RU2542820C2 - Aircraft landing process - Google Patents

Abstract

FIELD: transport.

SUBSTANCE: aircraft landing procedure exploiting standard homing radar and navigation systems, landing laser automatic control system including two hemispherical, spherical laser radiation transducers, four cylindrical laser radiation transducers, laser system controller, laser radiator including laser and two electromechanical converters integrated in two-axis module of high-power laser drive. Stator of electromechanical converters is secured in lengthwise axis perpendicular to aircraft airframe. Laser radiation transducers comprises controller with multiple input, radio transceiver, radio transceiver controller, laser controller, LEDs arranged on transducer surface with discrete spacing in bearing and location angles.

EFFECT: safe landing in extreme weather, reliable homing.

6 dwg

Description

The invention relates to the field of aircraft instrumentation and allows you to search in the automatic mode of the runway and provide automatic control of the landing of the aircraft, regardless of weather conditions and time of day.

In the well-known analogue to the invention (Yu.G. Kassin et al. Automatic control of an aircraft during approach. Riga, Institute of Civil Engineers GA, 1979) [1] describes a method of aircraft landing, in which radio engineering means form directional and glide path conditional lines in space , the projections of which coincide with the longitudinal axis of the runway, measure the angular deviations of the aircraft from the heading and glide paths, minimize these deviations by controlling the lateral and longitudinal movements of the aircraft in the process of descent along the glis the garden, after which the landing is carried out visually, observing the lights of the lighting equipment of the airfield. The color and location of the lights of the lighting equipment determine the direction to the runway axis, the distance from the runway, the horizon plane, the runway boundary, the landing place, the direction of run after landing.

The main reasons hindering the reliable achievement of the required technical result when using the proposed landing method is the lack of automatic control of the aircraft at the stage of leveling the plane relative to the plane of the runway when approaching it, as well as in the region of the aircraft over the runway to the landing point on the runway, which reduces the reliability and safety of completing an airplane landing due to the human factor due to increased psychophysiological fatigue and after a long flight.

Analogues of runway inventions are known (US patent No. 4101893, CL 343-108, 1978 [2]; German patent No. 3629911, CL B64F 1/18, 1993 [3]), based on radio-technical methods of orientation during approach, in which receive signals from active or passive markers installed around the runway perimeter, convert them into video signals, display in the display and the angular position of the marks showing the contours of the runway relative to the vertical axis of the display screen, judge the direction of the aircraft relative to the axis of the runway.

The reasons that impede the achievement of the required technical result when using these methods are that they, providing the formation of a video image of the runway, do not calculate the coordinates of the position of the aircraft relative to the runway and do not provide information communication with the aircraft control system, which does not allow to realize semi- and automatic modes landing. The used markers do not allow determining the position of the aircraft at all stages of landing with the accuracy necessary for the implementation of automatic landing, especially during the leveling process.

Known analogues for inventions (RF patents No. 1804629, class G08G 5/02, 1993 [4]; No. 1836642, class G01S 13/00, 1993 [5]), in which the methods for obtaining landing information for an aircraft are based on processing a runway radar image, which determines the necessary data and displays it on the on-board indicator screen or windshield in a pilot-friendly format.

In an analogue to the invention (RF patent No. 2369532 C2, IPC: B64F 1/18 [6]), an aircraft landing system is provided that contains three laser emitters installed near the runway from the aircraft approaching side, two of which - glide path - located at the edges of the strip and designed to form the rays that define the plane of the glide path, and the third - course - located on the continuation of the axial line of the strip and is designed to form a beam that determines the course of landing. As laser emitters using semiconductor laser emitters, configured to change the direction of the generated rays in the vertical and horizontal planes. Glide path emitters are installed at a certain distance from the beginning of the strip. The course emitter is installed with the possibility of beam formation at a certain angle relative to the horizontal plane. The indicated distance and angle are determined from the ratios, in one of which the specified value of the permissible vertical error of the aircraft’s position at the point of the far-distance drive during landing appears, and in the other the given angle of inclination of the glide path plane and the angle of free passage of the beam over rough terrain.

A significant drawback of this system is the high probability of blinding the pilot with laser emitters when maneuvering on the glide path, which reduces the reliability and safety of landing under any weather conditions (documentary film "Laser landing system" "Coordinate" (Blinding moment of the pilot: 8:01). Access mode: -posadki-koordinata38362.html? action = viewonline [7].

The prototype of the invention (RF application No. 20111133386, class B64F 1/18, 2011 [8]) describes an automatic landing method, which is the closest technical solution to the proposed one, including a laser system for automatic landing by an aircraft.

In this case, the laser beam is controlled by two mirrors mounted on the ends of the shafts of two electromechanical converters. In case of extreme weather conditions, an increase in the power of the laser beam is required. However, increasing the power of the laser beam is limited by the permissible temperature of the mirrors of the electromechanical converters. This is the reason that impedes the achievement of the required technical result when using the prototype method.

The purpose of the invention is to increase the reliability of landing the aircraft on the runway.

The specified technical result is achieved using a laser system for automatically controlling the landing of an aircraft, in which the first and second electromechanical converters are combined into a two-axis rotation module of a powerful laser.

A laser system for automatically controlling the landing of an aircraft (Fig. 1) consists of two hemispherical laser radiation sensors 1, 2, four cylindrical laser radiation sensors 3, 4, 5, 6, a spherical laser radiation sensor 9, a radio transmitter 10 and a laser emitter 11. Hemispherical laser radiation sensors 1, 2 are installed along the longitudinal line at the beginning and at the end, and four cylindrical laser radiation sensors 3, 4, 5, 6 are located on the sides at the beginning and at the end of runway 7, and on the fly flax apparatus 8 has a spherical laser sensor 9, the radio transceiver 10 and the laser emitter 11.

The hemispherical laser radiation sensors 1, 2 (Fig. 2) are not structurally different and have holes 12 at the poles for the passage of the beam 13 of the laser 14, and photodiodes 15 are placed on the surface of the hemisphere, which are mounted with a sampling step along the angles of the bearing and location. The photodiodes 15 are connected to the multi-channel input 1 ... N of the controller of the hemispherical laser radiation sensor 16, the first and second inputs and outputs of which are connected respectively to the first input-output of the laser controller 17 and to the first input-output of the radio transceiver controller 18 (Fig. 2). The second input-output of the laser controller 17 is connected to the input-output of the laser 14, and the second input-output of the controller of the radio transceiver 18 is connected to the input-output of the radio transceiver 19.

The cylindrical laser radiation sensors 3, 4, 5, 6 (Fig. 3) have an identical design and photodiodes 20 are placed on the surface of the cylinder, which are mounted with a selected sampling step at the angles of the bearing and location. The photodiodes 20 are connected to the multi-channel input 1 ... M of the controller of the cylindrical laser radiation sensor 21, the input-output of which is connected to the first input-output of the controller of the radio transceiver 22, the second input-output of which is connected to the input-output of the radio transceiver 23.

The spherical laser radiation sensor 9 (Fig. 4) has photodiodes 24 on the surface of the sphere, which are mounted with a selected sampling step at the angles of the bearing and location. The photodiodes 24 are connected to the second multi-channel input 1 ... L of the controller of the spherical laser radiation sensor 25, the first input-output of which is connected to the third input-output of the controller of the laser system for automatic landing control of the aircraft 32 (Fig. 5).

The laser emitter 11 (Fig. 5) consists of two electromechanical transducers 26, 27 and a laser 28. The stator of the electromechanical transducer 26 is orthogonal to its longitudinal axis connected to the bearing base of the aircraft 8. The shaft of the electromechanical transducer 26 is connected orthogonally to its longitudinal axis with the stator of the electromechanical transducer 27 A laser 28 is mounted to the shaft of the electromechanical transducer 27 orthogonally to its axis, which generates a beam 29. The inputs and outputs of the electromechanical transducers 26, 27 p are connected respectively to the second inputs and outputs of the controllers of the electromechanical converters 30, 31, which are connected with their first inputs and outputs respectively to the first and second inputs and outputs of the controller of the laser system for automatically controlling the landing of the aircraft 32. The third and fourth inputs and outputs of the controller of the laser system for automatic landing control aircraft 32 are connected respectively to the first input-output controller of a spherical laser radiation sensor 25 and with the first input-output of the laser controller 33. The second input-output of the laser controller 33 is connected to the input-output of the laser 28, and the second input-output of the controller of the spherical laser radiation sensor 25 is connected to the photodiodes 24 of the spherical laser radiation sensor 9. The fifth and sixth inputs and outputs of the controller of the laser system for automatic landing landing control of the aircraft 32 are connected respectively to the input-output of the control system by the angles of roll, yaw, attack and traction of the aircraft 34 and to the input-output of the standard adiolokatsionno navigation system 35. The seventh and eighth input-output laser system of automatic control of an aircraft landing 32 are respectively connected to the inputs-outputs of the traffic management system of the aircraft on the runway 36 and the inputs-outputs radio transceiver 10.

The landing method of the aircraft is as follows. When the aircraft enters the glide path (point A, Fig. 6), the standard radar-navigation system for organizing the landing of the aircraft 35 from its output-output issues the command “Initialize the laser landing system”, which is fed to the sixth input-output of the controller of the laser automatic system landing control 32. As a result, the controller of the laser system for automatic landing control 32 at the eighth input-output gives the command code "Capture laser radiation sensors." This command, arriving at the input-output of the radio transceiver 10, is transmitted to the radio transceivers 19 (Fig. 2) and 23 (Fig. 3), respectively, of two hemispherical laser sensors 1, 2 and four cylindrical 3, 4, 5, 6 laser sensors radiation (Fig. 1). The command code "Capture of laser radiation sensors" from the radio transceivers 19 and 23 is respectively supplied to the second inputs and outputs of the radio transceiver controllers 18 (Fig. 2) and 22 (Fig. 3), respectively. Decode the received command "Capture of laser sensors", the controllers 18, 22 respectively initialize the controller 16 of the hemispherical laser sensors and the controller 21 of the cylindrical laser sensors, passing the initialization code, respectively, from the first input-output of the controller 18 to the second input-output of the controller 16 and the first input-output of the controller 22 to the input-output of the controller 21. After initialization, the controller 16 from the second input-output gives the code "Ready to capture the laser beam", which is fed to the first the output input-output of the controller of the radio transceiver 18, is encoded and transmitted to the input-output of the radio transceiver 19. The radio transceiver 19 transmits information to the radio transceiver 10. In addition, the controller 16 provides the code "Turn on the laser." This code comes from the first input-output of the controller 16 to the first input-output of the controller 17, and from the second input-output of the controller 17 to the input-output of the laser 14. The laser 14 is turned on and its beam 13 is directed through the hole 12 perpendicular to the plane of the runway 7 (Fig. 1).

The controller 21 of the cylindrical laser radiation sensors after initialization generates a code "Ready to capture the laser beam", which is received from the input-output to the first input-output of the radio transceiver 22, is encoded and transmitted from the second input-output of the controller 22 to the input-output of the radio transceiver 23. The radio transceiver 23 transmits the received information to the radio transceiver 10.

The radio transceiver 10, receiving the codes "Ready to capture the laser beam" from the laser radiation sensors 1, 2, 3, 4, 5, 6, transmits these codes to the eighth input-output of the controller of the laser automatic landing control system 32. Having received and processed the command codes " Ready to capture the laser beam ", the controller of the laser system for automatic landing control 32 generates the command" Turn on the electromechanical converters ", which from the first and second inputs and outputs of the controller of the laser system for automatic landing control 32 post incident on the first inputs and outputs of the controllers for controlling the electromechanical converters 30, 31. The controllers for controlling the electromechanical converters 30, 31 control the electromechanical converters 26, 27, respectively, which rotate the laser 28 so that the beam 29 of the laser 28 has a minimum angle of attack - γ ( Fig. 6). Next, the controller of the laser automatic landing control system 32 generates the commands "Turn on-board laser" and "Turn on-board laser radiation sensor." The command code “Turn on-board laser” comes from the fourth input-output of the controller of the laser automatic landing control system 32 to the first input-output of the laser controller 33, the second input-output of which is connected by the input-output of the laser 28, and the laser 28 is turned on. The command code "Turn on the on-board laser radiation sensor" from the third input-output of the controller of the laser automatic landing control system 32 is supplied to the first input-output of the controller of the spherical laser radiation sensor 25, the second input-output of which is connected to the photodiodes 24 of the spherical laser radiation sensor 9. When the controller of the spherical laser radiation sensor 25 activates the photodiodes 24 of the spherical laser radiation sensor 9. At this stage, the initialization of the laser automatic control system landing (Fig. 1) ends (point B, Fig. 6).

Next, the controller of the laser automatic landing control system 32 issues to the first and second inputs and outputs the command "Start the search for laser radiation sensors." This command is received, respectively, at the first inputs and outputs of the controllers for controlling the electromechanical converters 30, 31. The controllers for controlling the electromechanical converters 30, 31 provide the operation of the electromechanical converters 26 and 27, respectively, which change the position of the laser 28 in space so that the beam 29 of the laser 28 rotated, forming a "cone" in space, and on the surface of the Earth - the trajectory of a moving "spiral". In this case, the capture of laser radiation sensors 1, 2, 3, 4, 5, 6 is carried out by controlling the direction of the beam 29 of the laser 28. The direction of the beam 29 of the laser 28 is determined by the angles of the cone — α, attack — γ and yaw — β (Fig. 6 ) When two hemispherical laser radiation sensors 1, 2 and four cylindrical laser radiation sensors 3, 4, 5, 6 are detected, the beam 29 of the laser 28 illuminates the photodiodes 15 and 20 (Fig. 2, Fig. 3). As a result of this, the controller of the hemispherical laser radiation sensor 16 at its second input-output and the controller of cylindrical laser radiation sensors 21 at their input-output generate codes of the angles of the bearing and the location of the illuminated photodiodes 15, 20. This information is received, respectively, at the first inputs and outputs controllers of the radio transceiver, respectively, 18 and 22, which encode the received information and transmit to the inputs and outputs of the radio transceivers, respectively 19, 23. This information is broadcast and the radio transceiver the sensor 10, receiving this information, transfers it to the eighth input-output of the controller of the laser automatic landing control system 32. The search for laser radiation sensors 1, 2, 3, 4, 5, 6 is considered to be completed if the information from the cylindrical laser radiation sensors 3, 4 , 5, 6 allows the controller of the laser automatic landing control system 32 to generate a stable "virtual runway" 38 (Fig. 6) bypassing the cylindrical laser sensors 3, 4, 5, 6.

From this point in time, the controller of the laser automatic landing control system 32 starts transmitting data from the fifth input-output to the input-output of the aircraft’s roll, yaw, attack and thrust control system for the aircraft 34 (Fig. 5), ensuring the implementation of the long-range alignment stage with the aircraft (BC interval, FIG. 6).

The process of long-range alignment of the aircraft ends if the “virtual runway” 38, decreasing, touches the hemispherical laser sensors 1, 2. From this moment in time, the mode of near-level alignment of the aircraft begins (CD interval, Fig. 6).

The purpose of the mode is to ensure that the flight path of the aircraft with maximum accuracy coincides with the longitudinal line of the runway 7 and passes through hemispherical sensors of laser radiation 1, 2. Therefore, before the moment of flight of the aircraft over the hemispherical laser sensor 2, the controller of the laser system automatically landing control 32 issues a command "runway control". This command from the first and second input-output of the controller 32 is supplied to the first inputs and outputs, respectively, of the controllers of the electromechanical converters 30, 31, which, controlling the electromechanical converters 26, 27, the beam 29 of the laser 28 direct straight ahead with a minimum angle of attack - α (Fig. 6). The purpose of the runway control command is to provide irradiation with a laser beam 29 of a laser 28 of hemispherical laser sensors 1, 2 and a beam 13 of laser 14 (Fig. 2) - a spherical laser radiation sensor 9 (Fig. 1).

As a result of the implementation of this process, information obtained from hemispherical laser sensors 1, 2 and a spherical laser radiation sensor 9 is used by the controller of the laser automatic landing control system 32 for the final calculation of the flight path and flight speed of the aircraft near runway 7.

In addition, the controller of the laser automatic landing control system 32 analyzes the received data from the laser radiation sensors 1, 2, 9 and issues a “Landing” or “Take-off” command. If the controller 32 issued the command "Takeoff", then from the fifth input-output of the controller 32, the information is fed to the input-output of the onboard system for controlling the angles of attack, roll, yaw and thrust 34, ensuring the takeoff of the aircraft. If the controller 32 issued the “Landing” command, then from the seventh input-output the command is transmitted to the input-output of the aircraft motion control system on the runway 36. In this case, the controller of the automatic landing landing laser system 32 also issues the “Laser beam heading” command »To the first and second of its inputs and outputs. From these inputs and outputs, the team enters the first inputs and outputs of the controllers for controlling the electromechanical transducers 30, 31, which control the electromechanical converters 26, 27, respectively, and direct the beam 29 of the laser 27 at the heading of the aircraft in order to capture the laser radiation sensors 1, 4, 5.

Information from the laser radiation sensors 1, 4, 5 is transmitted to the radio transceivers 19, 23. The radio transceiver 10 receives this information and transfers it to the eighth input-output of the controller of the laser automatic landing control system 32. Controller of the laser automatic control system landing 32 processes the incoming information and at the seventh input-output provides data that is fed to the input-output of the aircraft traffic control system on the runway 36. In this case, the control By moving the aircraft, it is carried out until the aircraft is completely stopped on the longitudinal line of the runway 7.

In the case of landing of an aircraft on a swinging platform or deck of a ship, the controller of the laser automatic landing control system 32, processing the information transmitted by the laser radiation sensors 1, 2, 3, 4, 5, 6, determines the rolling parameters of the platform or deck of the ship and calculates the landing path aircraft on a swinging platform or deck of the ship. In this case, the controller of the laser automatic landing control system 32 swings the aircraft, bringing its pitching parameters closer to the swinging parameters of the platform or deck of the ship, providing a soft landing of the aircraft on the platform or deck of the ship.

Thus, the positive effect of the invention is to increase the reliability of landing aircraft by using a more reliable laser system for automatic landing control of aircraft based on the two coordinate module of rotation of a powerful laser. This allows the laser system for automatic control of aircraft landing under extreme weather conditions to confidently search for the runway, to perform far and near alignment of the aircraft when approaching the runway, and also to evaluate the parameters of the aircraft trajectory at the time of landing and when moving along runway.

LITERATURE

1. Yu.G. Kassin et al. Automatic control of an airplane during approach. Riga, GA Institute of Engineers, 1979

2. US patent No. 4101893, CL. 343-108, 1978

3. German patent No. 3629911, cl. B64F 1/18, 1993

4. Patents of the Russian Federation No. 1804629, cl. G08G 5/02, 1993

5. RF patent No. 1836642, cl. G01S 13/00, 1993

6. RF patent No. 2369532 C2, IPC: B64F 1/18.

7. Documentary film "Laser landing system." Access Mode: posadki-koordinata38362.html? Action = viewonline.

8. RF application No. 20111133386, cl. B64F 1/18, 2011

Claims (1)

A method of landing an aircraft, including automatic search and access to the glide path by standard driven radar and navigation systems of the aircraft, characterized in that the laser system for automatically controlling the landing of aircraft has two electromechanical converters combined into a two-coordinate module for turning a powerful laser, controller of the laser system for automatic control landing aircraft first input-output connected to the first input m-output of the first control controller of the first electromechanical converter, the second input-output of which is connected to the first electromechanical converter, the stator of which is longitudinally orthogonally attached to the carrier base of the aircraft, the second input-output controller of the laser system for automatic control of aircraft is connected to the first input the output of the second control controller of the second electromechanical converter, the second input-output of which is connected to the second electric to the ctromechanical transducer, the stator of which is longitudinally orthogonally attached to the shaft of the first electromechanical transducer, the third input-output controller of the laser aircraft landing control system is connected to the first input-output of the controller of the spherical laser radiation sensor, which is connected to photodiodes by the second multi-channel input, which are mounted on the surface of a sphere with a discrete step in the angles of the bearing and location, the axis of the sphere is attached orthogonally to the bearing base the aircraft, the fourth output-output of the controller of the laser automatic landing landing control system is connected to the first input-output of the laser controller, the second input-output of which is connected to the input-output of the laser, which is fixed to its shaft orthogonally to the longitudinal axis of the second electromechanical converter, fifth the input-output of the controller of the laser system for automatic landing control of aircraft is connected to the input-output of the control system for angles of attack, roll, yaw I and thrust of the aircraft, the sixth input-output of the controller of the laser system for automatic landing control of aircraft is connected to the input-output of the standard drive radar and navigation systems, the seventh input and output of the controller of the laser system for automatic landing control of aircraft is connected to the input-output of the motion control system the aircraft on the runway, the eighth input-output of the controller of the laser system for automatic landing control of aircraft radar is connected to the input-output of the radio transceiver, which provides radio communication with the radio transceivers of identical two hemispherical laser radiation sensors and four cylindrical laser radiation sensors, the input-output of the radio transmitter of the hemispherical laser radiation sensor is connected to the second input-output of the radio transmitter controller, its first input-output is connected the second input-output controller of a hemispherical laser radiation sensor, to the multi-channel input which photodiodes are mounted that are mounted on the surface of the hemisphere with a discrete step along the angles of the bearing and location, the first input-output of the controller of the hemispherical laser sensor is connected to the first input-output of the laser controller of the hemispherical laser sensor, the second input-output of which is connected to the input-output of the laser a hemispherical laser radiation sensor, the input-output of the radio transmitter of the cylindrical laser sensor is connected to the second input-output of the controller of the radio transmitter, he first of its input-output connected to the input-output laser cylindrical sensor controller multichannel input coupled to photodiodes, which are mounted on the cylinder surface with discrete increments in the corners and the bearing seats.

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