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    • 专利摘要:
    A computer-implemented method for optimizing the vertical descent profile of an aircraft is described, the vertical profile decomposing into an altitude profile and a velocity profile. One or more passing altitudes can be determined by minimizing the overall deviation between the velocity profile and one or more previously received velocity constraints. The optimized descent profile may include one or more of these passing altitudes. Various developments are described, in particular embodiments in which an optimized passage altitude minimizes the engine thrust, the descent profile is OPEN IDLE, FPA or VS, the optimized descent profile is determined in reverse, a speed constraint is AT or AT OR ABOVE type, and the use of airbrakes. Display methods are described, as well as system and software aspects.
    公开号:FR3064762A1
    申请号:FR1700358
    申请日:2017-04-04
    公开日:2018-10-05
    发明作者:Johan BOYER；Lucia GUERRA MARTIN
    申请人:Thales SA；
    IPC主号:
    专利说明:

    ® FRENCH REPUBLIC
    NATIONAL INSTITUTE OF INDUSTRIAL PROPERTY © Publication number:
    (to be used only for reproduction orders) (© National registration number
    064 762
    00358
    COURBEVOIE © IntCI 8 : G 05 D 1/06 (2017.01)
    PATENT INVENTION APPLICATION
    A1
    Date of filing: 04.04.17. (© Applicant (s): THALES Société anonyme - FR. © Priority : @ Date of availability of the request: 05.10.18 Bulletin 18/40. @ Inventor (s): BOYER JOHAN and GUERRA MARTIN LUCIA. (56) List of documents cited in the preliminary search report: See the end of this brochure References to other related national documents: ©) Holder (s): THALES Société anonyme. O Extension request (s): © Agent (s): MARKS & CLERK FRANCE General partnership.
    MANAGEMENT OF THE DESCENT OF AN AIRCRAFT.
    FR 3 064 762 - A1 (5 /) | is described a process implemented by computer to optimize the vertical profile of descent of an aircraft, the vertical profile breaking down into an altitude profile and a speed profile. One or more passage altitudes can be determined by minimizing the overall deviation between the speed profile and one or more speed constraints previously received. The optimized descent profile can include one or more of these passage altitudes. Various developments are described, in particular embodiments in which an optimized passage altitude minimizes the engine thrust, the descent profile is of OPEN IDLE, FPA or VS type, the optimized descent profile is determined in reverse, a speed constraint is of type AT or AT OR ABOVE, and the use of airbrakes. Display methods are described, as well as system and software aspects.

    MANAGEMENT OF THE DESCENT OF AN AIRCRAFT
    Field of the invention
    The invention relates to the technical field of methods and systems for managing the flight of an aircraft, and in particular for managing the descent phase.
    State of the art
    According to the state of the art, civil aircraft determine their vertical descent profile from the navigation databases, data entered in the active flight plan and aircraft performance data.
    The vertical profile is established by the flight management system (in English Flight Management System, acronym F.M.S.), which calculates the predictions associated with the performance of the aircraft making it possible to best meet operational constraints. The vertical profile predicted on descent and on approach is notably calculated so as to respect all the altitude and / or speed constraints of the different points included in the flight plan.
    The descent is divided into two parts hereinafter called “geometric” descent and “IDLE” descent.
    The “IDLE” descent corresponds to a particular engine speed. IDLE descent is associated with reduced engine thrust. For example, at the end of the cruise, the pilot lets the plane descend "naturally", by putting the engines at "idle" ("IDLE" or "IDLE thrust" according to English terminology ") until ' 2 are encountered altitude and / or speed constraints which can modify a slope relative to the ground and / or can modify the speed, thus forcing to modulate the last degree of freedom available in piloting, in this case the engine thrust. During the IDLE descent, the speeds are not constrained depending on the altitude.
    This type of engine speed with reduced thrust (or minimum in certain cases, or modulo a margin or a tolerance) has in particular the advantage of going down to the landing strip by minimizing the nuisances (noise and pollution) and by minimizing the consumption of fuel (operational costs). In other words, the aircraft remains in reduced thrust for as long as possible, between a point of start of descent and an exit point beyond which the reduced thrust can no longer be held to respect the constraints and allow the landing of the 'aircraft.
    The point of the flight plan separating the two types of descent (geometric and IDLE) is called in English the geometrical path point or Geometrical Path Point in English (acronym G.P.P.). The point G.P.P. is the point of the flight plan separating the geometric descent segment and the IDLE descent segment. It is generally determined by the first constraining altitude constraint. This means that from the start of the descent to this point, the predictions of the descent are made at IDLE thrust and then the predictions are calculated using the predicted slopes to respect the binding altitude constraints.
    In general, constraints in altitude, slope, speed or time at waypoints or in the flight plan can be expressed in various ways. The constraints in altitude can be of type "AT" (passage at the point at the given altitude), "AT OR ABOVE" (passage at or above the given altitude), "AT OR BELOW" (passage at or below the altitude) or "WINDOW" (passage between two altitudes). The speed constraints can be of the “AT” type (passing at the point at the given speed), “AT OR ABOVE” (passing at or above the given speed) or “AT OR BELOW” (passing at or at- below speed The time constraints can be of the “AT” type (passing at the point at the given time), “AT OR AFTER” (passing at or after the given time), “AT OR BEFORE” (passing at or before the given time) or "WINDOW" (passage between two hours).
    Few known approaches address the technical problem of managing speed constraints during an unconstrained descent at altitude (IDLE type). In particular, in the existing systems in terms of flight management system (Flight Management System FMS), nothing is provided to be able to withstand (or respect or satisfy) any speed constraints (for example of the “AT OR” type ABOVE ”or“ AT ”which are restrictive on the IDLE part, both in geometric descent and in approach maneuver).
    According to known approaches, a fixed distribution between dissipation of kinetic energy and dissipation of potential energy is generally imposed by the aircraft manufacturer.
    Certain known calculation methods provide for manipulating the distribution of the energy dissipation: these methods determine a speed profile which must be followed or subjected thereafter, and which in particular is not necessarily adapted to any existing constraints. on the descent speeds.
    On this last point, the patent document FR3014213 entitled "METHOD AND DEVICE FOR AUTOMATIC DETERMINATION OF A SPEED PROFILE WITH SPEED STOPPERS FOR AN AIRCRAFT" discloses a method consisting in maximizing the time spent at the optimal descent speed, including in the presence of speed constraints surrounding the optimal speed. Thus the deceleration (in “forward”) towards the optimal speed is immediate from a speed constraint of type AT or AT OR ABOVE greater than the optimal speed while the deceleration towards a speed constraint of type AT or AT OR BELOW is delayed as much as possible so that the optimal descent speed is maintained as long as possible. This document aims to reduce operating costs, the optimal speed being economic speed, obtained by minimizing a cost criterion, promoting either time or fuel consumption according to a parameter called Cost Index and entered by the crew, generally according to instructions from their airline. This method has limitations.
    There is a need for methods and systems for improved management of the descent phase of an aircraft.
    Summary of the invention
    There is described a computer-implemented method for optimizing the vertical descent profile of an aircraft, the vertical profile breaking down into an altitude profile and a speed profile. One or more passage altitudes can be determined by minimizing the overall deviation between the speed profile and one or more speed constraints previously received. The optimized descent profile can include one or more of these passage altitudes. Various developments are described, in particular embodiments in which an optimized passage altitude minimizes the engine thrust, the descent profile is of OPEN IDLE, FPA or VS type, the optimized descent profile is determined in reverse, a speed constraint is of type AT or AT OR ABOVE, and the use of airbrakes. Display methods are described, as well as system and software aspects.
    Advantageously, the method according to the invention allows better energy management of the descent phase of an aircraft.
    Advantageously, the method according to the invention makes it possible to adjust the distribution of energy dissipation between kinetic energy and potential energy (economically, because the fuel consumption is minimized): during a phase of the flight, the energy dissipation potential is not constrained while the dissipation of kinetic energy is constrained. This energy transfer is in particular carried out to satisfy all the constraints of speed of descent (whatever their nature).
    Advantageously, in one embodiment, the method makes it possible to determine a flightable trajectory leading to an energy stabilization of the aircraft at 1000ft, in the landing configuration with the trains out.
    In one embodiment, the method according to the invention comprises a step consisting in determining at a given instant a slope suitable for respecting a predefined or received speed constraint, while minimizing the engine thrust.
    In one embodiment, the invention comprises a step consisting in converting a delta of kinetic energy into a delta of potential energy, thereby converting an OPEN IDLE type profile, that is to say with reduced engine thrust and fixed at the so-called “IDLE” regime, and with variable slope, in a geometric profile with fixed slope approximating the IDLE type thrust.
    In one embodiment, the method according to the invention can be based on the calculation of predictions by the FMS and a calculation step can consist in calculating an optimal altitude profile in the IDLE descent phase to satisfy the constraints constraining speed while minimizing thrust, i.e. operational costs.
    In one embodiment, the method according to the invention comprises a step consisting in calculating achievable, minimum and maximum altitudes, and / or a calculation of the optimal altitudes at each characteristic point of the IDLE descent having a speed constraint while taking into account account for all the constraints of speed, altitude, slope and time.
    In one embodiment, this optimization is done using a speed profile estimator, which can be considered as a simplification of the "propagators" currently existing in the Flight Management System (FMS). The FMS contains a trajectory calculation module which is based on digital integration. This integration is carried out using propagators which serve to propagate an airplane state from a given state to a desired state under given conditions. These propagators have different degrees of freedom, a propagator varying the speed may for example consider either a fixed motor thrust and a variable slope, or a fixed slope and a variable motor thrust.
    Advantageously, certain embodiments of the invention make it possible to modify the altitude profile in descent IDLE, for each flight, ie according to particularities of procedures, weather conditions, speed constraints, time, noise and other parameters. .
    Advantageously, the invention manipulates flight procedures comprising speed constraints of the AT, AT OR BELOW, AT or ABOVE and WINDOW type, in particular in the IDLE descent phase (not constrained at altitude).
    Advantageously, the method according to the invention makes it possible to take account of the speed constraints on the non-constrained part at altitude.
    Advantageously, the speed profile determined according to the method of the invention is not "undergone" but on the contrary is "adapted" (modified as a function of speed constraints). The speed profile is not essential, imperative or mandatory. The speed profile can be adaptive, i.e. it can be adapted according to particular circumstances. In certain embodiments, the speed profile is modified simultaneously with a modification of the altitude profile.
    Advantageously, unlike known methods using static (or invariant or fixed) energy criteria and / or rigid behaviors in terms of altitude and slope constraints, the performance of the aircraft can be exploited to best ensure the behavior speed constraints, while maximizing the slope stolen.
    Advantageously, the method according to the invention makes it possible to comply with “floating” speed constraints, that is to say not supported by a constraining altitude constraint, and this while guaranteeing optimum performance, that is to say - say a reduced operating cost.
    Advantageously, the method according to the invention can be easily implemented, the implementation of the method according to the invention not requiring substantial modifications to the guidance function of the FMS or of the automatic pilot.
    Advantageously, the method according to the invention can be implemented in a navigation device, for example on board, managing the trajectory of an aircraft (a drone for example).
    Advantageously, the method according to the invention can be implemented in a prediction device, such as that present in an FMS.
    Description of the figures
    Other characteristics and advantages of the invention will become apparent with the aid of the description which follows and from the figures of the appended drawings in which:
    Figure 1 schematically illustrates the structure and functions of a flight management system of type F.M.S. known;
    Figure 2 illustrates hardware system aspects for implementing the invention;
    Figure 3 shows schematically an example of determining a vertical descent profile according to an embodiment of the method according to the invention;
    FIG. 4 illustrates examples of steps of the method according to an embodiment of the invention;
    FIG. 5 illustrates an exemplary embodiment.
    Detailed description of the invention
    Figure 1 schematically illustrates the structure and functions of a flight management system of type F.M.S. known.
    The F.M.S. 100 is generally connected to numerous other computers (one hundred), which can also implement one or more steps of the method according to the invention. The F.M.S. generally has different avionics functions, in particular LOCNAV 170 navigation, FPLN 110 flight plan, NAVDB 130 navigation database, PERF DB 150 performance database, TRAJ 120 lateral trajectory, PRED 140 predictions, GUID 160 guidance and DATALINK 180 digital data link to communicate with control centers and other aircraft. The F.M.S. understands or can be associated with human-machine interfaces I.H.M. 190 (e.g. computer screens, augmented reality, virtual reality, haptic feedback, projectors, etc.). One or more systems (e.g. non-avionics) can access the F.M.S. avionics, for example via I.H.M. 190 and / or by computers of type A.O.C.
    (airline) and / or A.T.C. (air traffic control).
    Figure 2 illustrates hardware aspects of the system for implementing the invention.
    From a hardware perspective, the method can be implemented in or by an F.M.S 100 flight management system within aircraft 200.
    In one embodiment, a “state machine” (or “finite automaton”) can be used as a sequencer 141. In digital electronics, a finite automaton can be constructed as a programmable logic circuit, or an industrial programmable automaton, with functions logic carried out by rockers or relays. A hardware implementation generally includes a register for storing state variables, a combinational logic circuit that determines state transitions, and a combinational logic block that determines the outputs of the controller.
    An avionics sequencer 141 assembles, according to predefined rules, different flight plan segments to construct the trajectory from an initial airplane state or from a predefined strategy linked to the different guidance modes of the aircraft.
    The avionics sequencer 141 defines the sequence of segments to be used / fly according to a predefined strategy, i.e. logical rules governing the sequences or sequences of segments. The set of resulting segments constitutes the vertical reference trajectory on which the aircraft will be controlled.
    The segments can be of different types or categories. Four main types of segment (flight plan) can be mentioned: 1) the "Flight Path Angle" segments with the acronym F.P.A. which consist in fixing a ground slope (in relation to the ground); 2) the “OPEN IDLE” segments consisting in fixing a reduced engine thrust; 3) the “Vertical Speed” segments with the acronym V.S., which consist of setting a vertical speed; and 4) the “LEVEL” segments consist of setting a landing at altitude. Each of these four segment types fall into two categories: on the one hand, the acceleration (or deceleration) segments and, on the other hand, the CAS or MACH constant speed segments. Conventional speed or CAS, for "Calibrated Air Speed", is the indicated speed of an aircraft relative to the air mass at sea level, corrected for position and instrument errors. This speed makes it possible to best approach the equivalent of speed from the pressure differential. A given CAS corresponds to a given effort on the aerodynamic control surfaces of the aircraft.
    The state of the aircraft is thus “propagated” by digital “integration” along a given type of segment until one or more of the exit conditions are reached, marking the end of the current segment, and the start of a new segment.
    The exit conditions can in particular be defined by a speed, an altitude and / or a distance depending on the type of segment considered. For example, a LEVEL segment at constant speed can only end on a distance condition, while an F.P.A. at constant speed can end on an altitude or distance condition.
    The final airplane state at the end of the segment constitutes the initial airplane state of the next segment, and is thus "propagated" until the final conditions of the calculation are reached.
    Disclosed is a computer-implemented method for determining a vertical descent profile of an aircraft, comprising the steps of: - receiving one or more speed constraints and / or one or more altitude constraints; - determining a first altitude profile comprising a succession of segments in altitude and a first speed profile comprising a succession of segments in speed; determining one or more deviations between the first altitude and / or speed profile on the one hand and said one or more altitude and / or speed constraints on the other hand; - determining one or more optimized passage altitudes along said altitude profile, an optimized passage altitude minimizing the deviation between the “resulting” or “corresponding” speed profile (that is to say that associated with the altitude profile comprising said one or more optimized altitudes) and said one or more speed constraints received; - determining an optimized descent profile comprising said one or more optimized passage altitudes.
    A (first) vertical descent profile can include a (first) altitude profile and a (first) speed profile. Each profile includes a succession of segments. The altitude and speed segments are in correspondence (confer figures).
    In one embodiment of the invention, constraints (e.g. speed, altitude, slope, etc.) are received, directly or indirectly (for example by the FMS flight management system). In one embodiment of the invention, a flight plan is received which includes or involves these constraints. In other embodiments, the constraints are received directly. In other embodiments, the constraints are partly received and partly determined (or deducted). In one embodiment of the invention, a flight plan and / or a theoretical descent profile can be received, which may include at least one speed constraint and / or at least one altitude constraint. In other words, the origin or source of the constraints is not essential (although some information may be derived from it, e.g. priority, trust, requirements, etc.).
    The constraints received / determined / manipulated by the invention can be speed and / or altitude constraints (that is to say, speed constraints exclusively, or altitude constraints exclusively, or even an aggregation of speed and altitude constraints). The constraints can also be slope constraints. Other types of constraints can be manipulated by the invention (the preceding list is therefore not exhaustive).
    A constraint is generally associated with a point in the flight plan (i.e. a point in the descent profile). A constraint as manipulated by the invention therefore has a generally "local" meaning. In some cases, a constraint can be global and concern several flight plan points.
    In one embodiment, the method further comprises a step consisting in ignoring and / or selecting one or more constraints, of speed and / or altitude, from the constraints received, according to priorities associated with said constraints.
    In one embodiment of the invention, the constraints are treated equally. In other embodiments, the different constraints are associated with different (or variable) priorities (or emergencies or requirements or weights). For example, the constraints that are part of the descent procedure (e.g. ATC, calculated by the certified FMS) generally have priority over the optimized constraints determined by the method according to the invention.
    In another example, for aeronautical security reasons (in particular with regard to obstacles or airspace), the altitude constraints may take precedence, ie may have priority over the speed constraints (which make it possible to better regulate traffic flows) . More generally, the various constraints manipulated / determined by the invention can be associated with hierarchically prioritized priorities (predefined) but also dynamically (for example depending on the flight context or external criteria, such as the consumption of fuel, aircraft noise, passenger comfort, etc.): weighting mechanisms between constraints can be implemented.
    In one embodiment, the altitude constraints do not take priority over the speed constraints and vice versa.
    In one embodiment, the altitude constraints may have priority over the speed constraints. A descent profile is constructed from downstream (the track) upstream (cruising level), in so-called "backward" or reverse, so that the altitude is always increasing.
    In one embodiment, in the case where two altitude constraints are or become in conflict, priority can be given to the highest (severe) constraint, in the direction of the calculation. Thus, an AT or AT OR ABOVE constraint whose altitude is higher than that of an AT or AT OR BELOW constraint further from the destination can be considered to be a priority, leading for example to ignore the most distant from the destination.
    Conversely, in the case where two speed constraints are or become in conflict, priority can be given to the weakest constraint. Thus, an AT or AT OR BELOW constraint whose speed is lower than an AT or AT OR ABOVE constraint further from the destination can lead to non-compliance with the latter if the deceleration performance of the aircraft is not sufficient. Between two conflicting speed constraints of type AT or AT OR BELOW, the one with the lowest value may become a priority, for example regardless of their distance from the destination.
    In certain embodiments, for example in certain very specific situations, a speed constraint may have priority over an altitude constraint (this counterintuitive example may be justified with regard to a flight situation considered more generally) , for example momentarily.
    In general, each constraint (speed or altitude) can be associated with one of several priority levels (for example configurable, generally static but sometimes dynamic, for example depending on the flight context). So different priorities can prioritize different constraints.
    The method according to the invention determines particular constraints called "optimized" constraints or "intermediate" constraints or "target" constraints.
    The optimization carried out by the method according to the invention can be of different natures. Optimization can be "combinatorial" (discrete optimization), consisting in finding in a discrete set one of the best achievable subsets (or solutions), the notion of best solution being defined by a (single) objective function. Optimization can also be "multi-objective" (i.e. seeking to optimize several objectives of the same problem simultaneously).
    In one embodiment, the method can consist in minimizing the deviation (the difference) between K1 parameters (e.g. speed, altitude, slope) associated with an optimized altitude and K2 constraints among the N constraints received. The objective function to be optimized can be generalized (in the previous example it consists in minimizing a deviation, but it can also be a question of maximizing a function, for example of analytical, non-linear expression, etc.).
    The determination of the optimized altitudes makes it possible to define one or more descent profiles (a subselection of the plurality of the optimized altitudes can be carried out, which can lead to several types of descent).
    In one embodiment, an optimized passage altitude also minimizes the thrust (of the engine (s)).
    In one embodiment, the optimization according to the method may in fact consist in positioning an optimized passage altitude "as high as possible", by guaranteeing that the performance of the aircraft will make it possible to withstand the speed constraint, so that the thrust is minimal.
    By construction, the engine thrust will be minimized, between the flight plan point (or descent profile) and the arrival point of the aircraft.
    In one embodiment, the optimized descent profile is of the OPEN IDLE type or of the FPA or of the VS type.
    In an OPEN IDLE descent, the slope is not fixed, it is variable. In a FPA (“Flight Path Angle”) descent, the slope is fixed relative to the ground. In a VS descent, the aircraft flies at a constant vertical speed. In one embodiment, the descent profile can be of the FPA-0 type.
    The effect of minimized or reduced engine thrust is to minimize fuel consumption.
    In one embodiment, the optimized descent profile includes one or more optimized altitudes, being determined in reverse.
    The descent profile can be determined iteratively, i.e. by successive approximations.
    The iterative dimension is linked to the iterative convergence allowing to respect the speed constraints.
    From the optimized passage altitude according to the speed constraints received (OBJECT 1), iteratively determined modified optimized passage altitudes (OBJET 2, 3, 4 ...) which minimize two factors in an optionally cumulative manner (respect speed constraints first, engine speed minimization then). The fact of minimizing the deviation in speed to the speed constraint advantageously makes it possible to minimize the engine thrust.
    In one embodiment, the optimized descent profile determined in reverse is determined from downstream to upstream, or from the arrival point or destination of the aircraft flight plan towards the current flight plan point. or the point associated with the flight plan point associated with the optimized altitude.
    A backward profile is calculated, that is to say (for example) from the runway to the cruise phase. The iterative dimension is linked to the iterative convergence allowing to respect the speed constraints.
    In one embodiment, a speed constraint is of the AT or ATORABOVE type.
    In one embodiment, the specific speed constraints that are AT and AT OR ABOVE type speed constraints (on the IDLE part) are taken into account.
    In one embodiment, before taking into account the speed constraint of type AT or AT OR ABOVE, it is possible to assess the aircraft's capacity to comply with one or more speed constraints of type AT, AT OR BELOW , or AT OR ABOVE during the descent according to the determined vertical descent profile. It can be determined the satisfaction of one or more of these constraints.
    In one embodiment, the step consisting in iteratively determining the optimized vertical descent profile comprises a step consisting in converting kinetic energy into potential energy so as to convert a vertical descent profile called OPEN IDLE into a geometric profile with fixed slope approximating the reduced IDLE thrust.
    In one embodiment, the method further comprises the step of requesting to actuate and / or actuate the airbrakes of the aircraft in order to reduce the speed of the aircraft while maintaining a reduced engine thrust of the IDLE type.
    The use of airbrakes can be visible, for example through a dedicated message asking the pilot to activate them. In certain embodiments, the spouts and flaps can be actuated. In another embodiment, the landing gear can be used.
    In one embodiment, the number of iterations for determining the backward optimized vertical descent profile is configurable.
    According to the embodiments, the number of iterations carried out by the process can be followed and can be framed by one or more thresholds; for example, a minimum number of iterations may be required (for the accuracy of the calculation), as well as a maximum number of iterations or calculations (the calculations must converge in practice).
    In one embodiment, the method further comprises a step consisting in displaying at least one optimized passage altitude.
    An optimized altitude, after determination, may or may not be displayed for the pilot.
    If it is not displayed, an optimized altitude can be taken directly into account in the descent profile calculations (closed loop).
    Conversely, if necessary, an optimized altitude can be displayed for the pilot, who can possibly confirm or deny or modify this optimized altitude.
    In one embodiment, an optimized altitude can be displayed at the ND and / or at the VD and / or at the MCDU and / or at the FMD. The display can be done in the cockpit, on one (or more) screen (s) of the cockpit (ND / VD / FMD) and / or on a tablet.
    In alternative embodiments, missed passage altitudes can be detected, indicated or monitored.
    A computer program product is disclosed, said computer program comprising code instructions making it possible to carry out one or more of the steps of the method, when said program is executed on a computer.
    There is disclosed a system for implementing one or more of the steps of the method.
    In one embodiment, the system includes an avionics sequencer configured to iteratively determine a vertical descent profile.
    A sequencer is an automaton (for example a finite state machine) which is characterized by a predefined logic.
    In one embodiment, the system comprises a flight management system of avionics type F.M.S and / or an electronic flight bag E.F.B.
    An electronic flight bag means an Electronic Flight Bag (EFB). More generally, a computer tablet can be used (or a removable or portable screen located in the cockpit). Other systems can implement all or part of the invention: avionics systems such as ground systems, ATC systems, drone remote control equipment.
    Figure 3 shows schematically an example result according to an embodiment of the method according to the invention.
    In one embodiment of the invention, the method according to the invention may comprise a step consisting in determining "optimized" (or "adjusted" or "adapted") passage altitudes. Optimization can be carried out according to one or more criteria. In one embodiment, an optimization criterion may include one or more speed constraints. For example, passage altitudes can be optimized for speed constraints determined from F.M.S. (which will then be expressed as speed constraints if necessary). In certain embodiments, the method comprises one or more steps consisting in manipulating these optimized passage altitudes.
    Figure 3 shows a diagram of this "optimization" (or "adjustment" or "adaptation") between speed and altitude. A vertical starting profile 301 includes speed constraints 310 according to the F.M.S. These speed constraints 310 are associated with optimized passage altitudes 320. This results in a vertical profile 302 which can be displayed for the pilot and on which the aircraft will be controlled, thereby enabling him to best satisfy all of these constraints of altitude and speed.
    In one embodiment, the method comprises a step consisting in displaying to the pilot or to the crew this altitude profile having also been optimized with regard to various criteria including notably the respect of the constraints of altitude and slope, the compliance with speed constraint (s), optimization of fuel consumption and the ability to fly the reference profile according to the performance of the aircraft. The vertical profile determined according to an embodiment of the method according to the invention has several advantages, and in particular that of generating fuel and time savings (compared to a nominal strategy, with low implementation costs because maximizing the reuse of existing mechanisms) and that of making it possible to respect the speed constraints during the descent phase.
    The display devices can include or implement one or more sophisticated devices such as virtual reality headsets and / or augmented reality glasses (eg head-mounted display, wearable computer, glasses or a head-mounted display) and / or projection devices (eg holographic). A virtual reality headset worn by the pilot can be opaque or semi-transparent or with configurable transparency). The display can be "high sight". The helmet can include one or more calculation and communication, projection, audio acquisition, projection and / or video acquisition devices (for example for the acquisition or the scraping of data accessible analogically from the cockpit or the cockpit of the aircraft). The aircraft cockpit may also include voice control devices. The on-board instrumentation can advantageously allow the pilot to view his flight plan or trajectory in 3D. The pilot will be able for example to visualize (for example in graphic overprint of his real environment or immersively with a virtual reality device, forwards or backwards) one or more of the elements (measured or calculated / simulated / anticipated) among the descent profile, one or more altitude and / or speed constraints, one or more optimized passage altitudes, etc.
    In certain embodiments, haptic feedback devices incorporated into the system for the implementation of the invention may enrich the guidance / piloting (specific vibrations when effectively crossing an optimized passage latitude or when it is missed, etc.).
    Regarding the display, the information can be displayed in one or more virtual and / or augmented reality headphones. The information can therefore be entirely virtual (displayed in an individual helmet), entirely real (for example projected on the flat surfaces available in the real environment of the aircraft cockpit) or a combination of the two (partly a virtual display superimposed or merged with reality and partly an actual display via projectors). The display can also be characterized by the application of predefined location rules and display rules. For example, human-machine interfaces (or information) can be distributed (segmented into separate portions, possibly partially redundant, then distributed) between the different virtual or real screens.
    In one embodiment, to determine the vertical profile, the method according to the invention can be based on the predictions provided by the F.M.S. It can in particular be applied to a trajectory calculation (determined in reverse, ie in so-called backward mode), which makes it possible to establish iteratively the different optimized passage altitudes associated with the different speed constraints until reaching the last constraining speed constraint .
    A “backward” profile designates the construction of a “backward” (or “reverse”) descent profile, starting from the destination until reaching the cruising altitude. This profile can be used as a reference vertical trajectory on which the aircraft will be guided. On this descent profile, the airplane equations are integrated "forward" (in "forward"), ie starting from the current airplane position and trying to conform as much as possible to the theoretical profile, this constitutes the predictions of flight which are displayed in the cockpit to the pilot through values of altitude, distance to destination, speed, time and fuel consumption. The construction of a backward profile is an iterative process. The calculation must converge and guarantee compliance with all of the constraints while ensuring that the reference trajectory is flyable with regard to the performance of the aircraft.
    The integration of a backward profile can be done in different ways, generally according to a "FPA" mode or a mode called "OPEN IDLE". In a so-called “FPA” mode for Flight Path Angle, the downhill slope constraints are given. In a mode called "OPEN IDLE", it is verified that all the altitude constraints are MADE (satisfied), and the position of the point G.PP is modified by replacing it with the first missed constraint if it exists.
    FIG. 4 illustrates examples of steps of the method according to an embodiment of the invention.
    Different embodiments of the method are possible.
    In one embodiment, the method 400 according to the invention comprises one or more of the steps.
    In step 401, the method is initialized. The initialization step corresponds for example to the entry by the pilot (or the system) of a flight plan and / or of the choice of an approach strategy (i.e. one or more predefined rules).
    The speed and altitude profiles are determined in “backward” mode (ie by iterative calculation from downstream to upstream, from arrival point 510 to departure point), to the point called DECEL (deceleration towards final approach speed), using the default approach strategy in the FMS flight management system or the strategy chosen by the pilot. Once this information has been confirmed, the descent profile of the aircraft is "integrated" (ie assimilated, accepted, revised) until the characteristic flight plan point called the Geometrical Path Point (GPP) is reached. of flight separating the so-called geometric descent from the so-called IDLE descent).
    In step 410, the method comprises a step consisting in determining one or more speed constraints, these constraints being restrictive (or imperative, that is to say that must be respected by the aircraft).
    In one embodiment, this step 410 comprises one or more of the steps consisting in traversing all the points of the flight plan ("waypoints" in English) further from the runway than the point G.P.P. (and / or the current point) in order to find (all) the speed constraints (descent type) which are both greater than the speed of the current point and which are of any type of constraint (ie type "AT", "AT OR ABOVE", "AT OR BELOW", or possibly "WIN DOW").
    In one embodiment, the method comprises a step consisting in establishing the list of all “constraining” or “imperative” speed constraints, of descent type (during the descent phase), between the current point of integration and the last flight plan point (furthest from the runway) in the “backward” direction.
    In one embodiment, the method further comprises a step consisting in selecting at least one speed constraint from those listed above, for which an optimized passage altitude (or target or intermediate) will be determined. In one embodiment, the speed constraint selected is the first speed constraint encountered in the “backward” direction, starting from the initial point and increasing the distance from the flight destination point.
    Thus, the speed and the position of the next speed constraint to be considered are determined (for example speed noted spd ctr and position noted x spdctr ).
    In step 415, a test is carried out on the selected speed constraint. If at least one speed constraint has been found, the process continues in step 420. If no speed constraint has been selected, the process continues in step 460.
    In step 420, the speed profile and the altitude profile are estimated in so-called "OPEN IDLE" mode. In one embodiment, this step consists in estimating in OPEN IDLE the variation of the speed profile (initially at the point known as GPP then at the passage of the speed constraints thereafter) until the selection of a speed constraint, in considering i the initial point of the calculation and f the final point constrained in speed. The initial conditions of the estimate are therefore defined at the current point (hi, CASi). A final altitude and speed are therefore estimated (h f , CASf).
    In step 425, a test is carried out on the speed constraint thus determined. In particular it can be determined whether the speed constraint is respected or not, possibly by including an AV margin.
    In one embodiment, if the constraint is of type “AT OR ABOVE” or of type “WINDOW”, and, if the estimated speed is less than the minimum speed of the constraint with an AV margin (CAS f <spddr ~ 4V), then the constraint is declared "MISSED" and binding. If the constraint is of type “AT OR BELOW” or “WINDOW” and if the estimated speed is higher than the maximum speed of the constraint with an AV margin (CAS f > spd ctr + AV) then the constraint is declared "MISSED" and binding. If the constraint is of type "AT" and if the estimated speed is different from the speed of the constraint with an AV margin (CAS f <spd ctr - AV or CÆSy> spd ctr + AV) then the constraint is declared " MISSED ”and binding. In the three preceding cases, the process continues at step 430.
    In the absence of the preceding situations, the constraint is declared "MADE" and not binding. In this case, the method continues iteratively with a return to step 410, the intermediate constraint becoming the initial point.
    In step 430, the method comprises a step consisting in determining the altitude of passage optimized at the speed constraint declared "MISSED", as a function of the speed estimated to be able to hold the speed constraint.
    To this end, the speed values are estimated in speed relative to the ground to apply an energy reasoning:
    - TASf = f (CASf, hf) - »GSf = JtAS 2 - windy - wind x
    - TAS ctr = f (spd ctr , hf) - »GS ctr = ^ / TAS 2 tr - wind 2 - wind x
    - AV = GS ctr - GSf
    Which makes it possible to obtain that:
    ^ (IDLE) -
    ES (2. GS ctr * Δ7 + AV 2 ) ~ 1- ES * 2g (equation 1)
    The optimized passage altitude at the speed constraint is given by: h-cstr min (max (jq, h m i n , hf + AhfjDLE)) 'h-max)
    Consequently, the optimized passage altitude is necessarily greater than or equal to that of the initial position (the “backward” profile being increasing and monotonous in altitude), and moreover respects the altitude constraints such as i) a constraint d altitude of type “AT OR BELOW” (hmax) or an upper bound of type “WINDOW” (h max ) whose distance to the destination is greater than that of i; and ii) such as an altitude constraint of type “AT OR ABOVE” (h min ) or a lower WINDOW terminal (h min ) between i and f. No “AT” type altitude constraint can be encountered because the distance to the destination is greater than or equal to that of the GPP, which can be no closer to the runway than an “AT” type constraint, for definition.
    In step 440, the method comprises a step consisting in estimating the speed profile (in a mode called "FPA"). The downward slope constraints are known in aeronautics under the acronym "FPA" for Flight Path Angle. In one embodiment, this step consists in estimating the speed variation from the initial conditions to the speed constraint by taking into account the new altitude constraint (AT / AT OR BELOW).
    The initial conditions of the estimate are defined at the current point (h ^ CASi). An altitude and a final speed are estimated (h. Cstr , CAS )
    In step 445, the method comprises a step consisting in carrying out a test on the speed constraint thus determined. If the constraint considered is “MISSED” and the number of iterations implemented by the method is less than a predefined number N (for example equal to five), then the method continues at step 450. If the constraint is MADE, the method returns to step 410.
    In step 450, the method comprises a step consisting in adjusting the optimized passage altitude to the speed constraint, in particular as a function of the speed estimated previously, in order to be able to satisfy the speed constraint. To this end, the speed values (estimated in speed relative to the ground) are transformed by means of an energy reasoning:
    TASf = f (CASf, h cstr ) -> GSf = J ^ AS ^ - wind 2 - wind x
    TAS c i r f (spd C {ri ^^ ctr = '^' ï , AS C £ r windy wind x
    417 = GS ctr - GSf ina i
    Which makes it possible to obtain that:
    Ah, (FPA) co s (F A4) (2.GS ctr * AV + AV 2 } _ * -W
    2g
    The passage altitude optimized at the speed constraint is updated at an altitude:
    h-cstr min (max (jii, h m i n , / i cs t r + AhçppÀy}, h max )
    Consequently, the passage altitude optimized at the speed constraint is necessarily greater than or equal to the initial position, and also respects the altitude constraints i) such as an altitude constraint of type AT OR BELOW (h max ) or WINDOW upper bound (h max ) whose distance to the destination is greater than that of i; and ii) such as an altitude constraint of type AT OR ABOVE (/ i min ) or lower bound WINDOW (/ i min ) between i and f.
    Steps 440, 445 and 450 can be repeated. The value h cstr corresponding to the passage altitude optimized at the speed constraint can be tested, and other passage altitudes optimized at the other speed constraints can be determined, if necessary.
    Optionally, iterations can be counted (e.g. increment of a counter counting the number of iterations).
    In step 460, the descent profile thus determined is "integrated" after a verification step. This step consists in integrating the speed and altitude profile backward until the point known as T / D is reached. The point T / D, from the English Top of Descent, generally corresponds to the meeting point of the altitude and the cruising speed, which marks the end of the integration calculation performed in “backward”) of the descent profile by considering the optimized passage altitudes (for example with respect to speed constraints). These speed constraints can also be taken into account whatever their types (a speed can therefore be saturated with the value of a constraint "AT", "AT OR BELOW", or even at the upper bound of a " WINDOW "if it has not been sequenced as" backward ").
    In one embodiment, the holding of the altitude constraints is verified in the context of an integration in "OPEN IDLE" mode (verification that all the altitude constraints are satisfied, modification of the so-called GPP point by replacing it with the first constraint missed in "backward", therefore between the previous GPP and cruising level, if it exists. An altitude constraint of type "AT" is considered to be held if integration leads to an altitude value equal to the constraint on the passage thereof, an altitude constraint of type “AT OR BELOW” is considered to be held if the integration leads to an altitude value less than or equal to the constraint on the passage thereof; altitude constraint of type "AT OR ABOVE" is considered to be held if the integration leads to an altitude value greater than or equal to the constraint when passing it; a constraint of "WINDOW" type altitude is considered to be held if the integration leads to an altitude value between the lower and upper limits of the constraint when passing it. This verification of the holding (satisfaction) of the altitude constraints leads to a return to step 410 with a new G.P.P. as a starting point, which corresponds to the unsatisfied altitude constraint.
    The list of passage altitudes optimized for speed constraints can then be deleted and the process steps can be repeated, starting from step 410 with the new G.P.P.
    Different variant embodiments are described below.
    According to an alternative embodiment, the method comprises one or more steps consisting in determining or selecting and displaying one or more optimized passage altitudes, not present in the procedure, but which are associated for example with the holding / satisfaction of one or more speed constraints. This advantageous embodiment improves the understanding of the crew. ND, VD and MFD screens can be used.
    According to an alternative embodiment, the method comprises one or more steps consisting in presenting the result of the calculation to the pilot, by presenting him for example with an indication of the resistance of the speed constraint (eg of the MISSED or MADE type) by means of the screens present. in the cockpit. This indication could for example be composed of an amber color, indicating an element of the missed flight plan such as an altitude constraint for example and / or of a dedicated text message for example like "SPD ERROR AT WAYPOINT". Other feedback or feedback methods can be implemented (haptic feedback, audio, visual, etc.).
    According to an alternative embodiment, the method comprises one or more steps consisting in taking into account the airbrakes of the aircraft, thus allowing better deceleration of the aircraft when the position of an altitude constraint is not sufficient, all of which can be done from reaching a level, or on a configurable slope threshold, for example at least one degree. An implementation can be carried out discretely (e.g. with 50% airbrakes) or continuously (e.g. through an estimate of the percentage of airbrakes required to maintain the IDLE thrust).
    According to an alternative embodiment, the method comprises one or more steps consisting in displaying or presenting to the pilot the hypothesis of the use of airbrakes, for example by graphically underlining on the screen one or more segments concerned and / or by displaying the percentage of airbrakes used.
    According to an alternative embodiment, the method comprises one or more steps consisting in communicating to the automated system, if necessary, a request for extension and retraction of the airbrakes according to the percentage of airbrakes used.
    FIG. 5 illustrates an exemplary embodiment of the invention.
    In the example, by reasoning from the runway in “backward” mode (from downstream to upstream, from arrival point 510 to departure point), once the approach phase is complete, when point D 520 is reached, a constant speed is initially maintained to satisfy the speed constraint AT, associated with the last constraining altitude constraint, here an "AT OR BELOW" which represents the GPP 530.
    The steps of the method according to the invention are then implemented to define the optimized passage altitude 540 which makes it possible to satisfy the speed constraint of the "AT ORABOVE" type.
    In one embodiment, there is disclosed a method for calculating a speed profile of an aircraft in descent known as “IDLE” towards a descent-type speed constraint including: a) a “backward” estimation calculation allowing evaluate the speed of the aircraft reached at a point on the trajectory from another point closer to the destination; b) a passage altitude optimized for the speed constraint resulting from a transfer between potential energy and kinetics; c) a vertical profile (altitude / speed) descent calculation based on the optimized passage altitude (s) associated with speed constraints and on conventional altitude constraints, making it possible to minimize the error on speed constraints of the type descent according to aircraft performance while minimizing fuel consumption; d) an assessment of the aircraft's ability to withstand one or more descent-type speed constraints based on the calculation of the vertical profile.
    The present invention can be implemented using hardware and / or software elements. It may be available as a computer program product on computer-readable media. The support can be electronic, magnetic, optical, or electromagnetic.
    The device implementing one or more of the process steps can use one or more dedicated electronic circuits or a general-purpose circuit. The technique of the invention can be carried out on a reprogrammable calculation machine (a processor or a microcontroller for example) executing a program comprising a sequence of instructions, or on a dedicated calculation machine (for example a set of logic gates like an FPGA or ASIC, or any other hardware module). A dedicated circuit can notably speed up performance in terms of access and execution of avionics services. As an example of a hardware architecture adapted to implementing the invention, a device may include a communication bus to which a central processing unit or microprocessor (CPU, acronym for "Central Processing Unit" in English) is connected, which processor can be multi-core or many-core; a read only memory (ROM, acronym for “Read Only Memory” in English) which may include the programs necessary for implementing the invention; a random access memory or cache memory (RAM, acronym for "Random Access Memory" in English) comprising registers suitable for recording variables and parameters created and modified during the execution of the aforementioned programs; and a communication or I / O interface (I / O acronym for "Input / output" in English) adapted to transmit and receive data.
    In one embodiment, the flight management system (“open”) consists of an avionics digital core (“Functional core”) and a list of typed avionics services, that is to say of which the structure and functions are predefined.
    In one embodiment, the vertical optimization method can be implemented on an application executed on a computer tablet (for example of the EFB Electronic Flight Bag type). As a result, the result of the optimized trajectory, including the optimized passage altitudes, can be communicated to an avionics core (real or simplified / simulated / emulated, on request or not, etc.). After authorization by the crew, the avionics core can then validate or modify this trajectory, in order to use it as a reference for guiding the aircraft.
    In one embodiment, the method uses an exposure of the functional avionics core of the FMS through one or more programming interfaces (APIs) accessible from one or more servers.
    A programming interface (API for Application Programming Interface) is a standardized set of classes, methods, functions, data types and constants that serves as the front through which software offers services to other software. An API can be "private", that is to say intended for an IT development use carried out internally. An API can be "open" or "public" ("API" in English): the interface specifications can be published i.e. accessible to the public and in particular to third party developers.
    Depending on the embodiments, the documentation or description of the programming interfaces is more or less complete, specific to the avionics sector. In other words, in some embodiments, the description of the avionics services is complete and exhaustive. In other embodiments, the description or documentation is only partial (certain unpublished or purposely encrypted commands make it possible to obtain certain information from the FMS, for example particularly critical information). In one embodiment, the description of the avionics services is available on request. In one embodiment, the complete description of an avionics service is encrypted, that is to say that the existence of documentation is apparent but that access to its content requires a prior shared secret. In one embodiment, the description and / or the existence of an avionics service is concealed (like steganography).
    Regarding access to the avionics services programming interfaces, the permissions or restrictions on access to the different APIs can be specific. Access to a given avionics service can be configurable, for example in terms of tariff, quantity of calls (volumes), quality of service (e.g. priorities). In one embodiment, access can be "free", unlimited in volume and without access restrictions. In other situations, access to certain FMS functions may be limited (quantity, quality) by access restrictions (access control, keys, encryption, absolute and / or relative priorities). Certain embodiments of the invention can combine the use of APIs of the “public” type (eg published) with the use of APIs of the “private” type (eg certain advantages or privileges can be reserved for internal development or selected aeronautical partners). The life cycle of an API can give rise to various developments (e.g. the stability of certain APIs can be guaranteed while others may be deprecated "deprecated API").
    权利要求:
    Claims (15)
    [1" id="c-fr-0001]
    Claims
    1. Process implemented by computer to determine a vertical descent profile of an aircraft, comprising the steps consisting in:
    - receive one or more speed constraints and / or one or more altitude constraints;
    - determine an altitude profile comprising a succession of segments in altitude and a speed profile comprising a succession of segments in speed;
    - determine one or more differences between the altitude and / or speed profile on the one hand and said one or more altitude and / or speed constraints on the other hand;
    - determining one or more optimized passage altitudes along said altitude profile, an optimized passage altitude minimizing the deviation between the resulting speed profile and said one or more speed constraints received;
    - determining an optimized descent profile comprising said one or more optimized passage altitudes.
    [2" id="c-fr-0002]
    2. Method according to claim 1, an optimized passage altitude further minimizing the engine thrust.
    [3" id="c-fr-0003]
    3. Method according to claim 2, the optimized descent profile being of OPEN IDLE type or FPA or VS type.
    [4" id="c-fr-0004]
    4. Method according to any one of the preceding claims, the optimized descent profile, comprising one or more optimized altitudes, being determined in reverse.
    [5" id="c-fr-0005]
    5. Method according to claim 4, in which the optimized descent profile determined in reverse being determined from downstream to upstream, or from the point of arrival or destination of the flight plan of the aircraft towards the point of current flight plan or the point associated with the flight plan point associated with the optimized altitude.
    [6" id="c-fr-0006]
    6. Method according to any one of the preceding claims, a speed constraint being of the AT or AT OR ABOVE type.
    [7" id="c-fr-0007]
    7. Method according to any one of the preceding claims, the step consisting in iteratively determining the optimized vertical descent profile comprising a step consisting in converting kinetic energy into potential energy so as to convert a vertical descent profile called OPEN IDLE in a geometric profile with fixed slope approximating the reduced IDLE thrust.
    [8" id="c-fr-0008]
    8. A method according to any one of the preceding claims, further comprising the step of requesting to actuate and / or actuate the airbrakes of the aircraft to decrease the speed of the aircraft while maintaining a reduced engine thrust of type IDLE.
    [9" id="c-fr-0009]
    9. Method according to any one of the preceding claims, the number of iterations for determining the vertical profile of downward optimized descent being configurable.
    [10" id="c-fr-0010]
    10. Method according to any one of the preceding claims, further comprising a step consisting in ignoring and / or selecting one or more constraints, of speed and / or altitude, from the constraints received, according to priorities associated with said constraints. .
    [11" id="c-fr-0011]
    11. Method according to any one of the preceding claims, further comprising a step consisting in displaying at least an optimized passage altitude.
    [12" id="c-fr-0012]
    12. A computer program product, said computer program comprising code instructions making it possible to carry out the steps of the method according to any one of claims 1 to 11, when said program is executed on a computer.
    5
    [13" id="c-fr-0013]
    13. System for implementing the steps of the method according to any one of claims 1 to 11.
    [14" id="c-fr-0014]
    14. The system as claimed in claim 13, comprising an avionics sequencer configured to iteratively determine a vertical profile of
    10 descent.
    [15" id="c-fr-0015]
    15. The system as claimed in claim 13, comprising a flight management system of avionics type F.M.S and / or an electronic flight bag E.F.B.
    1/4 z 100
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    2021-03-25| PLFP| Fee payment|Year of fee payment: 5 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1700358A|FR3064762B1|2017-04-04|2017-04-04|MANAGEMENT OF THE DESCENT PHASE OF AN AIRCRAFT|
    FR1700358|2017-04-04|FR1700358A| FR3064762B1|2017-04-04|2017-04-04|MANAGEMENT OF THE DESCENT PHASE OF AN AIRCRAFT|
    US15/940,777| US20180284813A1|2017-04-04|2018-03-29|Aircraft descent phase management|
    CN201810301186.2A| CN108693890A|2017-04-04|2018-04-04|The aircraft decline stage manages|
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