Airborne terrain collision prevention device with prediction of turns

• US 6,480,120 B1
• Filed: 04/14/1997
• Issued: 11/12/2002
• Est. Priority Date: 04/15/1996
• Status: Expired due to Term

• Current Assignee: Dassault Electronique
• Original Assignee: Dassault Electronique
• Inventors: Meunier, Hugues
• Primary Examiner(s): SWARTHOUT, BRENT
• Application Number:
  US08/843,288
• Time in Patent Office: 2,038 Days
• Field of Search: 340/961, 340/970, 340/963, 701/301, 701/4, 701/8, 701/9, 701/3, 701/14, 701/17, 701/18, 342/65
• US Class Current: 340/970
• CPC Class Codes: G01C 5/005 altimeters for aircraft G01C5/02, G01C5/06 take precedence
• CPC Class Codes: G05D 1/0646 to follow the profile of undulating ground
• CPC Class Codes: G08G 5/0086 for monitoring terrain radar or analogous systems specially adapted for terrain avoidance G01S13/935
• CPC Class Codes: G08G 5/045 Navigation or guidance aids, e.g. determination of anti-collision manoeuvers radar or analogous systems specially adapted for anti-collision between aircraft G01S13/933

Abstract

A working memory contains a local altimetric map defining an altitude envelope of the terrain in the vicinity of the aircraft. A vertical limit path of the aircraft is established, on the basis of status indications and selected flight parameters, in the vertical surface containing the axis of its path. A first comparison is undertaken between this vertical limit path and the corresponding part of the altitude envelope, so as to determine a hazard of a vertical collision with the ground, and an alarm can be established according to the result of this first comparison. A lateral limit path of the aircraft on one side of the vertical of the flight path is also established on the basis of the status indications and selected parameters. A second comparison is made between this lateral limit path and the corresponding part of the altitude envelope. The alarm means are arranged to modify at least one of the alarm statuses relating to the first comparison, if the second comparison means do not indicate a hazard of a collision with the ground. The same is done on the other side with another lateral limit path.

Claims

1. A device for aiding air navigation and air safety of an airplane, said device comprising:

an input for receiving status indications, capable of permitting a prediction of the path of the aircraft;

a working memory capable of containing a local altimetric map from which an altitude envelope of the terrain can be defined in the vicinity of the aircraft;

first path prediction means so as to establish a vertical limit path of the aircraft, on the basis of said status indications and selected flight parameters, in the vertical surface containing the axis of its path;

first comparison means for effecting a first comparison between this vertical limit path and the corresponding part of the altitude envelope, so as to determine a hazard of a vertical collision with the ground;

alarm means to establish at least one alarm status according to the result of the first comparison;

second prediction means for establishing, on the basis of said status indications and selected flight parameters, a lateral limit path for the aircraft on one side of the vertical of the flight path, and

second comparison means for effecting a second comparison between this lateral limit path and the corresponding part of the altitude envelope;

and wherein said alarm means are operative so as to modify said at least one alarm status relating to the first comparison, if the second comparison means do not indicate any collision hazard with the ground.

3. A device according to claim 1, further comprising:

third prediction means to establish on the basis of said status indications and selected flight parameters another lateral limit path for the aircraft on the other side of the vertical, and

third comparison means to effect a third comparison between this other lateral limit path and the corresponding part of the altitude envelope;

and wherein said alarm means are operative so as to modify or inhibit said at least one alarm status relating to the first comparison which indicates a maximum hazard, at least in the case where the second and the third comparison means do not at one and the same time indicate any hazard of a lateral collision with the ground.

5. A device according to claim 3, wherein

said first prediction means are operative so as to establish two vertical limit paths, for the medium term and short term respectively;

wherein said first comparison means are operative to operate two first comparisons between these two vertical limit paths and the parts corresponding to the altitude envelope, so as to determine a pre-hazard of a vertical collision with the ground, and a hazard of a vertical collision with the ground respectively;

wherein said alarm means are operative to emit a vertical pre-alarm and a vertical alarm respectively, according to said pre-hazard and said hazard; and

wherein said alarm means are operative so as to modify or inhibit the vertical pre-alarm, at least in the case where the second and third comparison means do not at one and the same time indicate a hazard of a lateral collision with the ground.

6. A device according to claim 5, wherein said alarm means are operative to modify or inhibit the vertical pre-alarm, if one of the second and third comparison means does not indicate a hazard of a lateral collision with the ground.

7. A device according to claim 5, wherein said alarm means are operative to modify or inhibit the vertical alarm if the second and third comparison means do not at one and the same time indicate a hazard of a lateral collision with the ground.

2. A device for aiding air navigation and air safety of an airplane, said device comprising:

an input for receiving status indications, capable of permitting a prediction of the path of the aircraft;

a working memory capable of containing a local altimetric map from which an altitude envelope of the terrain can be defined in the vicinity of the aircraft;

first path prediction means so as to establish a vertical limit path of the aircraft, on the basis of said status indications and selected flight parameters, in the vertical surface containing the axis of its path;

first comparison means for effecting a first comparison between this vertical limit path and the corresponding part of the altitude envelope, so as to determine a hazard of a vertical collision with the ground;

alarm means to establish at least one alarm status according to the result of the first comparison;

second prediction means for establishing, on the basis of said status indications and selected flight parameters, a lateral limit path for the aircraft on one side of the vertical of the flight path, and

second comparison means for effecting a second comparison between this lateral limit path and the corresponding part of the altitude envelope;

wherein said alarm means are operative so as to modify said at least one alarm status relating to the first comparison, if the second comparison means do not indicate any collision hazard with the ground wherein said lateral limit path corresponds to a turn of 360°

to return towards the same starting point of the turn, without loss of height other than that necessary for starting a horizontal flight if required.

4. A device according to claim 2, wherein the alarm means are operative so as to modify or inhibit that one of the alarms relating to the first comparison which indicates a maximum hazard, if the second comparison does not indicate a hazard of a lateral collision with the ground.

8. A device for aiding air navigation and air safety of an airplane, said device comprising:

an input for receiving status indications, capable of permitting a prediction of the path of the aircraft;

a working memory capable of containing a local altimetric map from which an altitude envelope of the terrain can be defined in the vicinity of the aircraft;

first path prediction means so as to establish a vertical limit path of the aircraft, on the basis of said status indications and selected flight parameters, in the vertical surface containing the axis of its path;

first comparison means for effecting a first comparison between this vertical limit path and the corresponding part of the altitude envelope, so as to determine a hazard of a vertical collision with the ground;

alarm means to establish at least one alarm status according to the result of the first comparison;

second prediction means for establishing, on the basis of said status indications and selected flight parameters, a lateral limit path for the aircraft on one side of the vertical of the flight path,

second comparison means for effecting a second comparison between this lateral limit path and the corresponding part of the altitude envelope;

third prediction means to establish on the basis of said status indications and selected flight parameters another lateral limit path for the aircraft on the other side of the vertical,

third comparison means to effect a third comparison between this other lateral limit path and the corresponding part of the altitude envelope;

and wherein said alarm means are operative so as to modify or inhibit said at least one alarm status relating to the first comparison which indicates a maximum hazard, at least in the case where the second and the third comparison means do not at one and the same time indicate any hazard of a lateral collision with the ground;

wherein said first prediction means are operative so as to establish two vertical limit paths, for the medium term and short term respectively;

wherein said first comparison means are operative to operate two first comparisons between these two vertical limit paths and the parts corresponding to the altitude envelope, so as to determine a pre-hazard of a vertical collision with the ground, and a hazard of a vertical collision with the ground, respectively,

wherein said alarm means are operative to emit a vertical pre-alarm and a vertical alarm, respectively, according to said pre-hazard and said hazard; and

wherein said alarm means are operative so as to modify or inhibit the vertical pre-alarm, at least in the case where the second and third comparison means do not at one and the same time indicate a hazard of a lateral collision with the ground

wherein said second and third prediction means are operative so as to each establish two lateral limit paths for the medium and short term, respectively, and on either side of the vertical, respectively;

wherein said second comparison means are operative to operate two second comparisons between the medium and short term limit paths coming from the second prediction means, and the corresponding parts of the altitude envelope, so as to determine on one side of the vertical, a pre-hazard of a lateral collision with the ground, and a hazard of a lateral collision with the grounds respectively;

wherein said third comparison means are arranged to as to operate two third comparisons between the medium and short term lateral limit paths coming from the third prediction means, and the corresponding parts of the altitude envelope, so as to determine on the other side of the vertical, a pre-hazard of a lateral collision with the ground, and a hazard of a lateral collision with the ground, respectively;

and wherein said alarm means are operative to take the fact that the second and third comparison means do not indicate any pre-hazard of a lateral collision with the ground as the condition for the absence of a lateral ground collision hazard.

9. A device according to claim 8, wherein said alarm means are operative to emit a vertical pre-alarm in the case where there is both a pre-hazard of a vertical collision with the ground and a pre-hazard of a lateral collision with the ground on one side.

10. A device according to claim 8, wherein said alarm means are operative so as not to emit any alarm in the case of an absence of a pre-hazard of a lateral collision with the ground on both sides.

11. A device according to claim 8, wherein said alarm means are operative so as not to emit any alarm in the case of a hazard of a vertical collision with the ground, but in the absence of a pre-hazard of a lateral collision with the ground on both sides.

12. A device according to claim 8, wherein said alarm means are operative so as not to emit any alarm in the case of a hazard of a vertical collision with the ground, provided that a pre-hazard of a lateral collision with the ground exists only on one side.

13. A device according to claim 8, wherein said alarm means are operative to emit a vertical pre-alarm in the case of a hazard of a vertical collision with the ground, provided that a pre-hazard of a lateral collision with the ground exists only on one side.

14. A device according to claim 8, wherein said alarm means are operative to emit a vertical pre-alarm in the case of a hazard of a vertical collision with the ground, provided that a hazard of a lateral collision with the ground exists on only one side.

15. A device according to claim 8, wherein said alarm means are operative to emit a vertical pre-alarm in the case where there is a hazard of a vertical collision with the ground, with a pre-hazard of a lateral collision with the ground on both sides.

16. A device according to claim 8, wherein said alarm means are operative to emit in the case where there is a hazard of a vertical collision with the ground with a pre-hazard of a lateral collision with the ground on both sides, a vertical alarm if the more recent one is the hazard of the vertical collision with the ground, otherwise a lateral alarm.

17. A device according to claim 8, wherein said alarm means are operative to emit a vertical pre-alarm, in the case where there is a hazard of a vertical collision with the ground, with a pre-hazard of a lateral collision with the ground on one side, and with a hazard of a lateral collision with the ground on the other side.

18. A device according to claim 8, wherein said alarm means are operative so that, in the case where there is a hazard of a vertical collision with the ground, a pre-hazard of a lateral collision with the ground on one side, and a hazard of a lateral collision with the ground on the other side, it emits a vertical alarm, if the more recent is the hazard of a vertical collision with the ground, but otherwise it emits a lateral alarm.

19. A device according to claim 8, wherein said alarm means are operative to emit a vertical alarm, in the case where there is a hazard of a vertical collision with the ground as well as a hazard of a lateral collision with the ground on both sides.

20. A device according to claim 8, wherein said alarm means are operative to emit a lateral alarm in the case where there is hazard of a vertical collision with the ground, as well as a hazard of a lateral collision with the ground on both sides.