Aircraft avoidance method and drone provided with a system for implementing said method

• US 9,257,051 B2
• Filed: 04/24/2013
• Issued: 02/09/2016
• Est. Priority Date: 05/02/2012
• Status: Active Grant

• Current Assignee: Safran Electronics & Defense
• Original Assignee: Sagem Defense Securite (Safran SA)
• Inventors: Farjon, Julien
• Primary Examiner(s): Shafi, Muhammad
• Application Number:
  US14/398,663
• Publication Number:
  US 20150134150A1
• Time in Patent Office: 1,021 Days
• Field of Search: 701/3, 701/301, 701/23, 701/28, 340/961, 340/945, 340/974, 342/27, 342/30, 342/29, 342/55, 342/455, 342/63
• US Class Current: 1/1
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 2201/10 autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
• CPC Class Codes: G01S 13/92 for velocity measurement
• CPC Class Codes: G01S 13/933 of aircraft or spacecraft
• CPC Class Codes: G05D 1/0202 specially adapted to aircraft
• CPC Class Codes: G08G 5/0008 with other aircraft
• CPC Class Codes: G08G 5/0069 specially adapted for an unmanned aircraft
• 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 method enabling an aerial drone not having a TCAS system to avoid an intruder aircraft, the method including the steps of acquiring the position of the intruder aircraft in order to determine the distance between the aerial drone and the intruder aircraft, measuring the angular speed of the intruder aircraft in a horizontal plane, and determining whether the intruder aircraft is fitted with a TCAS system, and, if so, receiving a resolution advisory transmitted by the TCAS of the intruder aircraft and following a previously-determined avoidance path. The invention also provides a drone fitted with a system implementing the method.

Claims

1. A method enabling an aerial drone not having a TCAS system to avoid an intruder aircraft, the method is performed by a flight control system coupled with a data analysis system performing the following steps:

acquiring the position of the intruder aircraft in order to determine the distance between the aerial drone and the intruder aircraft;

measuring the angular speed of the intruder aircraft in a horizontal plane;

determining whether the intruder aircraft is fitted with a TCAS system, and, if so, receiving a resolution advisory transmitted by the TCAS of the intruder aircraft;

determining the avoidance path after receiving the resolution advisory, wherein the step of determining an avoidance path includes a prior operation of analyzing the resolution advisory transmitted by the TCAS of the intruder aircraft in such a manner that if the advisory includes an order for the intruder aircraft to climb, the avoidance path comprises descent, and otherwise comprises a turn in a horizontal plane; and

the aerial drone performing an avoidance maneuver according to the determined avoidance path to avoid collision with the intruder aircraft.

2. The method according to claim 1, wherein the avoidance path is determined in a horizontal plane.

3. The method according to claim 1, including the additional step of transmitting information to the TCAS of the intruder aircraft about the maneuverability of the aerial drone.

4. The method according to claim 1, wherein, if the intruder aircraft is not fitted with a TCAS system, the avoidance path is determined as soon as possible.

5. The method according to claim 1, wherein the turn in a horizontal plane comprises a turn to the right.

6. The method according to claim 1, wherein the aerial drone includes a data analysis system and the steps of acquiring the position of the intruder aircraft, measuring the angular speed of the aircraft, determining whether the intruder aircraft is fitted with an TCAS system and determining the avoidance path is performed by the data analysis system.