Method and device for determining the optimal turn direction of an aircraft

• US 9,536,433 B2
• Filed: 06/03/2015
• Issued: 01/03/2017
• Est. Priority Date: 06/06/2014
• Status: Active Grant

• Current Assignee: Thales SA
• Original Assignee: Thales SA
• Inventors: Savarit, Vincent, Hoofd, Franois, Dewas, Emmanuel
• Primary Examiner(s): Trivedi, Atul
• Application Number:
  US14/730,088
• Publication Number:
  US 20150356874A1
• Time in Patent Office: 580 Days
• Field of Search: 701/528
• US Class Current: 1/1
• CPC Class Codes: G05D 1/0202 specially adapted to aircraft
• CPC Class Codes: G08G 5/0034 Assembly of a flight plan
• CPC Class Codes: G08G 5/0039 Modification of a flight plan
• CPC Class Codes: G08G 5/0047 Navigation or guidance aids for a single aircraft details of equipment G08G5/0017

Abstract

A method determines the optimal turn direction of an aircraft among two directions, right and left, following a lateral trajectory to join an arrival straight charted by an angle of arrival, based on a departure point and angle of departure defining a departure straight oriented along movement of the aircraft, the direction defined by a respectively positive or negative optimal turn sign, comprising: determining a conventional departure sign of the departure point; determining a center value of an angle of change of course equal to the difference between the angle of arrival and angle of departure referred back between −180° and +180°, the center value exhibiting a logical sign corresponding to the center value sign of the angle of change of course; determining the sign of the optimal turn based on comparison between the departure sign and the logical sign, the sign of the optimal turn defining optimal turn direction.

Claims

1. A method for determining a lateral trajectory followed by an aircraft executed by a flight management system, the lateral trajectory being computed on a basis of a plurality of successively inserted sections of a flight plan and of aircraft parameters input by a pilot, a transition between two successive inserted sections requiring in certain cases that the aircraft turns according to a turn direction, said method comprising for at least one inserted section requiring said turn, a step of determining an optimal turn direction method of the aircraft defined with respect to its movement, from among two directions, right and left, the aircraft following the lateral trajectory so as to join an arrival straight oriented according to the desired direction of movement of the aircraft and charted by an angle of arrival, on a basis of a departure point and of an angle of departure defining a departure straight oriented in the direction of movement of the aircraft,

the right or left direction of the optimal turn with respect to the movement of the aircraft being conventionally defined by a respectively positive or negative optimal turn sign,

the said step of determining the optimal turn direction method comprising the steps:

determining a conventional departure sign of the departure point with respect to the oriented arrival straight, the departure sign being positive or negative when the departure point is situated respectively on the left or on the right of the oriented arrival straight,

determining a centered value of an angle of change of course equal to a difference between the angle of arrival and the angle of departure referred back between −

180° and

+180°

, the said centered value exhibiting a logical sign corresponding to the sign of the centered value of the angle of change of course,

determining the sign of the optimal turn on the basis of the comparison between the departure sign and the logical sign, the said sign of the optimal turn defining the optimal turn direction, and

the method further comprising the steps of computing the lateral trajectory and proposing to the pilot to insert the computed trajectory in a flight plan.

2. The method according to claim 1, in which step of determining the sign of the optimal turn comprises the sub-step consisting in comparing the departure sign of the departure point and the logical sign,

when the said signs are different, the optimal turn sign is equal to the logical sign,

when the signs are equal, the sign of the optimal turn is determined by a sub-step on the basis of the logical sign.

3. The method according to claim 2, in which the sub-step of determining the sign of the optimal turn when the said signs are equal consists in assigning the opposite of the logical sign to the sign of the optimal turn.

4. The method according to claim 2, in which the sub-step of determining the sign of the optimal turn when the said signs are equal is performed as a function of the absolute value of the centered value of the angle of change of course and/or of the distance between the departure point and the arrival straight.

5. The method according to claim 4, in which the sub-step of determining the sign of the optimal turn when the said signs are equal comprises the sub-step consisting in:

comparing the absolute value of the centered value of the angle of change of course with an angle equal to 180°

minus a joining angle lying between 10° and

90°

,

when the said absolute value is less than the difference between 180° and

the said joining angle, the optimal turn sign is equal to the logical sign,

when the said absolute value is greater than or equal to the difference between 180° and

the said joining angle, the sign of the optimal turn is equal to the opposite of the logical sign.

6. The method according to claim 5, in which the sub-step of determining the sign of the optimal turn, when the said signs are equal and when on output from the comparison step the said absolute value is greater than or equal to the difference between 180°

and the said joining angle, comprises the sub-steps consisting in;

determining a distance between the departure point and the arrival straight by orthogonal projection of the departure point onto the arrival straight,

comparing the distance between the departure point and the arrival straight and a joining distance,

when the distance between the departure point and the arrival straight is less than the joining distance, the sign of the optimal turn is equal to the logical sign,

when the distance between the departure point and the arrival straight is greater than or equal to the joining distance, the sign of the optimal turn is equal to the opposite of the logical sign.

7. The method according to claim 5, in which the joining angle is equal to 45°

.

8. The method according to claim 4, in which the sub-step of determining the sign of the optimal turn when the said signs are equal comprises the sub-steps consisting in:

determining a distance between the departure point and the arrival straight by orthogonal projection of the departure point onto the arrival straight,

comparing the distance between the departure point and the arrival straight and a joining distance,

when the distance between the departure point and the arrival straight is less than the joining distance, the sign of the optimal turn is equal to the logical sign,

when the distance between the departure point and the arrival straight is greater than or equal to the joining distance, the sign of the optimal turn is equal to the opposite of the logical sign.

9. The method according to claim 8, in which the joining distance (Dist-r) is computed by the following formula:

Dist-r=Rv*(1 +sinα

), in which Rv is a turning radius of the transition and α

is the centered value of the angle of change of course TCc.

10. The method according to claim 1, the method further comprising the steps of:

determining the optimal turn direction of the said transition for each transition between a preceding section and a following section requiring a turn,

the preceding section exhibiting the departure point and the angle of departure, the following section exhibiting the angle of arrival according to the desired direction of movement, and

computing the lateral trajectory of the transition between the preceding section and the following section on the basis of the optimal turn direction computed at the previous step.

11. A method for determining a lateral trajectory of an aircraft executed by a flight management system, the lateral trajectory being computed on the basis of a plurality of successively inserted sections of a flight plan, a transition between two successive sections requiring in certain cases that the aircraft turn according to a turn direction, the method comprising the steps consisting in, for each transition between a preceding section and a following section requiring a turn:

determining the optimal turn direction of the said transition by the method according to claim 1,

the preceding section exhibiting the departure point and the angle of departure, the following section exhibiting the angle of arrival according to the desired direction of movement,

computing the lateral trajectory of the transition between the preceding section and the following section on the basis of the optimal turn direction computed at the previous step,

wherein the optimal turn direction is determined by the method according to claim 1 for the transitions of the flight plan not exhibiting a turn direction predefined in a navigation database.

12. The method according to claim 1, the method further comprising the steps consisting in, upon the insertion of a section for which it is necessary that the aircraft turn in order to join the said section from the preceding section:

asking the pilot to choose the turn direction to be taken into account,

when the pilot chooses the turn direction from among right and left, computing the lateral trajectory of the transition between the preceding section and the inserted section with the chosen turn direction,

when the pilot chooses an automatic determination of the turn direction;

determining the optimal turn direction according to claim 1, the preceding section exhibiting the departure point and the angle of departure, the inserted section exhibiting the angle of arrival according to the desired direction of movement, and

computing the lateral trajectory of the transition between the preceding section and the following section on the basis of the optimal turn direction computed at the previous step.

13. The method according to claim 12, in which the pilot is interrogated regarding the turn direction to be taken into account when the said turn direction is not predefined in a navigation database.

14. The method according to claim 1, the aircraft having quit its initial flight plan comprising a plurality of successive sections,

the said joining trajectory being computed between a current position of the aircraft and an arrival section chosen by the pilot from among the sections of the initial flight plan,

the said trajectory being determined on the basis of said step of determining an optimal turn direction according to claim 1, and

the current position corresponding to the departure point, the aircraft flying according to an angle of departure, the arrival section exhibiting the angle of arrival according to the desired direction of movement.

15. A computer program product, the said computer program comprising code instructions making it possible to perform the steps of the method according to claim 1.

16. A flight management system configured to compute a lateral trajectory followed by an aircraft computed on a basis of a plurality of successively inserted sections of a flight plan and of aircraft parameters inserted by a pilot, a transition between two successive inserted sections requiring in certain cases that the aircraft turns according to a turn direction, said flight management system comprising a device for determining the optimal turn direction of an aircraft being defined with respect to its movement, from among two directions, right and left, the aircraft following the lateral trajectory so as to join an arrival straight oriented according to the desired direction of movement of the aircraft and charted by an angle of arrival, on a basis of a departure point and of an angle of departure defining a departure straight oriented in the direction of movement of the aircraft,

the right or left direction of the optimal turn with respect to the movement of the aircraft being conventionally defined by a respectively positive or negative optimal turn sign,

the said device comprising:

a module for determining a conventional departure sign of the departure point with respect to the oriented arrival straight, the departure sign being positive or negative when the departure point is situated respectively on the left or on the right of the oriented arrival straight,

a module for determining a centered value of an angle of change of course equal to a difference between the angle of arrival and the angle of departure referred back between −

180° and

+180°

, the said centered value exhibiting a logical sign corresponding to the sign of the centered value of the angle of change of course, and

a module for determining a sign of the optimal turn on the basis of the comparison between the departure sign and the logical sign, the said sign of the optimal turn defining the optimal turn direction.

17. A method for determining a lateral trajectory followed by an aircraft executed by a flight management system, the lateral trajectory being computed on a basis of a plurality of successively inserted sections of a flight plan and of aircraft parameters input by a pilot, a transition between two successive inserted sections requiring in certain cases that the aircraft turns according to a turn direction, said method comprising for at least one inserted section requiring said turn, a step of determining an optimal turn direction method of the aircraft defined with respect to its movement, from among two directions, right and left, the aircraft following the lateral trajectory so as to join an arrival straight oriented according to the desired direction of movement of the aircraft and charted by an angle of arrival, on a basis of a departure point and of an angle of departure defining a departure straight oriented in the direction of movement of the aircraft,

the right or left direction of the optimal turn with respect to the movement of the aircraft being defined by a respectively positive or negative optimal turn sign,

the said step of determining the optimal turn direction method comprising the steps:

determining a conventional departure sign of the departure point with respect to the oriented arrival straight with the flight management system, the departure sign being positive or negative when the departure point is situated respectively on the left or on the right of the oriented arrival straight,

determining a centered value of an angle of change of course equal to a difference between the angle of arrival and the angle of departure referred back between −

180° and

+180°

with the flight management system, the said centered value exhibiting a logical sign corresponding to the sign of the centered value of the angle of change of course,

determining the sign of the optimal turn on the basis of the comparison between the departure sign and the logical sign with the flight management system, the said sign of the optimal turn defining the optimal turn direction, and

the method further comprising the steps of computing the lateral trajectory with the flight management system and proposing to the pilot to insert the computed trajectory in a flight plan utilizing the flight management system.

18. The method according to claim 17, in which step of determining the sign of the optimal turn comprises the sub-step consisting in comparing the departure sign of the departure point and the logical sign,

when the said signs are different, the optimal turn sign is equal to the logical sign,

when the signs are equal, the sign of the optimal turn is determined by a sub-step on the basis of the logical sign.

19. The method according to claim 18, in which the sub-step of determining the sign of the optimal turn when the said signs are equal consists in assigning the opposite of the logical sign to the sign of the optimal turn.