JP2002092799A - Landing guide diagnosing system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To determine the reliability on a landing guide system in landing an airplane to improve the safety in landing. SOLUTION: A present flying position and a height of the airplane AP are measured by a GNSS/INS (registered trademark) composite navigation device 12 and a radio altimeter 13 in approach gliding-down, a gliding-down angle for actually landing the airplane is determined on the basis of the measured information, a glide pass reference point on a reference coordinate system stored in a ILS storing part 15, and a spacial coordinate of a localizer reference point in a diagnosing part 14A, the deviation of the approach gliding-down angle to a runway of the airplane is determined by comparing the determined gliding-down angle with the height and the azimuth direction in the reference coordinate system stored in the ILS storing part 15, and the reliability of the information on approach angle in the height and the azimuth direction sent from the glide pass reference point and the localizer reference point is determined on the basis of the deviation.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a landing guidance diagnosis system for diagnosing, for example, that an aircraft is flying on a proper landing approach route.

[0002]

2. Description of the Related Art Conventionally, airports in various places have used ILS (Instrument) to support landing of aircraft such as airliners.
Landing System: Instrument landing guidance system) is widely used. This ILS is very effective because it can safely guide the aircraft to the runway even in situations where visibility is poor. For this reason, the pilot knows the heading and descent angle for the aircraft to safely descend to the runway by ILS, and the distance to the runway, enters and descends along the "road" created by the ILS, and approaches the runway. Land the aircraft.

[0003]

However, this ILS
A ghost may occur on the "road" created by the radio wave, and in this case, the pilot may enter and descend along the wrong "road" created by the ILS and crash into the ground. Usually, to avoid this danger, the pilot monitors the integrity of other navigation instruments and lowers the altitude while visually observing the flight status of the aircraft. Anomalies are often overlooked, causing many aircraft to crash.

[0004] It is therefore an object of the present invention to provide a landing guidance diagnosis system that can determine the reliability of a landing guidance system when an aircraft lands, thereby improving the safety of landing.

[0005]

To achieve the above object, a landing guidance diagnostic system according to the present invention includes a first reference point for transmitting horizontal approach angle information relating to aircraft guidance, and an aircraft guidance guidance system. And a second reference point for transmitting the vertical approach angle information is set at a predetermined position around the landing point, and the horizontal and vertical approach angle information transmitted from the first and second reference points are provided. A landing guidance diagnostic system that is applied to a landing guidance system for landing an aircraft at a landing point based on the aircraft, and that diagnoses that the aircraft is flying on a proper landing approach path, and is an onboard device mounted on the aircraft Receiving means for receiving approach angle information transmitted from the first and second reference points when approaching the landing approach area, and aeronautical flight using a predetermined position measurement system. Aircraft position and altitude measurement means for measuring the current position and altitude of the aircraft, and measurement position information and measurement altitude by the aircraft position and altitude measurement means while the aircraft is approaching and descending based on the approach angle information obtained by the reception means. Based on the information and the predetermined position information of the first and second reference points and the horizontal and vertical approach angle information,
A descent angle deviation diagnosis processing means for diagnosing a descent angle deviation from the landing point of the aircraft is provided.

The position information and the horizontal and vertical approach angle information of the first and second reference points are stored in a storage means provided in the onboard device or provided from outside. Characterized in that the information is used.

That is, according to the present invention, a case is described in which an aircraft is guided to a landing point using horizontal and vertical approach angle information relating to guidance of the aircraft transmitted from the first and second reference points located around the landing point. In this case, there is a problem that a ghost in the radio wave characteristic is generated in the horizontal and vertical approach angle information. Therefore, the current position and altitude of the aircraft are measured using a position measurement system such as GPS, and the measurement information and the first position in a previously determined reference coordinate system are used.
And determining the descent angle at which the aircraft is to land actually from the position information of the second reference point, and comparing the obtained descent angle with the horizontal and vertical approach angle information in the reference coordinate system. Then, the deviation of the descent angle from the landing point of the aircraft is obtained, and from this deviation, the reliability of the horizontal and vertical approach angle information transmitted from the first and second reference points can be determined.

Therefore, according to the present invention, the deviation of the descent angle with respect to the landing point of the aircraft is automatically determined at the time of landing, so that the pilot can monitor the landing guidance system, thereby reducing the burden on the pilot. Further, if the deviation information is displayed on the display on the cockpit side, the pilot can safely land the aircraft at the landing site based on the display content of the display, so that the occurrence of aircraft crash Can be prevented.

A first index point for transmitting prescribed altitude information relating to guidance of the aircraft according to the present invention is set at a position at a predetermined distance from the landing point on the approach route of the aircraft,
A second index point for transmitting prescribed altitude information different from the first index point is installed at a position at a predetermined distance on the approach route of the aircraft from the first index point, and the first and second index points are A landing guidance diagnostic system applied to a landing guidance system for landing an aircraft at a landing site based on each specified altitude information to be transmitted and diagnosing that the aircraft is flying on a proper landing approach path, When passing through the first and second index points, the onboard device mounted on the
Receiving means for receiving prescribed altitude information transmitted from the first and second index points; aircraft position / altitude measuring means for measuring the current position and altitude of the aircraft using a predetermined position measuring system; At the time of receiving the prescribed altitude information transmitted from the first and second index points, the measured position information and the altitude information measured by the aircraft position / altitude measuring means, and the predetermined position information of the first and second index points and Based on the prescribed altitude information, the vehicle is provided with an approach deviation diagnosis processing means for diagnosing a difference between the approach path to be followed by the aircraft in the reference coordinate system and the current position and altitude of the aircraft.

The position information of the first and second index points is characterized by using information stored in advance in storage means provided in the onboard device or information provided from outside.

That is, according to the present invention, prescribed altitude information transmitted from a first index point located at a predetermined distance from the landing point on the approach route of the aircraft, and predetermined altitude information on the approach route of the aircraft from the first index point When guiding the aircraft to the landing point using the specified altitude information transmitted from the second index point located at the distance, when receiving the specified altitude information transmitted from the first and second index points, Using the position measurement system to measure the current position and altitude of the aircraft, based on this measurement information and the position information of the first and second index points in the previously determined reference coordinate system and the prescribed altitude information, The deviation between the approach route that the aircraft should follow in the reference coordinate system and the actual position and altitude of the aircraft can be determined, and the reliability of the specified altitude information provided by the first and second index points can be determined from the deviation. It has to.

Therefore, according to the present invention, when the aircraft passes over the first and second index points at the time of landing, the approach route to be followed by the aircraft in the reference coordinate system, the actual position of the aircraft, and Since a deviation from the altitude is required, the same effect as described above can be obtained.

Further, the present invention provides an onboard apparatus mounted on an aircraft for receiving prescribed altitude information transmitted from the first and second index points when passing through the first and second index points. A first receiving means, a second receiving means for receiving approach angle information transmitted from the first and second reference points when the vehicle enters the landing approach area, and a three-dimensional velocity related to the aircraft by the inertial navigation device. An aircraft movement / altitude measuring means for obtaining vector information and a current flight altitude of the aircraft; and an aircraft movement amount when the first receiving means receives prescribed altitude information transmitted from the first and second index points. The moving distance between the first and second index points of the aircraft is sequentially obtained from the three-dimensional velocity vector information obtained by the altitude measuring means, and the moving distance information and the flight altitude information are determined in advance. Approach deviation diagnosis processing for diagnosing a difference between an approach route to be followed by the aircraft in the reference coordinate system and a current position and altitude of the aircraft based on distance information between the first and second index points and prescribed altitude information. Means and an aircraft descending and approaching based on the approach angle information obtained by the second receiving means, and from the three-dimensional velocity vector information obtained by the aircraft movement / altitude measuring means, the descent angle with respect to the landing point of the aircraft And a descent angle deviation diagnosis processing means for diagnosing a deviation of the descent angle with respect to the landing point of the aircraft based on the descent angle and predetermined horizontal and vertical approach angle information relating to guidance of the aircraft. Like that.

With this configuration, when the inertial navigation device is mounted on the aircraft, the displacement of the descent angle with respect to the landing point of the aircraft and the reference coordinate system are determined using the three-dimensional velocity vector information obtained by the inertial navigation device. The reliability of the landing guidance system can be determined by calculating the deviation between the approach route that the aircraft should follow and the actual position and altitude of the aircraft, and the same effects as described above can be obtained.

Further, according to the present invention, when the amount of deviation obtained by at least one of the approach deviation diagnosis processing means and the descent angle deviation diagnosis processing means exceeds the reference value, the on-board device outputs this deviation information as an alarm to the outside. An alarm means for notifying is provided.

With this configuration, when the deviation of the descending angle of the aircraft from the landing point or the deviation between the approach route to be followed by the aircraft in the reference coordinate system and the actual position and altitude of the aircraft exceeds the reference value. In this situation, sufficient landing angle information in the horizontal and vertical directions from the first and second reference points, or sufficient prescribed altitude information from the first index point and the second index point cannot be obtained. The pilot system can determine that the reliability of the landing guidance system is low by determining that the reliability of the landing guidance system is low, and displaying this deviation information as an abnormal alarm, for example, on a display or notifying the pilot by sound or vibration. This makes it possible to quickly take a response such as safely landing the aircraft at the landing site.

Further, in the present invention, the onboard device is provided with a deviation information transmitting means for transmitting deviation information obtained by the approach deviation diagnosis processing means or the descent angle deviation diagnosis processing means to the ground equipment.

In this way, not only the safety of the approach and descent of the aircraft itself, but also the diagnosis result of the radio wave environment of the landing guidance system is notified to the ground equipment, so that the subsequent aircraft can be informed of the danger in advance. Can be. This can prevent an aircraft crash.

[0019]

Embodiments of the present invention will be described below in detail with reference to the drawings.

(First Embodiment) FIG. 1 is a block diagram showing the configuration of one embodiment of an on-board device of an ILS diagnostic system according to the present invention which is mounted on an aircraft.
Indicates an on-board device.

The on-board device 1A includes an ILS receiver 11 and a G
NSS / INS combined navigation system 12 and radio altimeter 13
, A diagnosis processing unit 14A, an ILS storage unit 15A, and an abnormality alarm unit 16.

[0022] The ILS receiver 11 receives information on the introduction of the ILS. GNSS / INS combined navigation system 12
Measures the current position of its own device using a signal from a positioning satellite such as GPS or a signal from INS. Radio altimeter 1
3 measures the current altitude of the own device.

The diagnostic processing unit 14A stores the reception result by the ILS receiver 11, the measurement result by the GNSS / INS combined navigation device 12 and the radio altimeter 13, the ILS storage unit 15
The reliability of the ILS is determined based on the information on the ILS introduction stored in A. The ILS storage unit 1
5A stores in advance information about the introduction of the ILS installed at each airport.

When the reliability of the ILS determined by the diagnosis processing section 14A is not sufficiently obtained, the abnormality alarm section 16 notifies the pilot of information indicating this abnormal state as an alarm.

In the ILS, information necessary for landing guidance is obtained by the following three means. Glide path: Indicates a safe descent angle to the runway Localizer: Indicates a safe approach direction to the runway Marker beacon (outer marker, middle marker, inner marker) Indicates the distance to the road.

Based on the information indicated by the ILS, the pilot keeps the aircraft at a safe approach heading, a safe descent angle, and a specified altitude for each marker, and land the aircraft. ILS of the present invention
The diagnosis system is a system for real-time diagnosis of the validity of all information of the glide path, localizer, and marker beacon indicated by the ILS on an aircraft equipped with the onboard device 1A while riding on the radio waves of the ILS. .

Next, various operations of the system having the above configuration will be described. (1) Diagnosis of glide path Now, for example, in a situation where the aircraft AP enters and descends on the radio wave of the ILS as shown in FIG.
4A reads from the ILS storage unit 15A the information of the ILS to be used (the spatial position coordinates of the glide path A and the angle θ of the glide path A). Next, the diagnostic processing unit 14A
By comparing and comparing the spatial position coordinates of the aircraft AP measured by the S / INS combined navigation device 12 and the radio altimeter 13 with the spatial position coordinates of the point A, the descent angle of the aircraft AP in the vertical direction with respect to the point A is calculated. , ILS storage unit 15
A diagnosis is made on the consistency with the angle of the glide path stored in A (θ; a predetermined error is allowed). Here, in this consistency diagnosis, when the error between the calculated descent angle of the aircraft AP and the angle of the glide path obtained by the ILS storage unit 15A exceeds a set reference value, the diagnosis processing unit 14A determines the reliability of the ILS radio wave. The abnormality is diagnosed to be low, and information indicating “glide path abnormality” is sent to the abnormality alarm unit 16. Thereafter, information indicating the abnormality is displayed on the indicator on the cockpit side by the abnormality warning unit 16.

(2) Diagnosis of Localizer Now, for example, as shown in FIG. 3, in a situation where the aircraft AP is approaching and descending on the radio waves of the ILS, the diagnosis processing unit 14A transmits the ILS of the ILS used from the ILS storage unit 15A. Information (planar position coordinates of localizer B, azimuth φ of localizer B) is read out. Next, the diagnosis processing unit 14A
By comparing and comparing the plane position coordinates of the aircraft AP measured by the SS / INS combined navigation device 12 and the radio altimeter 13 with the plane position coordinates of the point B, the approach azimuth of the aircraft AP with respect to the point B is calculated, and the ILS is calculated. The consistency with the orientation of the localizer (φ; a predetermined error is allowed) in the storage unit 15A is diagnosed. Here, in this consistency diagnosis, the calculated approach azimuth of the aircraft AP and the ILS
If the error from the orientation of the localizer obtained in the storage unit 15 exceeds the set reference value, the diagnosis processing unit 14A diagnoses that the reliability of the ILS radio wave is low, and sends information indicating “localizer abnormality” to the abnormality alarm unit 16. Send out. Thereafter, information indicating the abnormality is displayed on the indicator on the cockpit side by the abnormality warning unit 16.

(3) Diagnosis of Marker Beacon Now, for example, as shown in FIG. 4, in a situation where the aircraft AP enters and descends on the radio wave of the ILS, the diagnosis processing unit 14A uses the diagnosis processing unit 14A from the ILS storage unit 15A. ILS information (plane position coordinates (C
Point), the distance from point C to each marker beacon, and the specified altitude at the time of passing each marker beacon), and obtain the planar position coordinates of each marker beacon. The planar position coordinates of each marker / beacon may be calculated in advance and stored as database information. When the aircraft AP passes over the marker beacon, the ILS receiver 11
Detects the radio wave from the marker beacon. At this time, G
The NSS / INS combined navigation system 12 diagnoses the consistency between the plane position coordinates of the aircraft AP and the plane position coordinates of each marker beacon (allowing a predetermined error). Furthermore, the radio altimeter 13 and the GNSS / I
Altitude and ILS of aircraft AP indicated by NS complex navigation system 12
Diagnosis of consistency with the specified altitude at the time of passage through each marker / beacon stored in the storage unit 15A is diagnosed.

If at least one of the two consistency diagnoses is diagnosed as abnormal, the diagnostic processing unit 14A
Is sent to the abnormality warning unit 16 as “marker / beacon abnormality”.

As described above, in the first embodiment, the azimuth and elevation angle information relating to the guidance of the aircraft AP transmitted from the glide path reference point A and the localizer reference point located around the runway are used. Aircraft A
When landing P on the runway, paying attention to the fact that a ghost in the radio characteristics occurs in the provided approach angle information,
At the time of approach and descent, the current flight position and altitude of the aircraft AP are measured by the GNSS / INS combined navigation device 12 and the radio altimeter 13, and the measurement information and the ILS are obtained by the diagnostic processing unit 14A.
From the spatial coordinates of the glide path reference point A and the localizer reference point in the reference coordinate system stored in the storage unit 15, the approach / descent angle at which the aircraft AP actually attempts to land is determined, and the determined descent angle and ILS The deviation of the approach / descent angle of the aircraft AP with respect to the runway is determined by comparing the approach angle information with the elevation and azimuth directions in the reference coordinate system stored in the storage unit 15A, and the glide path reference points A and The reliability of the approach angle information in the elevation and azimuth directions sent from the localizer reference point B can be determined.

Further, the aircraft AP is moved from the reference position C of the runway.
An inner marker located at a predetermined distance on the approach route of
When landing the aircraft AP on the runway using the information on the overhead passing transmitted from the middle marker and the outer marker, the information of the information on the overhead passing transmitted from the inner marker, the middle marker, and the outer marker is used. When receiving, G
The NSS / INS combined navigation device 12 and the radio altimeter 13 measure the current flight position and altitude of the aircraft AP, and the diagnostic processing unit 14A uses the measurement information and the inner coordinate in the reference coordinate system stored in the ILS storage unit 15 to calculate the inner position. Based on the position information of the marker, the middle marker, the outer marker and the specified altitude information, a deviation between the approach route to be followed by the aircraft AP in the reference coordinate system and the actual position and altitude of the aircraft is determined. It is possible to judge the reliability of the information of passing directly above provided by the inner marker, the middle marker, and the outer marker.

Therefore, at the time of landing, the deviation of the descent angle of the aircraft AP from the landing point and the deviation of the approach route to be followed by the aircraft AP in the reference coordinate system from the actual flight position and altitude of the aircraft AP are automatically determined. By supporting the pilot to monitor the ILS, the burden on the pilot can be reduced, and furthermore, if the deviation information is displayed on the display on the cockpit side, the pilot can determine the aircraft based on the display contents of the display. Since the AP can safely land on the runway, it is possible to prevent the crash of the aircraft AP.

In the first embodiment, when the deviation amount obtained by the diagnosis processing unit 14A exceeds the set reference value, the on-board unit 1A notifies the abnormality warning unit of the deviation information as an alarm to the outside. 16 are provided.

In this manner, the deviation of the approach / descent angle of the aircraft AP with respect to the runway, or the deviation between the approach path to be followed by the aircraft AP in the reference coordinate system and the actual flight position and altitude of the aircraft AP is determined as a reference. If the values exceed the values, sufficient azimuth and elevation angle information from the glide path reference point A and the localizer reference point B, or sufficient prescribed altitude information from the inner marker, middle marker, and outer marker can be obtained. Since the situation is not present, the reliability of the ILS can be determined to be low, and this deviation information is displayed as an abnormal alarm on, for example, a display to notify the pilot, so that the pilot can immediately know that the reliability of the ILS is low. As a result, it is possible to promptly take a countermeasure for safely landing the aircraft AP on the runway.

Further, in the first embodiment, if the on-board device 1A is provided with a notification function for notifying the diagnosis result obtained by the diagnosis processing unit 14A to, for example, ground facilities around the runway, In addition, it is possible to notify not only the safety of the approach and descent of the own aircraft but also the danger to subsequent aircraft in advance. This can prevent an aircraft crash.

In the first embodiment, the GNSS
Although the example using the / INS hybrid navigation device 12 has been described, it is not necessary to be limited to the GNSS / INS hybrid navigation device 12 as long as the device can obtain its own position with high accuracy.

(Second Embodiment) FIG. 5 is a block diagram showing a configuration of an onboard device mounted on an aircraft according to a second embodiment of the present invention. In this figure, the same parts as those in FIG. 1 are denoted by the same reference numerals, and detailed description is omitted.

That is, the GNSS /
An INS (inertial navigation device) 17 is provided instead of the INS combined navigation device 12. The INS 17 measures the moving speed, the moving direction, and the moving amount of the aircraft.

In the second embodiment, the ILS obtains information necessary for landing guidance by the following three means. Glide path ····· Indicates a safe descent angle to the runway Localizer ······ Indicates the safe approach direction to the runway Marker beacon (outer marker, middle marker, inner marker) Based on the information indicated by the ILS, the pilot indicating the distance to the runway will maintain the aircraft at a safe approach heading, a safe descent angle, the specified altitude for each marker, and land the aircraft.

Next, various operations of the system having the above configuration will be described. (4) Diagnosis of Glide Path For example, in a situation where the aircraft AP enters and descends on the radio wave of the ILS as shown in FIG.
4B reads out the information of the ILS to be used (the angle of the glide path (θ in FIG. 6)) from the ILS storage unit 15B. Next, the diagnosis processing unit 14B determines whether the aircraft AP
Is sequentially calculated from the displacement amount of the spatial position coordinates or the three-dimensional velocity vector, and the obtained descent angle and ILS are calculated.
The consistency with the glide path angle (θ; a predetermined error is allowed) stored in the storage unit 15B is diagnosed. Here, in the consistency diagnosis, when an error between the calculated descent angle of the aircraft AP and the angle of the glide path obtained by the ILS storage unit 15 exceeds a set reference value,
The diagnosis processing unit 14 diagnoses that the reliability of the ILS radio wave is low,
The information indicating “glide path abnormality” is sent to the abnormality alarm unit 16. Thereafter, information indicating the abnormality is displayed on the indicator on the cockpit side by the abnormality warning unit 16.

(5) Diagnosis of Localizer Now, for example, as shown in FIG. 7, in a situation where the aircraft AP is approaching and descending on the radio wave of the ILS, the diagnosis processing unit 14B transmits the ILS to be used from the ILS storage unit 15B. Information (azimuth of localizer (φ in FIG. 3)) is read. Next, the diagnosis processing unit 14B determines whether the aircraft AP
Is sequentially calculated from the displacement amount of the spatial position coordinates or the three-dimensional velocity vector, and the obtained approach azimuth is compared with the azimuth of the localizer of the ILS storage unit 15B (φ; a predetermined error is allowed). Diagnose consistency. Here, in this consistency diagnosis, when the error between the calculated approach azimuth angle of the aircraft AP and the angle of the localizer obtained by the ILS storage unit 15 exceeds a set reference value, the diagnosis processing unit 14 determines the reliability of the ILS radio wave. Is diagnosed to be low, and information indicating “localizer abnormality” is transmitted to the abnormality alarm unit 16.
To send to. Thereafter, the information indicating the abnormality is displayed on the indicator on the cockpit side by the abnormality warning unit 16.

(6) Diagnosis of Marker / Beacon Now, for example, as shown in FIG. 8, in a situation where the aircraft AP is approaching and descending on the radio wave of the ILS, the diagnosis processing unit 14B first uses the diagnosis from the ILS storage unit 15B. ILS
(The distance from the runway to each marker / beacon, the specified altitude when passing through each marker / beacon), and between the marker / beacon (between the outer marker / middle marker and the middle / inner marker) Between). The distance between each marker and beacon may be calculated in advance and held as database information. Then, when the aircraft AP passes over the marker beacon, the ILS receiver 11 detects a radio wave from the marker beacon. At this time, the diagnostic processing unit 14B determines the movement amount of the aircraft AP between the marker and the beacon by the INS 17 and the ILS
The consistency with the distance between the marker and the beacon stored in the storage unit 15B (allowing a predetermined error) is diagnosed. Further, the diagnosis processing unit 14B diagnoses the consistency between the altitude of the aircraft AP indicated by the radio altimeter 13 and the specified altitude at the time of passing each marker / beacon in the database.

If at least one of the two consistency diagnoses is diagnosed as abnormal, the diagnostic processing unit 14
It is sent to the abnormality alarm unit 16 as "marker / beacon abnormality".

As described above, in the second embodiment, the diagnosis processing unit 14B uses the three-dimensional velocity vector information obtained by the INS 17 to calculate the deviation of the descent angle of the aircraft AP with respect to the runway and the reference coordinate system. It is possible to determine the difference between the approach route that the aircraft should follow and the actual position and altitude of the aircraft, and determine the reliability of the ILS radio wave from this difference,
This eliminates the need for the pilot to perform an operation in consideration of the reliability of the ILS, so that the burden on the pilot can be reduced, and the same effects as in the first embodiment can be obtained.

In the second embodiment, INS1
Since the ILS is diagnosed by the autonomous navigation system using the system 7, the system is not affected by other systems.

In the second embodiment, INS1
Although the description has been given of the example in which the device 7 is used, the device is not limited to the INS 17 as long as the device can continuously acquire the position or speed of the own device with a small variation.

(Other Embodiments) The present invention is not limited to the above embodiments. For example, it is not necessary to provide an ILS storage unit in the onboard device, and information provided from outside may be used. Further, the abnormality alarm section may not only display the abnormality alarm on the display but also notify the pilot by sound or vibration. In this case, even in a busy situation before landing and landing, if the pilot cannot afford to see the indicator,
Can immediately know that the reliability is low.

In addition, the configuration of the on-board device and the type of the navigation device can be variously modified without departing from the scope of the present invention.

[0050]

As described in detail above, according to the present invention,
By using the predetermined position measurement system, the reliability of the landing guidance system at the time of landing of the aircraft can be determined, thereby providing a landing guidance diagnosis system capable of improving safety in landing.

According to another aspect of the present invention, the reliability of the landing guidance system at the time of landing of an aircraft can be determined by using autonomous navigation such as INS, whereby the safety at landing can be improved. And a landing guidance diagnostic system not affected by the above can be provided.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a first embodiment of an on-board device used in an ILS diagnostic system according to the present invention.

FIG. 2 is a view for explaining a diagnosis process for a glide path angle in the first embodiment;

FIG. 3 is an exemplary view for explaining a diagnosis process for an angle of a localizer in the first embodiment.

FIG. 4 is an exemplary view for explaining a diagnostic process for a marker / beacon according to the first embodiment;

FIG. 5 is a block diagram showing a second embodiment of the on-board device used in the ILS diagnostic system according to the present invention.

FIG. 6 is a view for explaining a diagnosis process for an angle of a glide path in the second embodiment.

FIG. 7 is an exemplary view for explaining a diagnosis process for an angle of a localizer in the second embodiment.

FIG. 8 is a view for explaining a diagnostic process for a marker / beacon in the second embodiment.

[Explanation of symbols]

 1A, 1B: Onboard device, 11: ILS receiver, 12: GNSS / INS combined navigation device, 13: Radio altimeter, 14A, 14B: Diagnosis processing unit, 15A, 15B: ILS storage unit, 16: Abnormal alarm unit, 17 ... INS (Inertial Navigation System).

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 5H180 AA26 CC12 FF05 FF27 LL14 5J062 AA01 AA03 AA08 AA11 AA12 BB03 CC07 CC13 CC15 FF01 FF04 HH09 5J070 AC01 AC03 AC11 AE04 AE07 AF01 AF06 AJ13 BC02 BC04 BC05 BG12 BG12 BG12 BG12

Claims (15)

[Claims] 1. A first reference point for transmitting horizontal approach angle information related to guidance of an aircraft and a second reference point for transmitting vertical approach angle information related to guidance of an aircraft. Installed in a predetermined position, and applied to a landing guidance system for landing an aircraft at a landing site based on horizontal and vertical approach angle information transmitted from these first and second reference points, wherein the aircraft is A landing guidance diagnosis system that diagnoses that the aircraft is flying on a regular landing approach path, wherein the onboard device mounted on the aircraft includes the first and second on-board devices when the vehicle enters the landing approach area. Receiving means for receiving approach angle information transmitted from the second reference point; aircraft position / altitude measuring means for measuring the current position and altitude of the aircraft using a predetermined position measuring system; In the state where the aircraft is approaching and descending based on the approach angle information obtained by the receiving means, the measurement position information and the measurement altitude information by the aircraft position / altitude measurement means, and the first and second predetermined positions And an approach / descent angle shift diagnosis processing means for diagnosing a shift of the approach / descent angle of the aircraft with respect to the landing point based on the position information of the second reference point and the approach angle information in the horizontal and vertical directions. Landing guidance diagnostic system. 2. The information on the position of the predetermined first and second reference points and the information on the angle of approach in the horizontal and vertical directions are stored in advance in storage means provided in the onboard device or from outside. 2. The landing guidance diagnostic system according to claim 1, wherein the information provided is used. 3. A first index point for transmitting prescribed altitude information related to guidance of an aircraft is set at a position at a predetermined distance on an approach route of the aircraft from a landing point, and a prescribed altitude different from the first index point. A second index point for transmitting information is set at a position at a predetermined distance on the approach route of the aircraft from the first index point, and based on each specified altitude information transmitted from the first and second index points. A landing guidance diagnostic system applied to a landing guidance system for landing an aircraft at a landing point, and diagnosing that the aircraft is flying on a regular landing approach route, wherein an onboard device mounted on the aircraft A receiving means for receiving prescribed altitude information transmitted from the first and second index points when passing over the first and second index points, and a predetermined position measuring system. The voyage An aircraft position / altitude measuring means for measuring the current position and altitude of the airplane; and the aircraft position / altitude measuring means, when the receiving means receives prescribed altitude information transmitted from the first and second index points. Based on measured position information and measured altitude information, and predetermined position information and prescribed altitude information of the first and second index points, an approach route to be followed by the aircraft in the reference coordinate system and the aircraft A landing guidance diagnosis system comprising: an entry deviation diagnosis processing means for diagnosing deviations from the current position and altitude of the vehicle. 4. The position information and the prescribed altitude information of the predetermined first and second index points are information stored in advance in storage means provided in the onboard device or information provided from outside. 4. The method according to claim 3, wherein:
The landing guidance diagnostic system as described. 5. A first reference point for transmitting horizontal approach angle information related to guidance of an aircraft and a second reference point for transmitting vertical approach angle information related to guidance of an aircraft, are located around the landing point. A first index point installed at a predetermined position and transmitting prescribed altitude information related to guidance of an aircraft is installed at a position at a predetermined distance on an approach route of the aircraft from a landing point, and the first index point and Sets a second index point for transmitting different prescribed altitude information at a position at a predetermined distance on the approach route of the aircraft from the first index point, and sets the horizontal and horizontal positions transmitted from these first and second reference points. Based on the vertical approach angle information and the specified altitude information sent from the first and second index points, the system is applied to a landing guidance system for landing an aircraft at a landing point, and the aircraft has a regular landing advance. A landing guidance diagnosis system for diagnosing that the vehicle is flying on an entry route, wherein the onboard device mounted on the aircraft includes the first and second index points when passing through the first and second index points.
And first receiving means for receiving prescribed altitude information transmitted from the second index point, and approach angle information transmitted from the first and second reference points when the vehicle enters the landing approach area. Second receiving means for receiving a current position, altitude measuring means for measuring the current position and altitude of the aircraft using a predetermined position measuring system, and the first and second by the first receiving means When the specified altitude information transmitted from the index point is received, the measured position information and the measured altitude information by the aircraft position / altitude measuring means, and the predetermined position information and the specified altitude of the first and second index points. Information processing means for diagnosing a deviation between an approach route to be followed by the aircraft in the reference coordinate system and a current position and altitude of the aircraft, based on the information; In the state of approaching and descending based on the approach angle information obtained by the communication means, the measurement position information and the measurement altitude information by the aircraft position / altitude measurement means, and the predetermined first and second reference points A landing guidance diagnosis system comprising: an approach / descent angle deviation diagnosis processing unit that diagnoses a deviation of an approach / descent angle of the aircraft with respect to the landing point based on the position information and the horizontal and vertical approach angle information. . 6. The position information of the predetermined first and second reference points and the horizontal and vertical approach angle information may be information stored in advance in a storage unit provided in the onboard device or an external device. The information provided by the on-board device is used to provide the position information and the prescribed altitude information of the predetermined first and second index points, which are stored in advance in storage means provided in the onboard device or provided from outside. The landing guidance diagnostic system according to claim 5, wherein the information is used. 7. A first reference point for transmitting horizontal approach angle information related to guidance of an aircraft and a second reference point for transmitting vertical approach angle information related to guidance of an aircraft, are located around the landing point. Installed in a predetermined position, and applied to a landing guidance system for landing an aircraft at a landing site based on horizontal and vertical approach angle information transmitted from these first and second reference points, wherein the aircraft is A landing guidance diagnosis system that diagnoses that the aircraft is flying on a regular landing approach path, wherein the onboard device mounted on the aircraft includes the first and second on-board devices when the vehicle enters the landing approach area. Receiving means for receiving approach angle information transmitted from the second reference point, and obtaining three-dimensional velocity vector information relating to the aircraft using an inertial navigation device, Aircraft movement and altitude measurement means for obtaining a flight altitude, and in a state where the aircraft is approaching and descending based on horizontal and vertical approach angle information obtained by the reception means, the aircraft movement and altitude measurement means Based on the obtained three-dimensional velocity vector information and altitude information, a descending angle with respect to the landing point of the aircraft is sequentially obtained, and the aircraft is determined based on the descending angle and horizontal and vertical approach angle information relating to predetermined aircraft guidance. And a descent angle deviation diagnosis processing means for diagnosing a deviation of the descent angle with respect to the landing point. 8. The horizontal and vertical approach angle information relating to the determined guidance of the aircraft may use information stored in advance in storage means provided in the onboard device or information provided from outside. The landing guidance diagnostic system according to claim 7, wherein: 9. A first index point for transmitting prescribed altitude information relating to guidance of an aircraft is set at a position at a predetermined distance on an approach route of the aircraft from a landing point, and a prescribed altitude different from the first index point. A second index point for transmitting information is set at a position at a predetermined distance on the approach route of the aircraft from the first index point, and based on each specified altitude information transmitted from the first and second index points. A landing guidance diagnostic system applied to a landing guidance system for landing an aircraft at a landing point, and diagnosing that the aircraft is flying on a regular landing approach route, wherein an onboard device mounted on the aircraft When passing through the first and second index points, the first
Receiving means for receiving prescribed altitude information transmitted from a second index point; and an aircraft movement amount for obtaining three-dimensional velocity vector information relating to the aircraft using an inertial navigation device and for determining a current flight altitude of the aircraft. An altitude measuring means, and when the receiving means receives prescribed altitude information transmitted from the first and second index points, the aircraft movement amount
The moving distance between the first and second index points of the aircraft is sequentially obtained from the three-dimensional speed vector information obtained by the altitude measuring means, and the obtained moving distance and flight altitude are determined in advance by the first and second predetermined distances. Approach deviation diagnosis processing means for diagnosing a difference between an approach route to be followed by the aircraft in the reference coordinate system and a current position and altitude of the aircraft based on distance information between second index points and prescribed altitude information. And a landing guidance diagnostic system comprising: 10. The predetermined distance information and the prescribed altitude information between the first and second index points are information stored in advance in storage means provided in the onboard device or information provided from outside. 10. The landing guidance diagnostic system according to claim 9, wherein: 11. A first reference point for transmitting horizontal approach angle information related to guidance of an aircraft and a second reference point for transmitting vertical approach angle information related to guidance of an aircraft, are located around the landing point. A first index point installed at a predetermined position and transmitting prescribed altitude information related to guidance of an aircraft is installed at a position at a predetermined distance on an approach route of the aircraft from a landing point, and the first index point and Installing a second index point for transmitting different prescribed altitude information at a position at a predetermined distance on the approach route of the aircraft from the first index point,
Based on the horizontal and vertical approach angle information sent from the first and second reference points, and the specified altitude information sent from the first and second index points, the aircraft is landed at the landing point. A landing guidance diagnosis system applied to a landing guidance system and diagnosing that the aircraft is flying on a regular landing approach route, wherein the onboard device mounted on the aircraft includes the first and second aircraft. When passing through the index point of
And first receiving means for receiving prescribed altitude information transmitted from the second index point, and horizontal and vertical transmitted from the first and second reference points when the vehicle enters the landing approach area. Second receiving means for receiving the approach angle information of the direction; aircraft displacement / altitude measurement means for obtaining the current flight altitude of the aircraft while obtaining three-dimensional velocity vector information relating to the aircraft by the inertial navigation device; When the first receiving means receives the prescribed altitude information transmitted from the first and second index points, the first and second points of the aircraft are obtained from the three-dimensional velocity vector information obtained by the aircraft movement / altitude measuring means. The moving distance between the second index points is sequentially obtained, and the obtained moving distance information and flight altitude information are compared with the predetermined distance information between the first and second index points. And a prescribed altitude information, based on the reference coordinate system, an approach route to be followed by the aircraft and an approach deviation diagnosis processing means for diagnosing a difference between a current position and an altitude of the aircraft; and In the state of approaching and descending based on the horizontal and vertical approach angle information obtained by the receiving means, 3
The descending angle of the aircraft with respect to the landing point is sequentially obtained from the three-dimensional velocity vector information, and the descending angle of the aircraft with respect to the landing point is determined based on the descending angle and horizontal and vertical approach angle information relating to predetermined guidance of the aircraft. A landing guidance diagnosis system comprising: a descent angle deviation diagnosis processing means for diagnosing an angle deviation. 12. The horizontal and vertical approach angle information relating to the determined guidance of the aircraft may use information stored in advance in storage means provided in the onboard device or information provided from outside, and The distance information and the prescribed altitude information between the determined first and second index points use information stored in advance in a storage unit provided in the onboard device or information provided from outside. The landing guidance diagnosis system according to claim 11, wherein 13. The on-board device, when a deviation amount obtained by at least one of the approach deviation diagnosis processing means and the descent angle deviation diagnosis processing means exceeds a reference value, notifies the deviation information as an alarm to the outside. 12. The system according to claim 1, further comprising: an alarm unit that performs an alarm.
The landing guidance diagnostic system according to any one of the above. 14. The on-board device further includes a deviation information transmitting unit that transmits deviation information obtained by at least one of the approach deviation diagnosis processing unit and the descent angle deviation diagnosis processing unit to ground equipment. Claim 1,
The landing guidance diagnostic system according to any one of 3, 5, 7, 9, and 11. 15. The on-board device further includes a display, and display control means for displaying, on the display, deviation information obtained by at least one of the approach deviation diagnosis processing means and the descent angle deviation diagnosis processing means. The landing guidance diagnosis system according to any one of claims 1, 3, 5, 7, 9, and 11, wherein the system is provided.