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Method For Aircraft Landing Assistance Using Gps And Mls In Case Of Calculated Axial Approach

Abstract: The invention relates to a method for aiding aircraft landing using a GPS and an MLS within the context of a computed axial approach. According to the invention, the method uses coordinates of the azimuth antenna and/or of the elevation antenna as reference point for the computation of a position of the aircraft in a reference frame centered on the landing runway. This position of the aircraft is thereafter used to determine an angle of azimuth between a longitudinal axis of the landing runway and the aircraft. The method according to the invention makes it possible to simplify the computation of the position of the aircraft and the computation of the angle of azimuth. Fig. 4

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Patent Information

Application #
Filing Date
06 July 2010
Publication Number
01/2011
Publication Type
INA
Invention Field
ELECTRICAL
Status
Email
Parent Application

Applicants

THALES
45, RUE DE VILLIERS, 92200 NEUILLY SUR SEINE

Inventors

1. LUDOVIC BOUQUET
26 RUE DE LA CROIX NIVERT, 75015 PARIS

Specification

METHOD FOR AIRCRAFT LANDING ASSISTANCE USING GPS AND MLS IN CASE OF CALCULATED AXIAL APPROACH The invention relates to a method for aiding aircraft approach and landing using a microwave landing system and a global positioning system. The invention relates more particularly to a method for aiding aircraft approach and landing using a microwave landing system within the context of a computed axial approach. The Microwave Landing System, MLS, is an instrument approach and landing aid system intended to provide an aircraft with its position in spherical coordinates in a reference frame tied to the landing runway, that is to say an angle of azimuth, an angle of elevation and a distance between the landing runway and the aircraft. The distance between the runway and the aircraft is provided by auxiliary equipment for measuring distance known by the acronym DME standing for the expression "Distance Measurement Equipment" and operating on a different frequency or by a global positioning system. The MLS has been developed to alleviate the drawbacks of the Instrument Landing System (ILS) and adopted by the International Civil Aviation Organization (ICAO) to succeed ILS. MLS makes it possible to perform curved and segmented approaches, category I, II and III landings and allows an increase in aircraft landing rates by virtue of a decrease in the spacing between aircraft. MLS, as standardized by the ICAO, transmits signals for lateral guidance, that is to say an angle of azimuth, and for vertical guidance, that is to say an angle of elevation, by using a time-referenced scanning beam technique and a time division multiplexed signal. The use of a time division multiplexed signal allows the transmission of the lateral and vertical guidance signals on the same radiofrequency channel without creating interference between the lateral guidance signals and the vertical guidance signals. The guidance signals are emitted on a frequency of around 5 Gigahertz (GHz) by an azimuth station and an elevation station. The azimuth station is placed at the end of the runway while the elevation station Is situated on the side of the runway, about 300 meters (m) from the start-of-runway threshold. Each station transmits a narrow scanning beam sweeping the space of coverage to and from in outward and return fashion at constant angular speed following the relevant angular coordinate. An antenna and a receiver on board the aircraft receive the scanning beam a first time during the outward sweep and a second time during the return sweep. It is thus possible to determine the angle of azimuth and the angle of elevation through the following linear relation: (1) where θ is the angle of azimuth or the angle of elevation, T a time interval between the reception of the outward and return passes of the scanning beam, To the value of the time interval T for a zero angle θ and V the angular sweep rate. To and v are constants defined by the international standards on MLS. The microwave landing system with computed axial approach, called MLS-cc, the acronym standing for the expression "Microwave Landing System - Computed Centerline", is an MLS in which the azimuth station is not placed at the runway extremity but is offset to one side of the landing runway. The displacement of the azimuth station can notably be used in two typical cases. In the first case, the azimuth station is situated in proximity to the elevation station for the sake of simplicity of deployment of the MLS. This configuration is encountered mainly in the case of tactical equipment deployed on makeshift and unprepared strips. In the second case, the MLS-cc is used for the approach on a secondary runway not equipped with an. MLS but situated in the zone of coverage of the runway equipped with the MLS. In both cases, on account of the offset of the azimuth station, the aircraft's receiver measures an angle, called the real azimuth angle, which does not correspond to the angle of azimuth in the conventional sense of the term, called the virtual azimuth angle. It is therefore necessary to compute the virtual azimuth angle so as to be able to provide the pilot with an item of information which is recentered with respect to the runway axis. To evaluate it, it is necessary to compute the position of the aircraft in a Cartesian reference frame centered on a ground reference point, called the ground point. This ground point is for example one of the two stations or the point of intersection between the runway axis and a straight line perpendicular to the runway axis and passing through the elevation station. This intersection point is called the MLS datum point. The computation of the position of the aircraft is carried out through a system of 3 equations with 3 unknowns, parametrized by the real azimuth angle, the angle of elevation and a distance between the aircraft and the ground point. These equations being non-linear, iterative algorithms are used to solve the system. Conventionally, the iterative algorithms are of the Gauss-Seidel or Newton-Raphson type. By using a satellite positioning system, it is possible to use the MLS datum point as ground point for the determination of the distance to the aircraft. However, there are risks related to the behaviors of the iterative algorithms in this situation, as set out in the standard DO-226. With the aim of optimizing the speed of convergence to the position of the aircraft and the precision of this position, two iterative algorithms can be used in succession, the first to converge quickly around the position of the aircraft, the second to obtain better precision of this position. However, such a combination of algorithms presents the drawback of complicating the determination of the position of the aircraft, making it difficult to set up the iterative algorithms and to validate them. Moreover, these algorithms are slow to execute, expensive in terms of computational load and behaviorally risky, in particular on account of the risks of multiple solutions, divergence and stationarity. Finally, these algorithms degrade the computational precision through their iterative nature, in particular the propagation of errors. The iterative algorithms are executed by the aircraft's receiver, for example a multimode receiver (MMR). The MMR comprises a radiofrequency chain, a digital signal processor (DSP), a global positioning system (GPS) receiver, and a microprocessor, the radiofrequency chain receives signals originating from various systems, in particular the guidance signals originating from the azimuth station and from the elevation station. The processor processes the signals originating from the radiofrequency chain so as to extract the angles of azimuth and of elevation but also auxiliary words contained in the guidance signals. The GPS receiver can be internal or external. It transmits the airplane's positions. The microprocessor fulfills several functions, including computation of the distance between the MLS datum point and the aircraft, computation of the position of the aircraft on the basis of the iterative algorithms, computation of deviations between the position of the airplane and an optimal descent axis, management of the equipment and communication interfacing with a link of an airplane bus, for example an ARINC bus, the abbreviation for the "Aeronautical Radio Incorporated" series of standards. The microprocessor comprises a device for managing the algorithms making it possible to detect and process the divergence, non-convergence or false convergence of an algorithm, to manage the initialization, sequencing and combining of the algorithms. An aim of the invention is notably to alleviate all or some of the aforementioned drawbacks. For this purpose, the subject of the invention is a method for aiding aircraft approach and landing using a global navigation satellite system and an MLS system within the context of a computed axial approach, the MLS system comprising a landing runway, an elevation station and an azimuth station, the landing runway defining a right-handed Cartesian reference frame (Rc) comprising as axes a longitudinal axis of the landing runway, called the first axis (x), a transverse axis of the landing runway passing through the elevation station, called the second axis (y) and an axis perpendicular to the first and second axes, called the third axis (z), a point of intersection between the first axis (x) and the second axis (y) defining the center of the reference frame (Rc), called the runway point, the elevation station comprising an elevation antenna and the azimuth station comprising an azimuth antenna, each antenna comprising a phase center, the phase centers of the elevation antenna and azimuth antenna being situated in a plane parallel to a plane (x,y) at a distance dz from the runway point along the third axis (z), characterized in that it comprises the following steps: creating a reference point with the same coordinates as those of the phase center of the azimuth antenna and/or of the elevation antenna, determining a distance p between the reference point and the aircraft by the global navigation satellite system, determining an angle of azimuth (dg) between a straight line passing through the phase center of the azimuth antenna and the aircraft and a plane parallel to a plane (x,z) passing through the phase center of the azimuth antenna, determining an angle of elevation (p) between a straight fine passing through the phase center of the azimuth antenna and the aircraft and the plane parallel to the plane (x,y) passing through the phase centers of the elevation antenna and azimuth antenna, detemnining, on the basis of the distance p between the reference point and the aircraft, of the angle of azimuth and of the angle of elevation, the position of the aircraft with respect to the reference point. The invention has notably the advantage that it makes it possible to reduce the complexity of the computation of the position of the aircraft, the computation no longer using an algorithm of the Gauss-Seidel or Newton-Raphson type but an algorithm for simply searching for the roots of a second-degree polynomial, such as described in the DO-198 standard. Consequently, the algorithm is less complex to certify and the problems related to the use of iterative algorithms are eliminated. In particular, the problems of divergence and stationarity, error propagation and multiple solutions are eliminated. Furthermore, the algorithm is less expensive in terms of computational load. The invention will be better understood and other advantages will become apparent on reading the detailed description of modes of realization given by way of example, which description is offered in relation to appended drawings which represent: - Figure 1, an exemplary MLS configuration with computed axial approach; - Figure 2, an angle of elevation between an elevation antenna and an aircraft; - Figure 3, angles of azimuth between, on the one hand, the azimuth antenna and the aircraft and, on the other hand, a landing runway axis and the aircraft; - Figure 4, an example of steps implemented by the method according to the invention; - Figure 5, an example of sub-steps for the determination of a distance between a reference point and the aircraft; - Figure 6, an exemplary configuration of landing runway, reference point, azimuth station and aircraft for the determination of the distance between the reference point and the aircraft; - Figure 7, an example of sub-steps for the determination of a distance between an intermediate point and the aircraft; - Figure 8, a geographical reference frame and a geocartesian reference frame; - Figure 9, another example of sub-steps for the determination of the distance between the reference point and the aircraft. Figure 1 presents an exemplary MLS configuration within the context of a computed axial approach. The MLS comprises a landing runway 1 with runway axis x oriented from an end-of-runway threshold 2 toward the start-of-runway threshold 3, an elevation station 4 and an azimuth station 5. The landing runway 1 defines a right-handed Cartesian reference frame Rc with axes the longitudinal runway axis, called the first axis x, a transverse axis of the landing runway 1 passing through the elevation station 4, called • the second axis y and an axis perpendicular to the first and second axes, called the third axis z. The second axis y is oriented from the elevation station 4 toward the landing runway 1. A point of intersection between the first axis x and the second axis y defines the center of the reference frame Rc and is catted the MLS datum point 6. It generally corresponds to the point at which the wheels of the aircraft touch down on the landing runway 1. The elevation station 4 comprises an elevation antenna 7 and the azimuth station 5 comprises an azimuth antenna 8. Each antenna comprises a phase center on the basis of which the coordinates of the antenna can be determined. For the subsequent description, the position of each antenna will therefore be regarded as that of its phase center. The elevation antenna 7 and azimuth antenna 8 emit guidance signals based on scanning beams 9 and 10 for vertical and lateral guidance of an aircraft 11 during an approach and/or landing phase. The scanning beams 9 and 10 also allow the transmission of auxiliary words containing, for example, coordinates of the elevation antenna 7 and of the azimuth antenna 8. Figure 2 represents an angle of elevation φ between the elevation antenna 7 and the aircraft 11. The angle of elevation φ is labeled in a Cartesian reference frame Rc centered on the elevation antenna 7 and with axes an axis x', the axis y and an axis z', the axes x' and z' being parallel respectively to the axes x and z. It is defined by the angle between the plane ix',y) and a straight line passing through the elevation antenna 7 and the aircraft 11. Figure 3 represents a real azimuth angle θ R and a virtual azimuth angle θv. The real azimuth angle θR is labeled in a Cartesian reference frame R' centered on the azimuth antenna 8 and with axes an axis x'', the axis y and an axis z', the axes x" and z' being parallel respectively to the axes X and z. It is defined by the angle between the plane (x''z") and a straight line passing through the azimuth antenna 8 and the aircraft 11. The virtual azimuth angle θy is labeled in the Cartesian reference frame Rc and defined by the angle between the plane {x,z) and a straight line passing through the aircraft 11 and a virtual point 8v of the plane (x,z). This virtual point corresponds to an azimuth antenna within the context of an MLS system, usually situated on the first axis x a distance of 300 m after the end-of-runway threshold 2. For the subsequent description, a geocartesian reference frame Rgeocaro(o,x,y,,z) and a geographical reference frame Rgeogro(λ ,h) are considered in addition to the Cartesian reference frame Rc centered on the MLS datum point 6, the Cartesian reference frame Rc centered on the elevation antenna 7 and the Cartesian reference frame Rc' centered on the azimuth antenna 8, illustrated in Figure 8. The geocartesian reference frame Rgeocart(o,x,y,z) is a reference frame in which the center O is close to the center of mass of the Earth, the axis OZ is close to the terrestrial rotation axis and the plane OXZ is close to the origin meridian plane. The geographical reference frame Rgeogra(λ,h) 's a reference frame in which the Earth is represented by an ellipsoid, each point M{lλ,,h) being labeled with respect to this ellipsoid. λ denotes the longitude, i.e. the angle between the plane OXZ and the meridian plane containing the point concerned, denotes the latitude, i.e. the angle between the plane OXY and the normal to the ellipsoid passing through the point concerned and h denotes the ellipsoidal height. Each point M(λ,h) defines a vector uΛ parallel to the plane P tangent to the ellipsoid passing through the orthogonal mapping of M{X,h) and oriented toward true North, a vector parallel to the plane P and oriented toward the East and a vector orthogonal to the plane P. The ellipsoid representing the Earth is for example the ellipsoid WGS84 with semi-major axis a and semi-minor axis b. The eccentricity e and the major nonnal v{) of the ellipsoid are defined on the basis of the semi-major axis a and the semi-minor axis b through the relations: Figure 4 shows an example of steps implemented by the method according to the invention. For this method, the MLS configuration with computed axial approach described is considered with reference to Figure 1 and in which the elevation antenna 7 and the azimuth antenna 8 are situated in one and the same horizontal plane parallel to the plane {x,y) and situated a distance dz above the latter. In a first step 41, a reference point Pref with the same coordinates as those of the azimuth antenna 8 or of the elevation antenna 7 is created. In a second step 42, a distance p between the reference point Pref and the aircraft 11 is determined by a global navigation satellite system. In a third step 43, the real azimuth angleθR between the plane (x''.z") and the straight line passing through the azimuth antenna 8 and the aircraft 11 is determined. In a fourth step 44, the angle of elevation θ between the plane (x',y) and the straight line passing through the elevation antenna 7 and the aircraft 11 is determined. In a fifth step 45, the position of the aircraft 11 Is determined with respect to the reference point Pref on the basis of the distance p, of the real azimuth angle θR and of the angle of elevation θ. Such a method makes it possible to simplify the detemnlnatiorl of the position ot tine aircraft 11 with respect \o Vne reference point Pref- Indeed. the position of the aircraft 11 can be determined by way of a simplified algorithm. A simplified algorithm such as this is for example described in the DO-198 standard and set out partially as an annex. It is limited essentially to the determination of roots of a second-degree polynomial and consequently presents several advantages. A first advantage is the reduction in the complexity of the computation of the position of the aircraft 11. Consequently, the algorithm is less complex to certify, requires fewer computational resources than the state of the art algorithms and can be executed more quickly. A second advantage is the elimination of the iterative nature of the computation of the position of the aircraft 11. Consequently, the risks of multiple solutions, propagation of errors, divergence and stationarity are eliminated. On the basis of the position of the aircraft 11 with respect to the reference point Pref, the virtual azimuth angle θv can be determined through the following relation: Where are the coordinates of the aircraft 11 in the reference frame Rc, are the coordinates of the azimuth antenna 8 in the reference frame , D is the distance between the end-of-runway threshold 2 and the MLS datum point 6. The coordinates yAZ and zAZ can be determined on the basis of the auxillary word A1 contained in the guidance signals. The distance Dse can be determined by the auxiliary word A3. Step 42 of determining the distance p between the reference point Pref and the aircraft 11 can be carried out according to at least two modes of realization. A first mode of realization is illustrated by Figures 5 and 6. In a first step 421a, an intermediate point A is created. The intermediate point A has, in the reference frame Rc, the same coordinates as the MLS datum point 6 10 along the first axis x and the second axis y and the same coordinate as the reference point Pref along the third axis z. The intermediate point A is therefore situated above the MLS datum point 6, the distance dz separating these two points. In a second step 422a, a distance dMLS between the intermediate point A and "the aircraft 11 is determined. According to a particular mode of realization, the determination of the distance dMLS between the intermediate point A and the aircraft 11 comprises the following sub-steps, illustrated by Figure 7. In a first step 4221, coordinates of the aircraft 11 are determined, for example in the reference frame Rgeogro ■ These coordinatesare determined by a global navigation satellite system, for example the GPS system, the aircraft 11 comprising a receiver processing the signals received from the satellites to determine its position. In a second step 4222, the coordinates of the MLS datum point 6 are determined, for example in the reference frame These coordinates can notably be determined on the basis of the signals emitted by the scanning beams 9 and 10. In particular, according to the standards defined by the ICAO, these coordinates are contained in the auxiliary words B40 and B41 of the signals. In a third step 4223, the coordinates of the intermediate point A are determined on the basis of the coordinates of the MLS datum point 6 through the following relations: (4) In a fourth step 4224, the distance between the intermediate point A and the aircraft 11 is computed on the basis of the coordinates of the aircraft 11 and of the coordinates of the intermediate point A. In a particular mode of realization, the coordinates and are converted into coordinates and ) in the reference frame through the following fomrulae: The same formulae make it possible to determine the coordinates by replacing. and with .and 11 The distance . can thereafter be computed through the following relation: Note that the determination of the coordinates of the aircraft 11, corresponding to step 4221, can also be performed after or during step 4222 and/or step 4223. In all cases, step 4224 of computing the distance d^^^ must be accomplished as quickly as possible after step 4221 of determining the coordinates of the aircraft 11 so as to obtain a distance dMLS practically in real time. In a third step 423a, an angle of azimuth θref. between the aircraft 11 and a plane parallel to the plane ix,z) passing through the reference point Pref is determined. Advantageously, the reference point Pref has the same coordinates as those of the azimuth antenna 8. The angle of azimuth θref can then be directly determined, this angle being equal to the real azimuth angle θR. In a fourth step 424a, a distance dy between the MLS datum point 6 and the reference point Pref along the second axis y is determined. According to a particular mode of realization, the distance dy is determined on the basis of the auxiliary words transmitted to the aircraft 11 by the signals emitted by the elevation station 4 and azimuth station 5. In particular, the distance dy is contained in bits 21 to 30 of the auxiliary word A1. In a fifth step 425a, the distance p is computed on the basis of the angle of azimuth θref and of the distances dMLS and dy through the following relation: (7) Note that the order of steps 422a, 423a and 424a is of no importance, it being possible for the operations related to these steps to be performed in a different order or simultaneously. A second mode of realization is illustrated by Figures 8 and 9. In a first step 421b, the coordinates (xaz,yaz,zaz) of the azimuth antenna 8, labeled by the point Saz and The determiriant is: Solving this equation leads to multiple solutions since the solutions are of the form: (2.6) The first solution, is always negative, the coordinate xs always being positive. This solution corresponds to a situation where the afrcraft is situated behind the azimuth antenna, that is to say outside of the sector covered by the sweep of the elevation and azimuth stations. This solution is therefore not possible. The second solution, xm =-xs sin2 ^ + —, corresponds to a situation where the aircraft is situated in front of the azimuth antenna. This is the relevant solution in the case of an aircraft performing a computed axial approach. The coordinate zm of the aircraft can then be determined through equation (2.1), i.e.: The first solution, zm = p2-y2m-x2m . corresponds to a position of the aircraft below the azimuth antenna. This solution is therefore not possible. The second solution, zm =+p2 -y2m, -x2m , corresponds to a position of the aircraft above the azimuth antenna. This is the relevant solution. It is therefore always possible to determine the position of the aircraft through the following relations: CLAIMS 1. A method for aiding aircraft approach and landing (11) using a satellite positioning system and an MLS system within the context of a computed axial approach, the MLS system comprising a landing runway (1), an elevation station (4) and an azimuth station (5), the landing, runway (1) defining a right-handed Cartesian reference frame (Rc) comprising as axes a longitudinal axis of the landing runway (1), called the first axis (x), a transverse axis of the landing runway (1) passing through the elevation station (4), called the second axis (y) and an axis perpendicular to the first and second axes, called the third axis (z),a point of intersection between the first axis (x) and the second axis {y) defining the center of the reference frame (Rc), called the runway point (MLS datum point 6), the elevation station (4) comprising an elevation antenna (7) and the azimuth station (5) comprising an azimuth antenna (8), each antenna comprising a phase center, the phase centers of the elevation antenna (7) and azimuth antenna (8) being situated in a plane parallel to a plane {x,y) at a distance dz from the runway point (MLS datum point 6) along the third axis (z), characterized in that it comprises the following steps: (41) creating a reference point (Pref) with the same coordinates as those of the phase center of the azimuth antenna (8) and/or of the elevation antenna. (7), (42) determining- a distance p between the reference point (Pref) and the-aircraft (11) by the satellite positioning system, (43) determining an angle of azimuth (θR) between a straight line passing through the phase center of the azimuth antenna (8) and the aircraft (11) and a plane parallel to a plane (x,z) passing through the phase center of the azimuth antenna (8), (44) determining an angle of elevation (ф) between a straight line passing through the phase center of the azimuth antenna (8) and the aircraft (11) and the plane parallel to the plane {x,y) passing the phase centers of the elevation antenna (7) and azimuth antenna (8), (45) determining, on the basis of the distance p between the reference point (Pref) and the aircraft (11), of the angle of azimuth and of the angle of elevation, the position of the aircraft (11) with respect to the reference point (Pref), the determination of the distance p between the reference point (Pref) and the aircraft (11) comprising the following steps: creating, in the reference frame Rc, an intermediate point (A) with the same coordinates (λA, φA, hA) as the coordinates (Λmls,φ MLS, hMLS) of the runway point (MLS datum point 6) along the first axis (x) and the second axis (y) and with the same coordinate as the reference point (Pref) along the third axis(z), determining a distance dMLS between the intermediate point (A) and the aircraft (11), determining an angle of azimuth θ ref between the plane (x,z) and a straight line passing through the reference point (Pref) and the aircraft, determining a distance dy between the runway point (MLS datum point 6) and the reference point (Pref) along the the second axis(y) computing the distance p between the reference point (Pref) and the aircraft (11) through the relation p = 2. The method as claimed in claim 1, characterized in that the determination of the distance dMLS between the intermediate point (A) and the aircraft (11) comprises the following steps: determining coordinates (λM,φM,hM) of the aircraft (11), determining coordinates (λMLS,φMLS,hMLS) of the runway point (MLS datum point 6), determining coordinates (λA,φA,hA) of the intermediate point (A) on t he basis of the coordinates of the runway point (λMLS,φMLS,hMLS of the runway point (MLS datum point 6), computing the distance dMLS between the intermediate point (A) and the aircraft (11) on the basis of the coordinates (λM,φM,hM) of the aircraft (11) and those (λM,φM,Hm) of the intermediate point (A). 3. The method as claimed in claim 2, characterized in that the coordinates (λMLS,φMLS,hMLS) of the runway point (MLS datum point 6) are determined on tine basis of signals emitted by the elevation station (4) or the azimuth station (5). 4. The method as claimed in one of claims 2 or 3, characterized in that the coordinates (λM,φM,hM) of the aircraft (11) are determined by a global positioning system (GPS). 5. A multimode receiver able to equip an aircraft (11) for aiding approach and landing with computed axial approach comprising means for acquiring radiofrequency signals and means for processing the radiofrequency signals, characterized in that it comprises, furthermore, means for determining a position of an aircraft (11) by the method as claimed in one pf the preceding claims. 6. The multimode receiver as claimed in claim 5, characterized in that the multimode receiver comprises a satellite positioning system receiver.

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