obstacle130that needs to be taken into consideration for directing the aircraft.

In a first variant, the sight angle of an obstacle may be established by determining the angle between a horizontal reference plane P0containing the aircraft1and a straight line passing from said aircraft1to the top110of the obstacle.

In this variant, the first obstacle101presents a first sight angle α1and the second obstacle102presents a second sight angle α2.

By convention, each sight angle α of an obstacle is said to be positive when a point associated with the obstacle and identified by the sight angle lies above the horizontal reference plane P0containing the aircraft1, and negative when it is below the reference plane.

Under such circumstances, the first sight angle α1has a negative value and the second sight angle α2has a positive value. As a result, the second obstacle102presents a second sight angle that is greater than the first sight angle of the first obstacle. Consequently, the second obstacle constitutes the most dangerous obstacle130.

In a second variant, in order to determine the sight angle of a potentially dangerous obstacle:

the processor unit determines the position of a “safety” point140situated above the potentially dangerous obstacle at a predetermined guard height Hg above the potentially dangerous obstacle120; and

the processor unit determines a sight angle of said safety point, said sight angle of the potentially dangerous obstacle then being equal to said sight angle of said safety point.

As shown inFIG. 4, the first obstacle101presents a first sight angle α11and the second obstacle102presents a second sight angle α21.

Under such circumstances, the first sight angle α11has a small positive value and the second sight angle α21has a large positive value. As a result, the second obstacle102presents a second sight angle that is greater than the first sight angle of the first obstacle. Consequently, the second obstacle constitutes the most dangerous obstacle130.

FIG. 5shows the described method being applied with a primary guard curve that is established in the second implementation.

With reference toFIG. 6and in a first alternative, if no obstacle is a potentially dangerous obstacle120, a value for a different criterion200is determined for each obstacle100, which value represents a difference201between the obstacle100and the main guard curve20. The most dangerous obstacle130is then the obstacle presenting the smallest difference criterion200.

The difference criterion200may for example be a height between the top110of the obstacle100and the main guard curve20in a vertical direction AX.

FIG. 6shows a main guard curve in the first implementation. Nevertheless, the first alternative is applicable to the second implementation.

In the second alternative ofFIG. 7, the processor unit determines a “secondary” guard curve25that is offset in time relative to the main guard curve20.

The secondary guard curve25is thus situated at least in part downstream from the main guard curve20in the direction of advance50of the aircraft1.

Under such circumstances, if no obstacle constitutes a potentially dangerous obstacle situated above the main guard curve, then the most dangerous obstacle130represents the obstacle having its top110situated the highest relative to the secondary guard curve25.

In the example ofFIG. 7, a first obstacle103is situated at a first height H1above the secondary guard curve25. However, a second obstacle104is situated at a second height H2below the secondary guard curve25.

As a result, the first height H1has a positive value and the second height has a negative value. The first obstacle103then represents the most dangerous obstacle130.

FIG. 7shows a main guard curve and a secondary guard curve in application of the first implementation. Nevertheless, the first alternative is applicable to the second implementation.

Likewise, the main guard curve and the secondary guard curve could be different.

Furthermore, and independently of the alternative that is applied, in the absence of any obstacle, the ground may represent the obstacle that is the most dangerous.

With reference toFIG. 8, the forward field30situated in front of the aircraft may be subdivided into a plurality of search zones35. For example, the forward field is subdivided into four angular sectors forming four search zones35, namely a first search zone31, a second search zone32, a third search zone33, and a fourth search zone34.

The processor unit then determines the most dangerous obstacle in each of the search zones.

Furthermore, the processor unit provides a pilot with information about the most dangerous obstacle in each search zone.

Thus, the processor unit is connected to a display8.

As a result, the processor unit causes the display8to display a symbol65in association with each most dangerous obstacle130. Each symbol65thus represents the most dangerous obstacle130in a given search zone35.

Furthermore, the processor unit may cause a safety cordon80to be displayed interconnecting said symbols65.

With reference toFIG. 9, the display8may display by way of example a representation of the external landscape. The display superposes each symbol65on this representation.

Each symbol65may be positioned at the top of the most dangerous obstacle shown.

In another obstacle, in each search zone35, the processor unit determines the coordinates of a reference point66situated at a predefined distance67above the top110of the most dangerous obstacle130. The symbol65then represents the reference point66.

In order to facilitate piloting the aircraft, the processor unit determines a speed vector40of the aircraft1collimated at infinity, by using appropriate members of the aircraft. The processor unit then displays a sign75representing this speed vector40on the display8.

Furthermore, the piloting assistance device may trigger an alarm when the speed vector40lies below the safety cordon80, as in the example shown.

The display options of Document FR 2 712 251 are also applicable in the present invention.