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An object of the present invention is to provide a turbulence avoidance operation assist device that automatically generates an optimal trajectory of emergency avoidance and reports this trajectory to a pilot when distant turbulence is detected during an aircraft flight. The turbulence avoidance ope

An object of the present invention is to provide a turbulence avoidance operation assist device that automatically generates an optimal trajectory of emergency avoidance and reports this trajectory to a pilot when distant turbulence is detected during an aircraft flight. The turbulence avoidance operation assist device in accordance with the present invention includes: means for detecting the presence of a danger region such as a turbulence region ahead of aircraft in a flight direction; means for representing the danger region as an assembly of rectangular solids when the detection means recognizes the danger region, and generating a flight trajectory by a local optimum solution of an avoidance trajectory using a convex quadratic programming method in which deviation from a reference trajectory is the smallest on the basis of an initial estimation solution obtained by a semidefinite programming method; and means for reporting the flight trajectory to a pilot.

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1. A turbulence avoidance operation assist device as an airborne device comprising: a Doppler lidar for detecting the presence of a danger region such as a turbulent region ahead of an aircraft in a flight direction; a unit for representing the danger region as an assembly of rectangular solids when

1. A turbulence avoidance operation assist device as an airborne device comprising: a Doppler lidar for detecting the presence of a danger region such as a turbulent region ahead of an aircraft in a flight direction; a unit for representing the danger region as an assembly of rectangular solids when the Doppler lidar recognizes the danger region, and generating a flight trajectory consisting of time-varying variables by a local optimum solution of an avoidance trajectory using a convex quadratic programming method in which deviation from a reference trajectory is the smallest on the basis of an initial estimation solution obtained by a semidefinite programming method; and a unit for reporting, the flight trajectory to a pilot, wherein a size of the rectangular solid of the limiting region is determined by gridding a measurement region corresponding to a resolution of the Doppler lidar, where the measurement region is such that an initial position of a current position of a fuselage is taken as an end surface, and a length in a current flight direction, that is a direction determined by a current flight-path angle and heading angle, a height, and a width thereof are set correspondingly to a measurement range of the resolution of the Doppler lidar. 2. The turbulence avoidance operation assist device according to claim 1, wherein two trajectories, which are one contingent upon a constant flight-path angle and the other contingent upon a constant heading angle, are calculated as optimal avoidance trajectories. 3. The turbulence avoidance operation assist device according to claim 1, wherein constraints condition equations in an IF-THEN syntax are formulated to be used as a computation technique to reduce the number of restricting conditions and to accelerate the computational speed in the semidefinite programming method and the convex quadratic programming method. 4. The turbulence avoidance operation assist device according to claim 2, wherein constraints condition equations in an IF-THEN syntax are formulated to be used as a computation technique to reduce the number of restricting conditions and to accelerate the computational speed in the semidefinite programming method. 5. The turbulence avoidance operation assist device according to claim 1, wherein the rectangular solids of the danger region are classified into three groups according to an intensity of turbulence, a function is provided to report a danger region not as being an avoidance object when the flight trajectory is an assembly only of weak turbulent regions, and to generate and report an avoidance trajectory based on usual steering with a bank angle of equal to or less than 30 degrees when a moderate turbulent region is included, and moreover to generate and report an avoidance trajectory based on emergency steering with a bank angle of equal to or less than 60 degrees when a severe turbulent region is included. 6. The turbulence avoidance operation assist device according to claim 2, wherein the rectangular solids of the danger region are classified into three groups according to an intensity of turbulence, and a function is provided to report a danger region is reported not as being an avoidance object when the flight trajectory is an assembly only of weak turbulent regions, and to generate and report an avoidance trajectory based on usual steering with a bank angle of equal to or less than 30 degrees when a moderate turbulent region is included, and moreover to generate and report an avoidance trajectory based on emergency steering with a bank angle of equal to or less than 60 degrees when a severe turbulent region is included. 7. The turbulence avoidance operation assist device according to claim 3, wherein the rectangular solids of the danger region are classified into three groups according to the intensity of turbulence, and a function is provided to report a danger region not as being an avoidance object when the flight trajectory is an assembly only of weak turbulent regions, and to generate and report an avoidance trajectory based on usual steering with a hank angle of equal to or less than 30 degrees when a moderate turbulent region is included, and moreover to generate and report an avoidance trajectory based on emergency steering with a bank angle of equal to or less than 60 degrees when a severe turbulent region is included. 8. The turbulence avoidance operation assist device according to claim 4, wherein the rectangular solids of the danger region are classified into three groups according to the intensity of turbulence, and a function is provided to report a danger region not as being an avoidance object when the flight trajectory is an assembly only of weak turbulent regions, and to generate and report an avoidance trajectory based on usual steering with a bank angle of equal to or less than 30 degrees when a moderate turbulent region is included, and moreover to generate and report an avoidance trajectory based on emergency steering with a bank angle of equal to or less than 60 degrees when a severe turbulent region is included.