EP2171702B1 - Method for generating a connectivity graph of the elements of an airport for taxiing assistance and related devices - Google Patents

Method for generating a connectivity graph of the elements of an airport for taxiing assistance and related devices Download PDF

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Publication number
EP2171702B1
EP2171702B1 EP08786483A EP08786483A EP2171702B1 EP 2171702 B1 EP2171702 B1 EP 2171702B1 EP 08786483 A EP08786483 A EP 08786483A EP 08786483 A EP08786483 A EP 08786483A EP 2171702 B1 EP2171702 B1 EP 2171702B1
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Prior art keywords
navigation
airport
aircraft
guidance
node
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German (de)
French (fr)
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EP2171702A2 (en
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François Michel
Bernard Dubourg
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Thales SA
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Thales SA
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/06—Traffic control systems for aircraft, e.g. air-traffic control [ATC] for control when on the ground
    • G08G5/065—Navigation or guidance aids, e.g. for taxiing or rolling
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0017—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information
    • G08G5/0021—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information located in the aircraft

Definitions

  • the field of the invention is that of aiding the taxiing of an aircraft on an airport, provided in particular by a representation of the trajectory to be followed by the aircraft on the airport and the display of information relating to the guidance and navigation of the aircraft.
  • One solution is to use the existing systems installed on board the aircraft such as the flight management system or FMS acronym for the English expression Flight Management System, the integrated monitoring system or ISS acronym for the English expression -Soon Integrated Surveillance System and enrich them with assistance functions.
  • the existing systems installed on board the aircraft such as the flight management system or FMS acronym for the English expression Flight Management System, the integrated monitoring system or ISS acronym for the English expression -Soon Integrated Surveillance System and enrich them with assistance functions.
  • RAAS Runway Awareness and Advisory System
  • the object of the invention is to provide an effective taxi aid by having a connectivity of the various elements of an airport.
  • These elements generally come from an airport database and embedded in the aircraft.
  • the connectivity of the elements is advantageously achieved by means of the geometric construction of navigational and guiding nodes of the airport.
  • the latter can be represented on a map as well as the trajectory of an aircraft when the flight control instruction of the air traffic control is known to the crew.
  • the connectivity of the elements then makes it possible to anticipate a certain number of actions of the pilots on the rolling phases.
  • the invention proposes according to the position of the aircraft in the airport to display guidance and navigation information in advance.
  • the figure 1 represents elements of an airport formed of polygons 1, 2 and 3. These elements are called “rolling elements” in the following description. Each of the polygons is described in the airport database by segments and georeferenced points relative to a known origin of the airport.
  • rolling elements can be of different types, for example, “taxiways”, “parking”, “runways” or “service road element” according to the English terminology used in aeronautics.
  • These taxiing elements generally describe parking areas, taxiing areas, taxiway intersections, parts of a runway or areas intended for the entry and exit of service vehicles.
  • the method according to the invention proposes to create a connectivity graph called navigation graph thereafter between the different rolling elements.
  • the data describing the connectivity of the elements of taxiing of the airport are then stored in a database of the aircraft. This database is generally updated in the aircraft in maintenance phases on the ground or before leaving for a new take-off.
  • the method according to the invention proposes to define navigation nodes.
  • the navigation nodes are built geometrically on each border separating two rolling elements.
  • the position of the navigation node on the border may for example be located in the middle of the border, which may comprise one or more segments.
  • the navigation nodes 9 ', 6, 7 and 9 joining the rolling elements 2, 1, and 3 are respectively positioned in the middle of the borders 8', 5, 4 and 8.
  • the navigation nodes are connected by segments 12 , 13 and 14 which each forms a heading of navigation with North N according to the direction towards which the aircraft is heading.
  • the aircraft in this example can flow from the rolling element 2 to the rolling element 3 through the rolling element 1 in a direction 11 or can flow inversely from the rolling element 3 to the element running 2 through the rolling element 1 in the opposite direction 10.
  • vigation arc the segment joining two successive navigation nodes.
  • the set of navigation nodes defines a navigation graph.
  • the figure 2 illustrates an example of a border between two rolling elements 20 and 21 representing each of the zones of the airport.
  • the boundary comprises five segments whose end positions A, B, C, D, E and F are defined in the airport database of the aircraft.
  • the method according to the invention makes it possible to define the medium M of the boundary equidistant from the points A and F.
  • the node M is joined to the downstream node and the upstream node by the segments 22 and 23.
  • the figure 3 illustrates a plane 30 of an airport comprising a runway 31 and rolling elements such as approach or exit lanes on the track 31 and connecting elements of several channels.
  • the navigation nodes are located in the middle of each border of each element.
  • the segments joining the different nodes are represented therein such as the nodes 33 and 34 whose connection is represented by a segment 32.
  • the navigation heading formed by the navigation arc connecting the node 7 to the node 9 to pass from the rolling element 1 to the rolling element 3 is 270 ° with the North.
  • the opposite direction, from the node 9 to the node 7 is the heading 70 °.
  • the method according to the invention makes it possible to overcome in the navigation graph certain types of elements of an airport not necessary to the crew.
  • the elements called “service road element” whose English terminology means “service road elements”
  • service road elements are not necessary for the navigation aid of the aircraft, these elements being intended for service vehicles.
  • the method according to the invention makes it possible to define a connectivity between rolling elements, which elements are coherent with a set point originating from the air traffic control.
  • the method according to the invention in a first step, makes it possible to locate the points and the segments relating to a geometric element of a specific type such as that defined above, of polygonal shape.
  • the method according to the invention makes it possible to merge the two borders on either side of the upstream and downstream rolling element.
  • the Figure 4A represents a part of an airport comprising different rolling elements 45, 42, 44, 41, 48, 46, 43 and 47 of different types.
  • these elements some are intended for service vehicles, including items 42, 41 and 43. They are therefore not necessary for the navigation assistance of the aircraft.
  • the method makes it possible to merge each of the boundaries of the elements 42, 41 and 43 into a single boundary separating the elements 45 and 44 on the one hand and the elements 44 and 48 on the other hand and finally the elements 47 and 48.
  • the method according to the invention therefore makes it possible to consider the type of an element and its geometric description.
  • the Figure 4B represents, after the merger of the boundaries of the elements not necessary to the crew, the regenerated airport map.
  • the new boundaries 43 ', 41' and 42 ' are boundaries separating rolling elements on which navigation nodes are automatically generated.
  • the method according to the invention makes it possible to define a notion of navigation arc between different nodes.
  • the navigation arcs have no geometric representations but allow on the one hand to link the nodes together in the database and on the other hand to define an average cap between two nodes, noted navigation heading.
  • the construction of the navigation graph constitutes a first step of the method according to the invention for operating in a second step, in particular, one or more instructions (s) of routing from the air traffic control.
  • An instruction sent by the air traffic control to the crew can be for example: TAXI TO "STAND 8" VIA "A-T50-T20-N4". This last instruction is translated “to go to the car park named” STAND 8 "by taking the road passing by the various elements whose names are the following: A, T50, T20, N4.
  • the manual entry of the setpoint by the crew in a cockpit user interface or the automatic acquisition of the setpoint by an onboard computer makes it possible to link the rolling elements of the setpoint by knowing the connections of the navigation graph of the airport.
  • Each navigation graph is previously created before entering a setpoint.
  • the navigation nodes are located on each of the borders, the elements not necessary for navigation having been deleted from the map by the method.
  • the aircraft will have to pass through the nodes corresponding to each border of the elements mentioned in the instruction. While respecting the order of the elements of the setpoint, one can note for example N1, N2, N3, N4 and N5, the various nodes of the elements mentioned in the instruction by which the aircraft must pass successively.
  • the node N1 is connected to the node N2, which is itself connected to the nodes N3, which is itself connected to the nodes N4, which is itself connected to the nodes N5.
  • the navigation graph can generate information similar to that found on the signs of an airport.
  • the figure 5 illustrates the type of navigation information 53 and 54 informing the naming of certain lanes and directions associated with the lanes, the latter are represented by the symbol of an arrow.
  • the rolling elements 50, 51 and 52 are shown.
  • the method uses existing means for providing positioning information useful on the situation of the aircraft.
  • This information is generally generated by the on-board computer based on information received by external signals or provided by integrated sensors. They include, among other things, position and actual heading information tracked by the aircraft.
  • the method makes it possible, by analysis of the position of the aircraft and of the nearest navigation point, to provide and display on information display means navigation.
  • This navigation information is for example the taxiway on which the aircraft is heading or security information.
  • next taxiing elements such as the other nearby traffic lanes
  • the method makes it possible to compare the actual course of the aircraft at the passage of the navigation node and the next node to reach, so the navigation heading.
  • the method according to the invention makes it possible, for example, to generate a particular indication if the aircraft engages on a track leading to a track, the only possible path in the navigation graph leading to a track.
  • the method according to the invention allows a greater anticipation compared to the information relating to the proximity of a track.
  • the method will make it possible to signal to the pilot of the aircraft 60 that this route leads him to a runway 31.
  • the method according to the invention also makes it possible to establish a second connectivity graph.
  • the connectivity being with respect to guiding elements, the latter graph is called thereafter guide graph.
  • This step also allows as for the navigation graph to operate in a second step a routing instruction for the navigation aid in the airport.
  • Rolling lines are usually drawn on the running elements of an airport and are often represented by a yellow mark. These lines are generally defined in the airport database by some points of the georeferenced taxiing line. These lines may possibly be discontinuous depending on the type of rolling elements.
  • a guide node corresponds to an intersection between a rolling line and the boundary between two rolling elements.
  • the figure 7 represents rolling elements 1, 2, 3 separated by borders 4 and 5.
  • the coordinates of certain points of a rolling line 74 are defined in the airport database.
  • no connectivity is realized in order to link a running line to the rolling elements of an airport.
  • the method according to the invention makes it possible to define guide nodes 75, 76, 77, 78.
  • the points of a rolling line upstream and downstream of a boundary separating two rolling elements form a segment which intercepts a boundary (8 ', 5, 4, 8) at one point, this point is a guiding node
  • this guide cap is the angle formed between the segment connecting the two upstream and downstream points of an intersection of a rolling line with a border of two rolling elements and the north.
  • the figure 8 represents a rolling element 86 on which are drawn two rolling lines 85, 85 'which intercept the borders 87 and 88 in four guide nodes 80, 80', 84, 84 '.
  • the rolling lines are identified in the airport database by a first set of points 81, 82, 83 concerning the first rolling line 85 and a second set of points 81 ', 82', 83 'for the second rolling line. 85.
  • the first criterion can be expressed as a constraint on the minimum and maximum radius of curvature of the route of the guide line taken by the aircraft.
  • two consecutive segments in a guide line must have an angle between 2 ⁇ / 3 and 4 ⁇ / 3.
  • the figure 9 represents the case of a rolling element 94 situated at the intersection of four other rolling elements 90, 91, 92, 93.
  • Running lines 95, 96, 97, 98, 99, 100 are drawn on the ground, each of the roads comprising points 900, 902, 903, 905, 910, 911, 913, 921, 931, 932, 933, 941, 935 defined in the airport database.
  • intersections between the rolling lines and the boundaries 950, 951, 952, 953 between the different rolling elements define, as defined above, guide nodes 901, 904, 922, 930, 912, 920, 940, 934.
  • the method according to the invention makes it possible to display a path successively connecting the point 900 , the node 901, the points 910 and 911, the node 912 and the point 913.
  • This path satisfies the condition defined above stating that the angle formed between two successive arcs of the rolling line displayed is between 2 ⁇ / 3 and 4 ⁇ / 3.
  • the second criterion ensures that the rolling line displayed is the shortest.
  • the first road joins the points and nodes 900, 901, 910, 911, 912, 913
  • the second road joins the points and nodes 900, 901, 910, 921, 920, 913
  • the third road joining the points and nodes 900, 901, 910, 921, 933, 941, 940, 913.
  • the road fulfilling the second condition stated above is the first road.
  • the method according to the invention makes it possible, when several rolling lines respond to a set point from the air traffic control, to select a rolling line whose characteristics are optimal.
  • a display device makes it possible to trace the trajectory to be followed by the aircraft when a setpoint is entered in a user interface.
  • the correlation of the guidance graph and the routing instruction makes it possible to select the arcs constituting the driving line and makes it possible to optimize the most coherent route to be traveled in the airport to arrive at the destination of the instruction.
  • the method Upon receipt of a rolling instruction, the method identifies all the rolling elements such as taxiways for example on the route of the aircraft.
  • the guiding graph makes it possible to calculate and display, by means of display means, a guide trajectory supported by guide lines along the route.
  • the main advantage of the invention is to generate a navigation and guidance graph via navigation and guidance node and associated arcs. These nodes have the advantage of being easily exploitable when passing the aircraft to their vicinity on the airport to indicate navigation information or plot the path to follow on a display device.

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Abstract

The method of generating a connectivity chart for elements of an airport that makes use of: data describing polygons, each polygon being referenced in a database of the aircraft, the data comprising at least one denomination, one type, one set of segments and one set of points, the polygons representing elements of an airport; wherein the method generates, for any pair of polygons having a common boundary, at least one point, called node, situated on the boundary, the segment linking two consecutive nodes forming an axis with north.

Description

Le domaine de l'invention est celui de l'aide au roulage d'un aéronef sur un aéroport, assurée notamment par une représentation de la trajectoire à suivre par l'aéronef sur l'aéroport et à l'affichage d'informations relatives au guidage et à la navigation de l'aéronef.The field of the invention is that of aiding the taxiing of an aircraft on an airport, provided in particular by a representation of the trajectory to be followed by the aircraft on the airport and the display of information relating to the guidance and navigation of the aircraft.

Actuellement, dans le cadre des phases aéroportuaires, la répartition des responsabilités bord/contrôle au sol, les procédures opérationnelles, la densité du trafic et le nombre important d'acteurs sur la plate-forme aéroportuaire ne permettent pas à un aéronef de disposer d'équipements ayant la capacité à synthétiser l'ensemble des informations pour se déplacer de manière optimale.Currently, in the context of the airport phases, the division of the on-board / ground control responsibilities, the operational procedures, the density of the traffic and the large number of actors on the airport platform do not allow an aircraft to have equipment with the ability to synthesize all information to move optimally.

Une solution consiste à utiliser les systèmes existants installés à bord de l'aéronef tels que le système de gestion de vol ou FMS acronyme de l'expression anglo-saxonne Flight Management System, le système de surveillance intégré ou ISS acronyme de l'expression anglo-saxonne Integrated Surveillance System et de les enrichir de fonctions d'assistance au roulage.One solution is to use the existing systems installed on board the aircraft such as the flight management system or FMS acronym for the English expression Flight Management System, the integrated monitoring system or ISS acronym for the English expression -Soon Integrated Surveillance System and enrich them with assistance functions.

Un système de gestion de vol comprend de manière classique un ou plusieurs microprocesseurs reliés à une mémoire de travail, une mémoire de programmes, une mémoire de stockage de données et à une interface d'entrée-sortie, ces programmes visant à assurer différentes fonctions. Mais les fonctions accessibles via un FMS sont insuffisantes pour atteindre les objectifs de la fonction d'aide au roulage :

  • La localisation proposée par un système FMS est de l'ordre de 100 m alors que la partie sol nécessite des moyens de positionnement de l'ordre de 10 m pour les fonctions d'affichage, de l'ordre de 1 m pour les fonctions de d'alerte et d'assistance au guidage et inférieur à 1 m pour les fonctions de guidage automatique.
  • La construction du « plan de roulage » est fortement imposée par l'autorité de contrôle au sol ou « ATC » acronyme de l'expression anglo-saxonne Air Traffic Control et est souvent incrémentale et partielle en fonction des différentes zones de contrôle réparties sur l'aéroport. Par exemple, sur des aéroports internationaux de grande envergure, comme Paris Charles De Gaulle, un contrôleur est en charge de la zone des pistes, un second des voies de circulation ( « taxiway en anglais ») et un troisième des zones d'embarquement des passagers. Le cheminement est alors dicté au pilote au fur et à mesure de son avancée. Il s'arrête aux limites de chaque zone de contrôle et ne peut pas couvrir l'intégralité du déplacement, de la piste à la porte d'embarquement (ou le trajet inverse). Ces problèmes entraînent de nombreux échanges en phonie entre le contrôleur et le pilote pendant la phase de roulage qui peut être relativement longue sur de gros aéroports. De fait, les outils et méthodes disponibles dans un FMS ne sont pas adéquats car ils sont prévus pour décrire l'intégralité d'un vol, du décollage à l'atterrissage afin d'effectuer tous les calculs nécessaires aux prédictions de consommation et aux consignes de guidage. Par ailleurs, les descriptions des procédures au sol ne sont pas standardisées, contrairement aux procédures en vol qui sont disponibles à bord des FMS au travers d'une base de données issue de données publiées par les organismes de contrôle étatiques.
  • La base de donnée PERF des performances de l'aéronef n'est pas adaptée au modèle de roulage.
  • Le module de calcul de trajectoire latérale tient compte des performances de l'aéronef alors que le roulage au sol doit tenir compte de la topologie de l'aéroport.
  • Les prédictions ont pour objectif de construire un profil vertical optimisé sur la trajectoire latérale. Au sol, seule la vitesse horizontale peut être ajustée.
  • Le guidage au sol a pour objectif de présenter les consignes à appliquer manuellement (sauf les consignes d'urgence).
A flight management system conventionally comprises one or more microprocessors connected to a working memory, a program memory, a data storage memory and an input-output interface, these programs being intended to provide different functions. But the functions accessible via an FMS are insufficient to achieve the objectives of the taxi assistance function:
  • The location proposed by an FMS system is of the order of 100 m whereas the ground part requires positioning means of the order of 10 m for the display functions, of the order of 1 m for the functions of warning and guidance assistance and less than 1 m for automatic guidance functions.
  • The construction of the "rolling plan" is strongly imposed by the ground control authority or "ATC" acronym for the English expression Air Traffic Control and is often incremental and partial in according to the different control zones spread over the airport. For example, at large international airports, such as Paris Charles De Gaulle, a controller is in charge of the runway area, a second taxiway and a third of the boarding areas. passengers. The path is then dictated to the pilot as his progress. It stops at the limits of each control zone and can not cover the entire trip, from the runway to the boarding gate (or the opposite route). These problems lead to numerous voice exchanges between the controller and the pilot during the taxi phase, which can be relatively long on large airports. In fact, the tools and methods available in an FMS are not adequate because they are intended to describe the completeness of a flight, from take-off to landing in order to perform all the calculations necessary for fuel consumption predictions and instructions. guidance. In addition, the descriptions of the ground procedures are not standardized, unlike the flight procedures that are available on board the FMS through a database derived from data published by the state control bodies.
  • The PERF performance database of the aircraft is not adapted to the taxiing model.
  • The lateral trajectory calculation module takes into account the performance of the aircraft whereas taxiing must take into account the topology of the airport.
  • The predictions aim to build an optimized vertical profile on the lateral trajectory. On the ground, only the horizontal speed can be adjusted.
  • The purpose of the ground guidance is to present the instructions to be applied manually (except the emergency instructions).

De même, les fonctions accessibles via l'ISS sont insuffisantes pour atteindre les objectifs de la fonction d'aide au roulage :

  • la surveillance au sol n'est pas prise en compte,
  • la consolidation n'est pas traitée entre les situations trafic et terrain,
  • les fonctions d'anticipation se basent sur des trajectoires élaborées à partir des données du FMS en 3D ou 3D+temps.
Similarly, the functions accessible via the ISS are insufficient to achieve the objectives of the taxi assistance function:
  • ground monitoring is not taken into account,
  • the consolidation is not treated between traffic and field situations,
  • the anticipation functions are based on trajectories developed from FMS data in 3D or 3D + time.

Par ailleurs, certains systèmes de cartographie aéroportuaire, comme ceux présents dans les EFB acronyme de Electronic Flight Bag (qui sont des applications utilisées par les pilotes sur des ordinateurs portables pour préparer leurs vols et qui ne font pas partie de l'avionique de bord) ou des produits spécifiques comme l'OANS, acronyme de On-Board Airport Navigation System permettent :

  • d'afficher la carte de l'aéroport montrant la position de l'aéronef et sa situation par rapport à la topologie de l'aéroport et aux structures environnantes,
  • d'obtenir des informations sur "airport items" par le biais de l'interface utilisateur,
  • d'obtenir des annotations, des conseils (e.g. "Approaching Runway").
In addition, some airport mapping systems, such as those found in the Electronic Flight Bag EFBs (which are applications used by pilots on laptops to prepare their flights and which are not part of avionics) or specific products like the OANS, acronym for On-Board Airport Navigation System allow:
  • display the airport map showing the position of the aircraft and its location in relation to the topology of the airport and the surrounding structures,
  • obtain information on "airport items" through the user interface,
  • to obtain annotations, advice (eg "Approaching Runway").

Un tel procédé est connue du document US-A-5374932 .Such a process is known from the document US Patent 5374932 .

Mais ces fonctions n'assurent qu'une surveillance limitée, parce ce que s'appuyant exclusivement sur des bases de données décrivant la géométrie de l'aéroport, dont la fréquence de mise à jour n'est liée qu'aux évolutions des infrastructures et non aux règles d'utilisation dictées (et modifiées périodiquement) par les autorités de contrôle locales ; en particulier, elles sont insuffisantes notamment pour :

  • afficher une carte présentant les informations les plus variables de l'aéroport, comme par exemple les sens interdits en fonction du sens d'atterrissage choisi par le contrôle en fonction de la force et de la direction du vent local,
  • traiter ces mêmes informations dynamiques pour assister l'équipage dans la visualisation ou la sélection des éléments de cheminement imposés par le contrôle au sol,
  • assurer une fonction de routage proposant à l'équipage une automatisation des actions permettant d'enchaîner les éléments de cheminement désignés et de calculer divers paramètres pertinents, comme une estimation du carburant consommé par exemple ou des indications de directions aux divers embranchements rencontrés et présenter le cheminement élaboré en complément de la cartographie des infrastructures.
But these functions only provide limited oversight, because this relies exclusively on databases describing the geometry of the airport, the frequency of which is related only to changes in infrastructure and no to the rules of use dictated (and modified periodically) by the local control authorities; in particular, they are insufficient in particular for:
  • display a map showing the most variable information of the airport, for example the prohibited directions according to the direction of landing chosen by the control according to the strength and direction of the local wind,
  • process the same dynamic information to assist the crew in the visualization or selection of the routing elements imposed by the ground control,
  • provide a routing function proposing to the crew an automation of the actions making it possible to chain the designated routing elements and to calculate various relevant parameters, such as an estimate of the fuel consumed, for example, or indications of directions to the various branches encountered, and to present the path developed in addition to infrastructure mapping.

Finalement certaines fonctions, comme le « RAAS » acronyme de l'expression anglo-saxonne Runway Awareness and Advisory System d'Honeywell, disponible au travers du produit EGPWS ont comme rôle d'avertir l'équipage lors de l'approche d'une piste. Elles se basent sur les uniques informations des pistes, indépendamment des connections possibles aux taxiways ou de leur activité réelle. De plus, la ségrégation des équipements utilisés lors des phases de roulage, empêche ces messages d'être corrélés avec des informations de cheminement élaborées au travers d'un moyen de routage ou à une base de données plus riche disposant de l'ensemble des informations sur la surface aéroportuaire.Finally, certain functions, such as Honeywell's Runway Awareness and Advisory System (RAAS), available through the EGPWS product, are used to warn the crew when approaching a runway. . They are based on the unique information of the tracks, independently of the possible connections to the taxiways or their real activity. In addition, the segregation of the equipment used during the driving phases, prevents these messages from being correlated with routing information developed through a routing means or a richer database having all the information on the airport surface.

Le but de l'invention est permettre d'assurer une aide au roulage efficace en disposant d'une connectivité des différents éléments d'un aéroport. Ces éléments provenant généralement d'une base de données aéroportuaires et embarquée dans l'aéronef. La connectivité des éléments est avantageusement réalisée au moyen de la construction géométrique de noeuds de navigation et de guidage de l'aéroport. Ces derniers peuvent être représentés sur une carte ainsi que la trajectoire à suivre d'un aéronef lorsque la consigne de cheminement du contrôle aérien est connue de l'équipage. La connectivité des éléments permet alors d'anticiper un certain nombre d'actions des pilotes sur les phases de roulages. Dans ce contexte, l'invention propose en fonction de la position de l'aéronef dans l'aéroport d'afficher des informations de guidage et de navigation de manière anticipée.The object of the invention is to provide an effective taxi aid by having a connectivity of the various elements of an airport. These elements generally come from an airport database and embedded in the aircraft. The connectivity of the elements is advantageously achieved by means of the geometric construction of navigational and guiding nodes of the airport. The latter can be represented on a map as well as the trajectory of an aircraft when the flight control instruction of the air traffic control is known to the crew. The connectivity of the elements then makes it possible to anticipate a certain number of actions of the pilots on the rolling phases. In this context, the invention proposes according to the position of the aircraft in the airport to display guidance and navigation information in advance.

Avantageusement, le procédé selon l'invention reprend les principales caractéristiques des revendications.Advantageously, the method according to the invention incorporates the main features of the claims.

D'autres caractéristiques et avantages de l'invention apparaîtront à l'aide de la description qui suit faite en regard des dessins annexés qui représentent :

  • la figure 1 : des noeuds de navigation et des arcs de navigations ;
  • la figure 2: la définition d'un noeud de navigation sur une frontière de deux éléments de roulage ;
  • la figure 3 : une carte d'un aéroport comprenant des noeuds et des arcs de navigation;
  • la figure 4A : des éléments de roulage non pertinents pour l'équipage parmi d'autre éléments de roulage ;
  • la figure 4B : la suppression de certains éléments de roulage dans le graphe de navigation ;
  • la figure 5 : des indications de navigation pris en compte par le graphe de navigation ;
  • la figure 6 : la carte d'un aéroport avec la représentation de l'aéronef ;
  • la figure 7 : des noeuds de guidage et des arcs de guidage ;
  • la figure 8 : un cas d'un élément de roulage traversé par deux lignes de roulage ;
  • cas d'un virage et des éléments de roulage associés dans l'élaboration de la trajectoire à suivre pour un aéronef.
Other characteristics and advantages of the invention will become apparent with the aid of the following description made with reference to the appended drawings which represent:
  • the figure 1 : navigation nodes and navigational arcs;
  • the figure 2 : the definition of a navigation node on a border of two rolling elements;
  • the figure 3 : a map of an airport including knots and navigation arcs;
  • the Figure 4A : rolling elements irrelevant for the crew among other rolling elements;
  • the Figure 4B : the removal of certain rolling elements in the navigation graph;
  • the figure 5 : navigation indications taken into account by the navigation graph;
  • the figure 6 : the map of an airport with the representation of the aircraft;
  • the figure 7 : guiding knots and guide arcs;
  • the figure 8 : a case of a rolling element traversed by two rolling lines;
  • the case of a turn and the associated rolling elements in the development of the trajectory to be followed for an aircraft.

La figure 1 représente des éléments d'un aéroport formés de polygones 1, 2 et 3. Ces éléments sont appelés « éléments de roulage » dans la suite de la description. Chacun des polygones est décrit dans la base de données aéroportuaires par des segments et des points géoréférencés par rapport à une origine connue de l'aéroport.The figure 1 represents elements of an airport formed of polygons 1, 2 and 3. These elements are called "rolling elements" in the following description. Each of the polygons is described in the airport database by segments and georeferenced points relative to a known origin of the airport.

Ces éléments de roulage peuvent être de différents types, par exemple, des « taxiways », des « parking », « runways » ou encore des « service road element » selon la terminologie anglo-saxonne utilisée en aéronautique. Ces éléments de roulage décrivent généralement des zones de stationnement, des zones de roulage, des intersections de zone de roulage, des parties d'une piste ou encore des zones destinées à l'entrée et la sortie de véhicules de services.These rolling elements can be of different types, for example, "taxiways", "parking", "runways" or "service road element" according to the English terminology used in aeronautics. These taxiing elements generally describe parking areas, taxiing areas, taxiway intersections, parts of a runway or areas intended for the entry and exit of service vehicles.

Aujourd'hui aucune base de données ou fonction ne lie les différents éléments de roulage entre eux. Les éléments de roulage sont représentés « à plat » de manière à pouvoir construire des cartes fidèles à la réalité de la topologie de l'aéroport.Today no database or function binds the different elements of running between them. The rolling elements are represented "flat" so as to be able to build maps faithful to the reality of the topology of the airport.

Le procédé selon l'invention propose de créer un graphe de connectivité appelé graphe de navigation par la suite entre les différents éléments de roulage. Les données décrivant la connectivité des éléments de roulage de l'aéroport sont alors stockées dans une base de données de l'aéronef. Cette base de données est généralement mise à jour dans l'aéronef dans des phases de maintenance au sol ou avant de partir pour un nouveau décollage. Afin de décrire la connectivité des différents éléments de roulage, le procédé selon l'invention propose de définir des noeuds de navigation.The method according to the invention proposes to create a connectivity graph called navigation graph thereafter between the different rolling elements. The data describing the connectivity of the elements of taxiing of the airport are then stored in a database of the aircraft. This database is generally updated in the aircraft in maintenance phases on the ground or before leaving for a new take-off. In order to describe the connectivity of the various rolling elements, the method according to the invention proposes to define navigation nodes.

Les noeuds de navigation sont construits géométriquement sur chaque frontière séparant deux éléments de roulage. Dans un cas de réalisation décrit dans la présente description, la position du noeud de navigation sur la frontière peut être par exemple située au milieu de la frontière, celle-ci pouvant comprendre un ou plusieurs segments.The navigation nodes are built geometrically on each border separating two rolling elements. In a case of embodiment described in the present description, the position of the navigation node on the border may for example be located in the middle of the border, which may comprise one or more segments.

Dans le dessin de la figure 1, les noeuds de navigation 9', 6, 7 et 9 joignant les éléments de roulage 2, 1, et 3 sont respectivement positionnés au milieu des frontières 8', 5, 4 et 8. Les noeuds de navigation sont reliés par des segments 12, 13 et 14 qui chacun forme un cap de navigation avec le Nord N selon le sens vers lequel se dirige l'aéronef.In the drawing of the figure 1 , the navigation nodes 9 ', 6, 7 and 9 joining the rolling elements 2, 1, and 3 are respectively positioned in the middle of the borders 8', 5, 4 and 8. The navigation nodes are connected by segments 12 , 13 and 14 which each forms a heading of navigation with North N according to the direction towards which the aircraft is heading.

L'aéronef dans cet exemple peut circuler de l'élément de roulage 2 à l'élément de roulage 3 en passant par l'élément de roulage 1 selon un sens 11 ou peut circuler inversement de l'élément de roulage 3 à l'élément de roulage 2 en passant par l'élément de roulage 1 selon le sens inverse 10.The aircraft in this example can flow from the rolling element 2 to the rolling element 3 through the rolling element 1 in a direction 11 or can flow inversely from the rolling element 3 to the element running 2 through the rolling element 1 in the opposite direction 10.

Par la suite dans la description, on appelle « arc de navigation », le segment joignant deux noeuds de navigation successifs.Subsequently in the description, is called "navigation arc", the segment joining two successive navigation nodes.

L'ensemble de noeuds de navigation définit un graphe de navigation.The set of navigation nodes defines a navigation graph.

La figure 2 illustre un exemple de frontière entre deux éléments de roulage 20 et 21 représentant chacune des zones de l'aéroport. La frontière comprend cinq segments dont les positions des extrémités A, B, C, D, E et F sont définis dans la base de données aéroportuaire de l'aéronef. Le procédé selon l'invention permet de définir le milieu M de la frontière à équidistance des points A et F. Le noeud M est joint au noeud aval et au noeud amont par les segments 22 et 23.The figure 2 illustrates an example of a border between two rolling elements 20 and 21 representing each of the zones of the airport. The boundary comprises five segments whose end positions A, B, C, D, E and F are defined in the airport database of the aircraft. The method according to the invention makes it possible to define the medium M of the boundary equidistant from the points A and F. The node M is joined to the downstream node and the upstream node by the segments 22 and 23.

La figure 3 illustre un plan 30 d'un aéroport comprenant une piste 31 et des éléments de roulage tels que des voies d'approche ou de sortie sur la piste 31 et des éléments de jonction de plusieurs voies. Les noeuds de navigation sont situés au milieu de chaque frontière de chaque élément. Les segments joignant les différents noeuds y sont représentés tels que les noeuds 33 et 34 dont la connexion est représentée par un segment 32.The figure 3 illustrates a plane 30 of an airport comprising a runway 31 and rolling elements such as approach or exit lanes on the track 31 and connecting elements of several channels. The navigation nodes are located in the middle of each border of each element. The segments joining the different nodes are represented therein such as the nodes 33 and 34 whose connection is represented by a segment 32.

A chacun des noeuds est associé deux sens de passage, un sens de passage est constitué de trois informations :

  • Un élément de départ (un des deux éléments de roulage connectés) ;
  • Un élément d'arrivée (l'autre élément connecté) ;
  • Un cap de navigation qui définit la direction prise pour un sens de passage de l'aéronef. Formellement, ce cap de navigation est l'angle formé entre un arc de navigation et le Nord (dans le sens trigonométrique).
At each of the nodes is associated two directions of passage, a direction of passage consists of three pieces of information:
  • A starting element (one of the two rolling elements connected);
  • One arrival element (the other connected element);
  • A navigation heading that defines the direction taken for a direction of passage of the aircraft. Formally, this navigation heading is the angle formed between a navigation arc and the North (in the trigonometrical direction).

Dans l'exemple de la figure 1, le cap de navigation formé par l'arc de navigation reliant le noeud 7 au noeud 9 pour passer de l'élément de roulage 1 à l'élément de roulage 3 est de 270° avec le Nord. Le sens inverse, du noeud 9 au noeud 7 est le cap 70°.In the example of the figure 1 , the navigation heading formed by the navigation arc connecting the node 7 to the node 9 to pass from the rolling element 1 to the rolling element 3 is 270 ° with the North. The opposite direction, from the node 9 to the node 7 is the heading 70 °.

Le procédé selon l'invention permet de s'affranchir dans le graphe de navigation de certain type d'éléments d'un aéroport non nécessaires à l'équipage. Par exemple les éléments appelés « service road element » dont la terminologie anglo-saxonne signifie « éléments de route de service », ne sont pas nécessaires à l'aide à la navigation de l'aéronef, ces éléments étant destinés aux véhicules de services. A aucun moment ces éléments ne sont cités dans une consigne de roulage par le contrôle aérien pour indiquer une route à l'équipage. Ainsi, le procédé selon l'invention permet de définir une connectivité entre des éléments de roulage, ceux-ci étant cohérents avec une consigne provenant du contrôle aérien.The method according to the invention makes it possible to overcome in the navigation graph certain types of elements of an airport not necessary to the crew. For example the elements called "service road element" whose English terminology means "service road elements", are not necessary for the navigation aid of the aircraft, these elements being intended for service vehicles. At no time are these elements mentioned in a taxi instruction by air traffic control to indicate a route to the crew. Thus, the method according to the invention makes it possible to define a connectivity between rolling elements, which elements are coherent with a set point originating from the air traffic control.

Pour cela le procédé selon l'invention, dans un premier temps, permet de repérer les points et les segments relatifs à un élément géométrique d'un type spécifique tel que celui définit précédemment, de forme polygonale. Dans un second temps, le procédé selon l'invention permet de fusionner les deux frontières de part et d'autre de l'élément de roulage amont et aval.For this purpose, the method according to the invention, in a first step, makes it possible to locate the points and the segments relating to a geometric element of a specific type such as that defined above, of polygonal shape. In a second step, the method according to the invention makes it possible to merge the two borders on either side of the upstream and downstream rolling element.

La figure 4A représente une partie d'un aéroport comprenant différents éléments de roulage 45, 42, 44, 41, 48, 46, 43 et 47 de types différents. Parmi ces éléments, certains sont destinés aux véhicules de service, notamment les éléments 42, 41 et 43. Ils ne sont donc pas nécessaires à l'assistance à la navigation de l'aéronef. Le procédé permet de fusionner chacune des frontières des éléments 42, 41 et 43 en une seule frontière séparant les éléments 45 et 44 d'une part et les éléments 44 et 48 d'autre part et enfin les éléments 47 et 48.The Figure 4A represents a part of an airport comprising different rolling elements 45, 42, 44, 41, 48, 46, 43 and 47 of different types. Among these elements, some are intended for service vehicles, including items 42, 41 and 43. They are therefore not necessary for the navigation assistance of the aircraft. The method makes it possible to merge each of the boundaries of the elements 42, 41 and 43 into a single boundary separating the elements 45 and 44 on the one hand and the elements 44 and 48 on the other hand and finally the elements 47 and 48.

Le procédé selon l'invention permet donc de considérer le type d'un élément et sa description géométrique.The method according to the invention therefore makes it possible to consider the type of an element and its geometric description.

La figure 4B représente, après la fusion des frontières des éléments non nécessaire à l'équipage, la carte de l'aéroport régénérée.The Figure 4B represents, after the merger of the boundaries of the elements not necessary to the crew, the regenerated airport map.

Les nouvelles frontières 43', 41' et 42' sont des frontières séparant des éléments de roulage sur lesquelles des noeuds de navigation sont automatiquement générés.The new boundaries 43 ', 41' and 42 'are boundaries separating rolling elements on which navigation nodes are automatically generated.

Le procédé selon l'invention permet de définir une notion d'arc de navigation entre différents noeuds. Les arcs de navigation n'ont pas de représentations géométriques mais permettent d'une part de lier les noeuds entre eux dans la base de données et d'autre part de définir un cap moyen entre deux noeuds, noté cap de navigation.The method according to the invention makes it possible to define a notion of navigation arc between different nodes. The navigation arcs have no geometric representations but allow on the one hand to link the nodes together in the database and on the other hand to define an average cap between two nodes, noted navigation heading.

Dans une phase de roulage, la construction du graphe de navigation constitue une première étape du procédé selon l'invention pour exploiter dans une deuxième étape, notamment, une ou plusieurs consigne(s) de cheminement provenant du contrôle aérien.In a rolling phase, the construction of the navigation graph constitutes a first step of the method according to the invention for operating in a second step, in particular, one or more instructions (s) of routing from the air traffic control.

Une consigne envoyée par le contrôle aérien à l'équipage peut être par exemple : TAXI TO « STAND 8 » VIA « A-T50-T20-N4 ». Cette dernière consigne se traduit par « se diriger au parking nommé « STAND 8 » en empruntant la route passant par les différents éléments dont les noms sont les suivants : A, T50, T20, N4.An instruction sent by the air traffic control to the crew can be for example: TAXI TO "STAND 8" VIA "A-T50-T20-N4". This last instruction is translated "to go to the car park named" STAND 8 "by taking the road passing by the various elements whose names are the following: A, T50, T20, N4.

La saisie manuelle de la consigne par l'équipage dans une interface utilisateur du cockpit ou l'acquisition automatique de la consigne par un calculateur de bord permet de lier les éléments de roulage de la consigne par connaissance des connexions du graphe de navigation de l'aéroport. Chaque graphe de navigation est préalablement crée avant la saisie d'une consigne. Les noeuds de navigation sont situés sur chacune des frontières, les éléments non nécessaires à la navigation ayant été supprimé de la carte par le procédé.The manual entry of the setpoint by the crew in a cockpit user interface or the automatic acquisition of the setpoint by an onboard computer makes it possible to link the rolling elements of the setpoint by knowing the connections of the navigation graph of the airport. Each navigation graph is previously created before entering a setpoint. The navigation nodes are located on each of the borders, the elements not necessary for navigation having been deleted from the map by the method.

Suite à la réception de cette consigne, l'aéronef devra passer par les noeuds correspondants à chaque frontière des éléments cités dans la consigne. En respectant l'ordre des éléments de la consigne, on peut noter par exemple N1, N2, N3, N4 et N5, les différents noeuds des éléments cité dans la consigne par lesquels l'aéronef doit successivement passer. Dans la base de données le noeud N1 est connecté au noeud N2, qui est lui même connecté au noeuds N3, qui est lui même connecté au noeuds N4, qui est lui même connecté au noeuds N5.Following reception of this instruction, the aircraft will have to pass through the nodes corresponding to each border of the elements mentioned in the instruction. While respecting the order of the elements of the setpoint, one can note for example N1, N2, N3, N4 and N5, the various nodes of the elements mentioned in the instruction by which the aircraft must pass successively. In the database, the node N1 is connected to the node N2, which is itself connected to the nodes N3, which is itself connected to the nodes N4, which is itself connected to the nodes N5.

Le graphe de navigation permet de générer les informations semblables à celle que l'on trouve sur les panneaux indicateurs d'un aéroport.The navigation graph can generate information similar to that found on the signs of an airport.

La figure 5 illustre le type d'informations de navigation 53 et 54 informant de la dénomination de certaines voies et de certaines directions associées aux voies, ces dernières sont représentées par le symbole d'une flèche. Les éléments de roulage 50, 51 et 52 sont représentés.The figure 5 illustrates the type of navigation information 53 and 54 informing the naming of certain lanes and directions associated with the lanes, the latter are represented by the symbol of an arrow. The rolling elements 50, 51 and 52 are shown.

Par ailleurs, le procédé utilise des moyens existants permettant de fournir des informations de positionnement utiles sur la situation de l'aéronef. Ces informations sont générées généralement par les calculateurs de bord à partir d'informations reçues par des signaux extérieurs ou fournies par des capteurs intégrés. Elles incluent entre autres des informations de positions et de cap réel suivi par l'aéronef. Chaque fois que l'aéronef passe à proximité d'un noeud de navigation, le procédé permet par analyse de la position de l'aéronef et du point de navigation les plus proches, de fournir et d'afficher sur des moyens de visualisation des informations de navigation. Ces informations de navigation sont par exemple la voie de circulation sur laquelle l'avion se dirige ou des informations de sécurité.Furthermore, the method uses existing means for providing positioning information useful on the situation of the aircraft. This information is generally generated by the on-board computer based on information received by external signals or provided by integrated sensors. They include, among other things, position and actual heading information tracked by the aircraft. Whenever the aircraft passes close to a navigation node, the method makes it possible, by analysis of the position of the aircraft and of the nearest navigation point, to provide and display on information display means navigation. This navigation information is for example the taxiway on which the aircraft is heading or security information.

Les noeuds étant connectés, il est possible d'afficher des informations de navigation par anticipation sur les prochains éléments de roulage telle que les autres voies de circulation à proximité en comparant le cap réel de l'aéronef avec le cap de navigation des arcs de navigation. Le procédé permet de comparer le cap réel de l'aéronef au passage du noeud de navigation et du prochain noeud à atteindre, donc du cap de navigation.With the nodes connected, it is possible to display anticipatory navigation information on the next taxiing elements such as the other nearby traffic lanes by comparing the real heading of the aircraft with the navigation heading of the navigation arcs. . The method makes it possible to compare the actual course of the aircraft at the passage of the navigation node and the next node to reach, so the navigation heading.

Le procédé selon l'invention permet par exemple de générer une indication particulière si l'aéronef s'engage sur une voie menant à une piste, le seul chemin possible dans le graphe de navigation menant à une piste.The method according to the invention makes it possible, for example, to generate a particular indication if the aircraft engages on a track leading to a track, the only possible path in the navigation graph leading to a track.

Exploitant les informations sur la connectivité des voies de circulation de l'aéroport, le procédé selon l'invention permet une plus grande anticipation par rapport aux informations relatives à la proximité d'une piste.Exploiting the information on the connectivity of the taxiways of the airport, the method according to the invention allows a greater anticipation compared to the information relating to the proximity of a track.

Par exemple, dans la figure 6, dès le passage sur le noeud de navigation A1, le procédé permettra de signaler au pilote de l'aéronef 60 que cette voie le mène à une piste 31.For example, in the figure 6 as soon as it passes over the navigation node A1, the method will make it possible to signal to the pilot of the aircraft 60 that this route leads him to a runway 31.

Le procédé selon l'invention permet également d'établir un second graphe de connectivité. La connectivité se faisant par rapport à des éléments de guidage, ce dernier graphe est appelé par la suite graphe de guidage.The method according to the invention also makes it possible to establish a second connectivity graph. The connectivity being with respect to guiding elements, the latter graph is called thereafter guide graph.

Cette étape permet également comme pour le graphe de navigation d'exploiter dans une seconde étape une consigne de cheminement pour l'aide à la navigation dans l'aéroport.This step also allows as for the navigation graph to operate in a second step a routing instruction for the navigation aid in the airport.

Les éléments de guidage sont alors des points d'une ligne de roulage. Les lignes de roulage sont tracées généralement sur les éléments de roulage d'un aéroport et sont souvent représentées par une marque jaune. Ces lignes sont généralement définies dans la base de données aéroportuaire par certains points de la ligne de roulage géoréférencés. Ces lignes peuvent éventuellement être discontinues selon le type des éléments de roulage.The guide elements are then points of a rolling line. Rolling lines are usually drawn on the running elements of an airport and are often represented by a yellow mark. These lines are generally defined in the airport database by some points of the georeferenced taxiing line. These lines may possibly be discontinuous depending on the type of rolling elements.

Le graphe de guidage est constitué :

  • d'un ensemble de noeuds de guidage ;
  • d'un ensemble d'arcs de guidage, un arc de guidage reliant deux noeuds de guidage successifs.
The guiding graph consists of:
  • a set of guide nodes;
  • a set of guide arcs, a guide arc connecting two successive guide nodes.

Un noeud de guidage correspond à une intersection entre une ligne de roulage et la frontière entre deux éléments de roulage.A guide node corresponds to an intersection between a rolling line and the boundary between two rolling elements.

La figure 7 représente des éléments 1, 2, 3 de roulage séparés par des frontières 4 et 5. Les coordonnées de certains points d'une ligne de roulage 74 sont définis dans la base de données aéroportuaire. En revanche aujourd'hui aucune connectivité n'est réalisée afin de lier une ligne de roulage aux éléments de roulage d'un aéroport.The figure 7 represents rolling elements 1, 2, 3 separated by borders 4 and 5. The coordinates of certain points of a rolling line 74 are defined in the airport database. On the other hand today no connectivity is realized in order to link a running line to the rolling elements of an airport.

Le procédé selon l'invention permet de définir des noeuds de guidage 75, 76, 77, 78. Les points d'une ligne de roulage amonts et aval d'une frontière séparant deux éléments de roulage forme un segment qui intercepte une frontière (8', 5, 4, 8) en un point, ce point est un noeud de guidageThe method according to the invention makes it possible to define guide nodes 75, 76, 77, 78. The points of a rolling line upstream and downstream of a boundary separating two rolling elements form a segment which intercepts a boundary (8 ', 5, 4, 8) at one point, this point is a guiding node

Comme pour le graphe de navigation, à chaque noeud, est associé deux sens de passage, par exemple le noeud 76 possède deux sens de passage 79, 79' représentés sur la figure 7. Un sens de passage est constitué de trois informations :

  • Un élément de départ (un des deux éléments de roulage)
  • Un élément d'arrivée (l'autre élément connecté)
  • Un cap de guidage qui définit la direction prise pour ce sens de passage.
As for the navigation graph, at each node is associated two directions of passage, for example the node 76 has two direction of passage 79, 79 'represented on the figure 7 . A direction of passage consists of three pieces of information:
  • A starting element (one of the two rolling elements)
  • One arrival element (the other connected element)
  • A guide cap that defines the direction taken for this direction of passage.

Formellement, ce cap de guidage est l'angle formé entre le segment reliant les deux points amont et aval d'une intersection d'une ligne de roulage avec une frontière de deux éléments de roulage et le nord.Formally, this guide cap is the angle formed between the segment connecting the two upstream and downstream points of an intersection of a rolling line with a border of two rolling elements and the north.

La figure 8 représente un élément de roulage 86 sur laquelle sont tracées deux lignes de roulage 85, 85' qui interceptent les frontières 87 et 88 en quatre noeuds de guidage 80, 80', 84, 84'.The figure 8 represents a rolling element 86 on which are drawn two rolling lines 85, 85 'which intercept the borders 87 and 88 in four guide nodes 80, 80', 84, 84 '.

Les lignes de roulage sont repérées dans la base de données aéroportuaire par un premier ensemble de points 81, 82, 83 concernant la première ligne de roulage 85 et un second ensemble de points 81', 82', 83' pour la seconde ligne de roulage 85'.The rolling lines are identified in the airport database by a first set of points 81, 82, 83 concerning the first rolling line 85 and a second set of points 81 ', 82', 83 'for the second rolling line. 85.

Les lignes de guidage supportant les arcs de guidages doivent remplir les deux critères suivants :

  • La courbe formée par un ensemble de segments consécutifs d'une ligne de guidage doit avoir un rayon de courbure compatible des performances de l'aéronef, les segments étant déterminés entre chaque couple de points successifs et entre chaque point et chaque noeud se succédant de la ligne de guidage;
  • Elles sont optimales : s'il existe plusieurs lignes de guidage répondant au premier critère reliant deux noeuds, alors le procédé selon l'invention sélectionne l'arc le plus court en distance.
Guide lines supporting guide arcs must meet the following two criteria:
  • The curve formed by a set of consecutive segments of a guide line must have a compatible radius of curvature of the performance of the aircraft, the segments being determined between each pair of successive points and between each point and each successive node of the guide line;
  • They are optimal: if there are several guide lines responding to the first criterion connecting two nodes, then the method according to the invention selects the shortest arc distance.

Le premier critère peut s'exprimer par une contrainte sur le rayon de courbure minimal et maximal du tracé de la ligne de guidage empruntée par l'aéronef.The first criterion can be expressed as a constraint on the minimum and maximum radius of curvature of the route of the guide line taken by the aircraft.

Dans un cas d'exemple, on peut considérer que deux segments consécutifs dans une ligne de guidage doivent avoir un angle compris entre à 2π/3 et 4π/3.In one example, it can be considered that two consecutive segments in a guide line must have an angle between 2π / 3 and 4π / 3.

La figure 9 représente le cas d'un élément 94 de roulage situé à l'intersection de quatre autres éléments de roulage 90, 91, 92,93. Des lignes de roulage 95, 96, 97, 98, 99, 100 sont tracées au sol, chacune des routes comprenant des points 900, 902, 903, 905, 910, 911, 913, 921, 931, 932, 933, 941, 935 définis dans la base de données aéroportuaires.The figure 9 represents the case of a rolling element 94 situated at the intersection of four other rolling elements 90, 91, 92, 93. Running lines 95, 96, 97, 98, 99, 100 are drawn on the ground, each of the roads comprising points 900, 902, 903, 905, 910, 911, 913, 921, 931, 932, 933, 941, 935 defined in the airport database.

Les intersections entre les lignes de roulage et des frontières 950, 951, 952, 953 entre les différents éléments de roulage définissent, comme définit précédemment, des noeuds de guidage 901, 904, 922, 930, 912, 920, 940, 934.The intersections between the rolling lines and the boundaries 950, 951, 952, 953 between the different rolling elements define, as defined above, guide nodes 901, 904, 922, 930, 912, 920, 940, 934.

Lorsqu'un aéronef arrive au point 900 de l'élément de roulage 90 et qu'il souhaite se rendre au point 913 de l'élément de roulage 93, le procédé selon l'invention permet d'afficher un chemin reliant successivement le point 900, le noeud 901, les points 910 et 911, le noeud 912 et le point 913. Ce chemin répond à la condition définie précédemment énonçant que l'angle formé entre deux arcs successifs de la ligne de roulage affichée est compris entre 2π/3 et 4π/3. Par ailleurs, si plusieurs ligne de roulage répondent à cette condition, le deuxième critère assure que la ligne de roulage affichée est la plus courte.When an aircraft reaches the point 900 of the rolling element 90 and wishes to go to the point 913 of the rolling element 93, the method according to the invention makes it possible to display a path successively connecting the point 900 , the node 901, the points 910 and 911, the node 912 and the point 913. This path satisfies the condition defined above stating that the angle formed between two successive arcs of the rolling line displayed is between 2π / 3 and 4π / 3. Moreover, if several rolling lines meet this condition, the second criterion ensures that the rolling line displayed is the shortest.

Dans l'exemple de la figure 9, parmi les trois routes tracées et possible pour réaliser la consigne, une seule permet de remplir les deux conditions définies précédemment. La première route rejoint les points et noeuds 900, 901, 910, 911, 912, 913, la seconde route rejoint les points et noeuds 900, 901, 910, 921, 920, 913 et la troisième route joignant les points et noeuds 900, 901, 910, 921, 933, 941, 940, 913.In the example of the figure 9 of the three roads drawn and possible to carry out the instruction, only one can fill the two previously defined conditions. The first road joins the points and nodes 900, 901, 910, 911, 912, 913, the second road joins the points and nodes 900, 901, 910, 921, 920, 913 and the third road joining the points and nodes 900, 901, 910, 921, 933, 941, 940, 913.

La route remplissant la deuxième condition énoncée précédemment est la première route.The road fulfilling the second condition stated above is the first road.

Ainsi le procédé selon l'invention permet, lorsque plusieurs lignes de roulages répondent à une consigne provenant du contrôle aérien, de sélectionner une ligne de roulage dont les caractéristiques sont optimales.Thus, the method according to the invention makes it possible, when several rolling lines respond to a set point from the air traffic control, to select a rolling line whose characteristics are optimal.

Dans ces conditions un dispositif d'affichage permet de tracer la trajectoire à suivre par l'aéronef lorsqu'une consigne est entrée dans une interface utilisateur. La corrélation du graphe de guidage et de la consigne de cheminement permet de sélectionner les arcs constituants la ligne de roulage et permet d'optimiser le trajet le plus cohérent à parcourir dans l'aéroport pour arriver à la destination de la consigne.Under these conditions, a display device makes it possible to trace the trajectory to be followed by the aircraft when a setpoint is entered in a user interface. The correlation of the guidance graph and the routing instruction makes it possible to select the arcs constituting the driving line and makes it possible to optimize the most coherent route to be traveled in the airport to arrive at the destination of the instruction.

A la réception d'une consigne de roulage, le procédé identifie tous les éléments de roulage tel que les taxiways par exemple sur le parcours de l'aéronef. Le graphe de guidage permet de calculer et d'afficher, par le biais de moyens d'affichage, une trajectoire de guidage supportée par des lignes de guidages tout au long du parcours.Upon receipt of a rolling instruction, the method identifies all the rolling elements such as taxiways for example on the route of the aircraft. The guiding graph makes it possible to calculate and display, by means of display means, a guide trajectory supported by guide lines along the route.

L'invention a pour principal avantage de générer un graphe de navigation et de guidage par le biais de noeud de navigation et de guidage et des arcs associés. Ces noeuds ont l'avantage d'être facilement exploitables au passage de l'aéronef à leur proximité sur l'aéroport pour indiquer des informations de navigation ou d'effectuer un tracé de la trajectoire à suivre sur un dispositif d'affichage.The main advantage of the invention is to generate a navigation and guidance graph via navigation and guidance node and associated arcs. These nodes have the advantage of being easily exploitable when passing the aircraft to their vicinity on the airport to indicate navigation information or plot the path to follow on a display device.

Claims (15)

  1. A process for generating a connectivity graph for elements of an airport using:
    - data describing polygons, each polygon being referenced in a database of an aircraft, the data comprising at least one designation, one type, one set of segments and one set of points, said polygons representing the elements of an airport;
    and generating:
    - at least one point, referred to as a node, located on the boundary, for all pairs of polygons having a common boundary, the segment connecting two consecutive nodes defining an axis with North;
    - the definition of an arc of navigation, for each navigation node, said arc of navigation being a segment connecting two successive navigation nodes;
    - the determination of a heading, for each navigation node, referred to as the navigation heading, defining the angle between the direction of North and said arc of navigation passing through said navigation node and oriented along the direction of travel of the aircraft;
    characterised in that the process comprises:
    - using the position and the actual heading of the aircraft provided by the navigation system of said aircraft;
    - using routing instructions originating from a ground/on-board communication device, said routing instructions comprising at least one destination and one route, the route comprising a series of elements of the airport navigation database management system and;
    - displaying airport navigation information associated with a taxiing element from an on-board computer and display means, said navigation information being generated from a comparison of the actual heading of the aircraft, the navigation heading and from a position of a navigation node of an element of the instruction to be reached.
  2. The process according to claim 1, characterised in that it comprises determining a position of a node on a boundary, such that the node is located equidistantly from each end of the boundary.
  3. The process according to any one of claims 1 to 2, characterised in that it comprises displaying a runway proximity indication, provided the aircraft is located on the only possible path leading to this runway.
  4. The process according to claim 1 using:
    - data describing taxiing line points of an airport, said data originating from an aircraft database management system;
    characterised in that it comprises determining at least one node, referred to as the guidance node, located at the intersection of a boundary of two adjacent taxiing elements and a taxiing line.
  5. The process according to claim 4, characterised in that it comprises, for each guidance node, defining at least one guidance arc, said guidance arc being the shortest path to rejoin the next guiding node located on a guidance line.
  6. The process according to claim 5, characterised in that it comprises, for each guidance node, determining a heading, referred to as the guidance heading, which defines the angle between North and the segment connecting the downstream and upstream points of a guidance node located on the taxiing line and oriented along the direction of travel of the aircraft.
  7. The process according to any one of claims 5 to 6, using:
    - routing instructions originating from a ground/on-board communication device, said routing instructions comprising at least one destination and one route, the route comprising a series of elements of the airport navigation database management system;
    characterised in that it comprises determining a guidance trajectory, from an on-board computer, by determining the sequence of the segments connecting the points of a taxiing line and the guidance nodes located on the elements of the routing instructions.
  8. The process according to claims 4 to 7, characterised in that it comprises determining guidance trajectories, the curvature of radius value of which is between a minimal predefined value and a maximum predefined value.
  9. The process according to claim 8, characterised in that it comprises determining guidance trajectories wherein the angle formed by two segments of three consecutive points is between 2pi/3 and 4pi/3.
  10. The process according to any one of claims 8 to 9, characterised in that it comprises determining the shortest trajectory which satisfies routing instructions.
  11. The process according to claim 10, characterised in that it comprises generating the line of the guidance trajectory on an airport map from an on-board computer and display means.
  12. The process according to claims 8 to 10, characterised in that it comprises generating a deviation indication of the trajectory when the actual position of the aircraft deviates from the guidance trajectory.
  13. A device for generating a connectivity graph for elements of an airport for aircraft designed to assist in airport taxiing, implementing the process according to any one of the preceding claims, said device comprising:
    - a user interface, the user being the crew, said interface comprising a display device;
    - an airport navigation database management system including navigation and guidance information;
    - an on-board computer;
    - geo-locating means;
    - a locating device connected to said geo-locating means;
    - a mapping device comprising a map of an airport, which is connected to the locating device, the database management system and the display device;
    - a ground/on-board communication device, designed to provide routing instructions, said routing instructions comprising at least one destination and one route, the route comprising a series of elements of the airport navigation database management system;
    the display device showing a line of the aircraft trajectory to be followed superposed onto the map of the airport and the current position of the aircraft.
  14. The device according to claim 13, characterised in that it comprises manual means for gathering instructions originating from air traffic control.
  15. The device according to claim 13, characterised in that it comprises automatic means for gathering instructions originating from air traffic control.
EP08786483A 2007-07-27 2008-07-25 Method for generating a connectivity graph of the elements of an airport for taxiing assistance and related devices Not-in-force EP2171702B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0705521A FR2919416B1 (en) 2007-07-27 2007-07-27 METHODS OF GENERATING A CONNECTIVITY GRAPH OF ELEMENTS OF AN AIRPORT FOR ROLLING AID AND ASSOCIATED DEVICES.
PCT/EP2008/059836 WO2009016135A1 (en) 2007-07-27 2008-07-25 Method for generating a connectivity graph of the elements of an airport for taxiing assistance and related devices

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EP2171702A2 EP2171702A2 (en) 2010-04-07
EP2171702B1 true EP2171702B1 (en) 2011-06-08

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EP (1) EP2171702B1 (en)
AT (1) ATE512434T1 (en)
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ATE512434T1 (en) 2011-06-15
WO2009016135A9 (en) 2009-08-27
WO2009016135A1 (en) 2009-02-05
EP2171702A2 (en) 2010-04-07
US20110125400A1 (en) 2011-05-26
FR2919416B1 (en) 2011-02-11
FR2919416A1 (en) 2009-01-30

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