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A method and device for detecting a risk of collision of an aircraft, having a profile unit having knowledge of the terrain profile, a determination unit for determining effective values of particular flight parameters, a checking unit for verifying whether a flight path determined by the effective

A method and device for detecting a risk of collision of an aircraft, having a profile unit having knowledge of the terrain profile, a determination unit for determining effective values of particular flight parameters, a checking unit for verifying whether a flight path determined by the effective values is compatible with the terrain profile, and a transmitting unit for emitting a warning signal in case of incompatibility. The checking unit includes at least one element for calculating a height variation due to an energy transfer and a total slope variation generated by a speed reduction, during an evasive action, an element deter mining an evasive course using the height variation, and an element verifying whether the evasive course determined is compatible with the terrain profile.

대표청구항 ▼

1. A method for automatically and repetitively detecting a risk of collision of an aircraft with surrounding terrain, comprising: a) taking into account a profile of terrain located in front of the aircraft;b) determining effective values of particular flight parameters;c) determining, from the effe

1. A method for automatically and repetitively detecting a risk of collision of an aircraft with surrounding terrain, comprising: a) taking into account a profile of terrain located in front of the aircraft;b) determining effective values of particular flight parameters;c) determining, from the effective values, an avoidance path comprising at least a pull-out part and a constant slope part having a non-zero slope and projecting said determined avoidance path in front of the aircraft;d) checking if said determined avoidance path is compatible with said profile of the terrain at least over a predetermined distance in front of the aircraft; ande) if an incompatibility is detected in step d), transmitting a corresponding warning signal, wherein:step c) comprises:calculating, using the effective values of at least one of said particular flight parameters, a height variation of the aircraft which is due to a transfer of energy and a total slope variation generated by a speed reduction during an avoidance maneuver, said height variation indicating a height difference between an initial avoidance path and said determined avoidance path; anddetermining the determined avoidance path, using the height variation, which substantially follows the initial actual avoidance path and which comprises, between the pull-out part and the constant slope part, an intermediate part which takes account of the height variation such that the determined avoidance path accounts for a dynamic increase in the altitude from the end of the pull-out part to a beginning of the constant slope part, which is vertically shifted upwards by the height variation; andstep d) comprises:checking whether the determined avoidance path is compatible with said profile of the terrain over said predetermined distance in front of the aircraft. 2. The method as claimed in claim 1, wherein said total slope variation generated by the speed reduction corresponds to a thrust variation. 3. The method as claimed in claim 2, wherein: step b) comprises:estimating an effective mass of the aircraft;measuring a current effective speed of the aircraft; andmeasuring a current effective slope of the aircraft; andstep c) further comprises:calculating said height variation, using the following equations: ΔH=f(x)[K1(VO2−VF2)/2g+K2(VO−VF)+K3/GW−GWO]f(x)=f(X−XO;VF;GW;γF−vO)f(x)ε[0;1]in which:K1, K2 and K3 are predetermined parameters depending on the aircraft;g represents an acceleration of gravity;GWO represents a predetermined constant value of a mass of the aircraft, dependent on said aircraft;VF represents a constant value of a speed corresponding to a stabilized speed reached at an end of the avoidance maneuver, the value being predetermined and dependent on the aircraft;γF represents a constant value of the flight slope corresponding to the flight slope with respect to the ground, stabilized at the end of the avoidance maneuver, the value being predetermined and dependent on the aircraft and on status parameters;X represents a current position of the aircraft on a horizontal axis of a vertical plane of symmetry of the aircraft; andXO represents a position of the aircraft, on said horizontal axis of said vertical plane, at a start of a height variation phase of said avoidance maneuver. 4. The method as claimed in claim 1, wherein, in step c), said height variation is calculated, step by step, by producing the sum of: a first height variation which represents a conversion of kinetic energy into potential energy provoked by deceleration of the aircraft; anda second height variation which represents the total slope of the step being calculated. 5. The method as claimed in claim 1, wherein: step c) further comprises:calculating, using the determined effective values of at least one of said particular flight parameters, a load factor which is representative of a pull-out phase of the avoidance maneuver; anddetermining, using the load factor, the pull-out part of the determined avoidance path, which substantially follows an initial pull-out part of the initial avoidance path; andstep d) further comprises:checking, using the pull-out part, if the determined avoidance path is compatible with said profile of the terrain, over said predetermined distance in front of the aircraft. 6. The method as claimed in claim 5, wherein: step b) comprises:estimating an effective mass of the aircraft; andmeasuring a current effective speed of the aircraft; andstep c) further comprises:calculating said load factor using the following expression: Nz=n0+(n1×GW)+(n2×VO)in which n0, n1 and n2 are predetermined parameters. 7. The method as claimed in claim 3, wherein at least one of said predetermined parameters and said constant values depend on an effective flight configuration of the aircraft. 8. A device for detecting a risk of collision of an aircraft with the surrounding terrain, comprising: a profile unit storing a profile of terrain located in front of the aircraft;a determination unit for determining effective values of particular flight parameters;a central unit for calculating, from said effective values, an avoidance path comprising at least a pull-out part and a constant slope part having a non-zero slope, and for checking if said calculated avoidance path is compatible with said profile of the terrain, at least over a predetermined distance in front of the aircraft; anda transmitting unit for transmitting a corresponding warning signal, if said central unit detects an incompatibility,wherein said central unit comprises at least:a calculating unit for calculating, using the determined effective values of at least one of said particular flight parameters, a height variation of the aircraft which is due to a transfer of energy and to a variation in total slope generated by a speed reduction, during an avoidance maneuver, said height variation indicating a height difference between an initial avoidance path and said calculated avoidance path;an avoidance path calculation unit for using the height variation calculated by said calculating unit in order to determine the calculated avoidance path that substantially follows the initial avoidance path, such that the calculated avoidance path accounts for a dynamic increase in the altitude from the end of the pull-out part to a beginning of the constant slope part, which is vertically shifted upwards by an amount of the height variation; anda checking unit for using the calculated avoidance path determined by said avoidance path calculation unit in order to check if the calculated avoidance path is compatible with said profile of the terrain, over said predetermined distance in front of the aircraft. 9. The device as claimed in claim 8, wherein said central unit further comprises: a load factor calculating unit for calculating, using the determined effective values of at least one of said particular flight parameters, a load factor which is representative of a pull-out phase of the avoidance maneuver;the avoidance path calculation unit uses the load factor, calculated by said load factor calculating unit, in order to determine the pull-out part of the calculated avoidance path, which substantially follows an actual pull-out part of the initial avoidance path; andthe checking unit uses the pull-out part, determined by said avoidance path calculation unit, in order to check if said calculated avoidance path is compatible with said profile of the terrain, over said predetermined distance in front of the aircraft. 10. An aircraft, comprising a device for automatically and repetitively detecting a risk of collision of an aircraft with surrounding terrain by: a) taking into account a profile of terrain located in front of the aircraft;b) determining effective values of particular flight parameters;c) determining, from the effective values, an avoidance path comprising at least a pull-out part and a constant slope part having a non-zero slope and projecting said determined avoidance path in front of the aircraft;d) checking if said determined avoidance path is compatible with said profile of the terrain, at least over a predetermined distance in front of the aircraft; ande) if an incompatibility is detected in d), transmitting a corresponding warning signal, wherein:c) comprises: calculating, using the effective values of at least one of said particular flight parameters, a height variation of the aircraft which is due to a transfer of energy and a total slope variation generated by a speed reduction during an avoidance maneuver, said height variation indicating a height difference between an initial avoidance path and said determined avoidance path; anddetermining the determined avoidance path, using the height variation, which substantially follows the initial avoidance path and which comprises, between the pull-out part and the constant slope part, an intermediate part which takes account of the height variation; andd) comprises: checking whether the determined avoidance path is compatible with said profile of the terrain over said predetermined distance in front of the aircraft. 11. An aircraft, comprising a device as claimed in claim 8. 12. A method for automatically and repetitively detecting a risk of collision of an aircraft with surrounding terrain, comprising: a) taking into account a profile of terrain located in front of the aircraft;b) determining effective values of particular flight parameters;c) determining, from the effective values, an avoidance path comprising at least a pull-out part and a constant slope part having a non-zero slope and projecting said determined avoidance path in front of the aircraft;d) checking if said determined avoidance path is compatible with said profile of the terrain at least over a predetermined distance in front of the aircraft; ande) if an incompatibility is detected in step d), transmitting a corresponding warning signal, wherein:step c) comprises:calculating, using the effective values of at least one of said particular flight parameters, a height variation of the aircraft which is due to a transfer of energy and a total slope variation generated by a speed reduction during an avoidance maneuver, said height variation indicating a height difference between an initial avoidance path and said determined avoidance path; anddetermining the determined avoidance path, using the height variation, which substantially follows the initial avoidance path and which comprises, between the pull-out part and the constant slope part, an intermediate part which takes account of the height variation such that the determined avoidance path accounts for a dynamic increase in the altitude from the end of the pull-out part to a beginning of the constant slope part, which is vertically shifted upwards by an amount of the height variation; andstep d) comprises:checking whether the determined avoidance path is compatible with said profile of the terrain over said predetermined distance in front of the aircraft, whereinsaid total slope variation generated by the speed reduction corresponds to a thrust variation, andstep b) comprises:estimating an effective mass of the aircraft;measuring a current effective speed of the aircraft; andmeasuring a current effective slope of the aircraft; andstep c) comprises:calculating said height variation, using the following equations: ΔH=f(x)[K1(VO2−VF2)/2g+K2(VO−VF)+K3/GW−GWO]f(x)=f(X−XO;VF;GW;γF−vO)f(x)ε[0;1]in which:K1, K2 and K3 are predetermined parameters depending on the aircraft;g represents an acceleration of gravity;GWO represents a predetermined constant value of a mass of the aircraft, dependent on said aircraft;VF represents a constant value of a speed corresponding to a stabilized speed reached at an end of the avoidance maneuver, the value being predetermined and dependent on the aircraft;γF represents a constant value of the flight slope corresponding to the flight slope with respect to the ground, stabilized at the end of the avoidance maneuver, the value being predetermined and dependent on the aircraft and on status parameters;X represents a current position of the aircraft on a horizontal axis of a vertical plane of symmetry of the aircraft; andXO represents a position of the aircraft, on said horizontal axis of said vertical plane, at a start of a height variation phase of said avoidance maneuver.